Automatic cooking system, apparatus, and method

Abstract

The present invention relates to a manipulator assembly for transporting an object to be cooked on a cooking counter, comprising: manipulators each extending in a first direction; a manipulator guide; and a transport portion which can transport each of the manipulators and the manipulator guide in the first direction, wherein the manipulator comprises: a seating portion on which the object to be cooked is seated; and a coupling portion which couples the manipulator to the transport portion, the manipulator guide comprises: a support portion extending from one side in the first direction toward the cooking counter; and a coupling portion which couples the support portion to the transport portion, and the transport portion transports the manipulator or the manipulator guide close to the object to be cooked, and the manipulator is inserted between contact surfaces of the cooking counter and the object to be cooked so that the object to be cooked can be seated on the seating portion.

Description

Automatic cooking system, device and method

[0001] The present invention relates to an automatic cooking system, device and method for automatically cooking and transporting a cooking object.

[0002] Recently, significant investment has been made in the development of robots that can replace human labor, and automated cooking devices with various forms and functions are being released on the market. However, these devices, equipped with multi-joint robot arms, are bulky and have complex operations, making them difficult to integrate into existing kitchen environments. Furthermore, the need to replace the robot's end effector each time for other tasks, such as cleaning the cooking surface, reduces efficiency. Therefore, there is a continuing need for automated cooking devices that can be applied to existing kitchen environments, improve work efficiency, and easily adjust position and posture.

[0003] The present invention is intended to solve the problems of the above-described prior art, and its purpose is to provide an automatic cooking system, device and method capable of increasing space utilization.

[0004] In addition, the present invention aims to provide an automatic cooking system, device and method that can improve efficiency and productivity.

[0005] The body assembly of the present invention comprises an operating body assembly for transporting a cooking object on a cooking surface, each of which includes an operating body and an operating body guide extending in a first direction, and a transporting portion capable of transporting the operating body and the operating body guide in the first direction, and a coupling portion for coupling the support portion to the transporting portion, and the transporting portion transports the operating body or the operating body guide to approach the cooking object, and the operating body is inserted between a contact surface of the cooking surface and the cooking object, so that the cooking object is seated on the seating portion.

[0006] Additionally, the separation portion can be configured to be inclined toward the countertop.

[0007] According to one embodiment of the present invention, the operating body guide further includes a first support portion extending from one side in the first direction toward the cooking surface, and a second support portion extending from the other side in the direction opposite to the first direction from the one side toward the cooking surface, and the transfer portion transfers the operating body guide so that the cooking object is placed between the first support portion and the second support portion of the operating body guide, and transfers the operating body or the operating body guide so as to be close to the cooking object, such that the separation portion of the operating body is inserted between the contact surfaces of the cooking surface and the cooking object, so that the cooking object is seated on the seating portion.

[0008] According to one embodiment of the present invention, a method for cooking an object on a cooking surface using an operating body and an operating body guide each extending in a first direction may be configured to include a step of moving the operating body guide, a step of moving the operating body or the operating body guide so as to be close to the object to be cooked, and a step of inserting at least a part of the operating body between a contact surface of the cooking surface and the object to be cooked so that the object is seated on at least a part of the operating body.

[0009] According to one embodiment of the present invention, the step of moving the operating body guide may include a cooking method of moving the operating body guide so that the cooking object is placed between a first support portion extending from one side of the operating body guide in the first direction toward the cooking table and a second support portion extending from the other side opposite to the first direction toward the cooking table.

[0010] According to one embodiment of the present invention, the method for cooking a cooking object may include moving the operating body guide so that the cooking object is placed between the first support portion and the second support portion of the operating body guide, and moving the operating body or the operating body guide so as to be close to the cooking object, so that the separation portion of the operating body is inserted between the contact surface of the cooking surface and the cooking object, so that the cooking object is seated on the seating portion.

[0011] A cooking method according to one embodiment of the present invention may be configured to include a step of aiming a horizontal position of the operating body guide at a position where the cooking object is arranged on the cooking surface, in a method for cooking the cooking object on the cooking surface using an operating body and an operating body guide each extending in a first direction.

[0012] According to one embodiment of the present invention, the height of the cooking surface can be adjusted to capture the cooking object in the first direction within the area of ​​the operating body guide.

[0013] According to one embodiment of the present invention, the cooking object can be configured to be captured vertically by allowing the cooking object to be settled on at least a portion of the operating body.

[0014] According to one embodiment of the present invention, the method may include a step of adjusting the horizontal position of the operating body and the operating body guide to a release position, and a step of moving the operating body or the operating body guide in a direction away from the operating body guide, thereby causing the cooking object to fall to the release position.

[0015] According to one embodiment of the present invention, the step of capturing in the vertical direction may include a cooking method for moving the operating body guide so that the cooking object is placed between the first support portion and the second support portion of the operating body guide, and moving the operating body or the operating body guide so as to be close to the cooking object, so that at least a part of the operating body is inserted between the contact surface of the cooking surface and the cooking object, so that the cooking object is placed on the mounting portion.

[0016] According to one embodiment of the present invention, when at least two cooking objects are placed on the cooking surface, the method for cooking the cooking objects may be configured to include the release positions being respectively determined in correspondence to the placement positions of the at least two cooking objects.

[0017] According to one embodiment of the present invention, an automatic cooking device for automatically cooking a cooking object comprises: a lower grill on which the cooking object can be placed, an upper grill spaced vertically upward with respect to the lower grill, an operating body and a guide each extending in a first direction, an elevating linear that can move the lower grill in a vertical direction, a transport unit that can transport the operating body and the guide together in a second direction different from the first direction, and

[0018] The above-described operating body and guide linear actuators are individually configured to move the operating body and guide in the first direction, the operating body includes a surface on which the cooking object is to be placed, and the guide can be configured to have a shape that limits movement of the cooking object in the first direction.

[0019] According to one embodiment of the present invention, the transport unit can perform an operation of transporting the operating body and the guide together to a position close to the cooking object on the lower grill,

[0020] The above guide linear can perform an operation of moving the guide so that the cooking object is placed within the first direction movement restriction area of ​​the guide,

[0021] The above-described linear actuator or linear guide actuator may be configured to perform an operation of moving the actuator or guide to approach the cooking object, such that at least a portion of the actuator is inserted between the lower grill and the contact surface of the cooking object, thereby allowing the cooking object to be seated on the actuator.

[0022] An automatic cooking method according to one embodiment of the present invention comprises a method for cooking an object using a lower grill on which an object to be cooked can be placed, an upper grill spaced vertically upward from the lower grill, and an operating body and a guide each extending in a first direction, the method comprising the steps of: moving the operating body and the guide together to a position close to the object to be cooked on the lower grill; moving the guide so that the object to be cooked is placed inside the guide; and moving the operating body or the guide so that it is close to the object to be cooked, such that at least a part of the operating body is inserted between a contact surface of the lower grill and the object to be cooked, such that the object to be cooked is placed on at least a part of the operating body.

[0023] An automatic cooking device according to one embodiment of the present invention includes a lower grill on which the cooking object can be placed, an operating body assembly extending in a first direction and capable of capturing the cooking object from a position arranged on the lower grill and releasing it at a release position, and a transfer unit capable of transferring the operating body assembly in the first direction and the second direction, and a cooked object arranged on the lower grill can be configured such that its release position is determined corresponding to the position arranged on the lower grill.

[0024] An automatic cooking device according to one embodiment of the present invention includes a lower grill on which the cooking object can be placed, an operating body assembly extending in a first direction and capable of capturing the cooking object from a position arranged on the lower grill and releasing it at a release position, and a transfer unit capable of transferring the operating body assembly in the first direction and the second direction, and can be configured to operate so that, among a plurality of cooking objects placed on the lower grill, a cooking object located closer to the transfer unit is released before a cooking object located farther from the transfer unit.

[0025] An automatic cooking method according to one embodiment of the present invention comprises a method for cooking an object using a lower grill on which an object to be cooked can be placed, and an operating body assembly extending in a first direction and capable of capturing the object from a position arranged on the lower grill and releasing the object at a release position, comprising: a first release step of capturing a cooking object arranged at a position close to the transfer unit among a plurality of cooking objects placed on the lower grill and releasing the object at a release position;

[0026] In addition, after the first release step, a second release step is included for capturing a cooking object placed at a distant position from the transfer unit among a plurality of cooking objects mounted on the lower grill and releasing it at a release position.

[0027] According to one embodiment of the present invention, space utilization can be increased by a compact configuration including an upper grill portion, a lower grill portion, and a spatula assembly.

[0028] Additionally, by automating the cooking and transport of food, we can address the problem of labor shortages and improve quality consistency and efficiency.

[0029] Additionally, it can maintain a sanitary and clean condition by automatically performing not only cooking but also post-cooking cleaning.

[0030] In addition, reliability and efficiency can be improved by measuring the pressure applied to the upper grill part and correcting the position or posture of the upper grill part and the lower grill part based on the pressure applied to the upper grill part.

[0031] FIG. 1 is a block diagram illustrating an automatic cooking system (100) according to one embodiment of the present invention.

[0032] Figure 2 is a perspective view of a grill, which is a local processor, when the cooking module according to the present invention is a grill module.

[0033] Figure 3 is a perspective view showing an exploded view of a grill according to one embodiment of the present invention.

[0034] Figure 4 is a perspective view showing an exploded top grill of a grill according to one embodiment of the present invention.

[0035] Figure 5 is a perspective view of the lower grill of a grill according to one embodiment of the present invention, viewed from below.

[0036] FIG. 6 is a drawing exemplarily showing various iron plate structures of a lower grill according to one embodiment of the present invention.

[0037] FIG. 7 is a drawing exemplarily showing a top grill and various linear structures according to one embodiment of the present invention.

[0038] Figure 8 is a perspective view of the lower grill of a grill according to one embodiment of the present invention, viewed from above.

[0039] FIG. 9 is a perspective view of the operating state of the operating body and guide according to the first embodiment for manipulating a cooking object placed on the lower grill according to one embodiment of the present invention.

[0040] FIG. 10 is a perspective view of an operating state in which a residue scraper provided in a lower grill according to one embodiment of the present invention passes through an operating body.

[0041] FIGS. 11A to 11H are perspective views illustrating a sequence of moving a cooked patty on a lower grill according to one embodiment of the present invention.

[0042] FIG. 12 is a perspective view illustrating a state in which at least two lower grills independently ascend and descend with respect to one upper grill according to one embodiment of the present invention and an operating body and a guide selectively operate on the lower grills.

[0043] FIG. 13 is a front view showing a space formed between the upper and lower grills in which the operating body and the guide move while one lower grill is raised and one lower grill is lowered according to one embodiment of the present invention.

[0044] FIG. 14 is a perspective view of a combined state of an operating body and a guide according to a first embodiment for operating a cooking object placed on a lower grill according to one embodiment of the present invention.

[0045] Figure 15 is a perspective view of an operating body and guide according to one embodiment of the present invention.

[0046] Fig. 16 is a perspective view showing the operating state of the operating body and guide according to one embodiment of the present invention.

[0047] FIG. 17 is a front view (a) and a plan view (b) of a state in which a discharge operation body is inserted between cooking objects stacked on a cache of a grill module according to one embodiment of the present invention.

[0048] FIG. 18 is a perspective view of a discharge operation body applied to a cache according to one embodiment of the present invention and an operational state diagram in which the discharge operation body starts to pull a cooking object.

[0049] Figure 19 is a front view (a) and a plan view (b) of the operating state in which the discharge operation body pulls out the object to be cooked.

[0050] Figure 20 is a front view (a) and a plan view (b) of the operating state in which the discharge operation body drops the cooking object.

[0051] Figure 21 is a front view (a) and a plan view (b) of the discharge operation body being inserted between the patties of the cache again.

[0052] Fig. 22 is a block diagram illustrating the basic configuration of a local module and an automatic cooking management module of an automatic hamburger cooking system (100) according to one embodiment of the present invention.

[0053] FIG. 23 is a perspective view of a grill, which is a local processor of a patty grill module according to one embodiment of the present invention.

[0054] Figure 24 is a perspective view showing an exploded view of a grill according to one embodiment of the present invention.

[0055] Figure 25 is a perspective view showing the upper grill and lower grill of a grill in an exploded state according to one embodiment of the present invention.

[0056] Figure 26 is a perspective view of the lower grill of a grill according to one embodiment of the present invention, viewed from above.

[0057] FIG. 27 is a perspective view of the operating state of a spatula and guide according to a first embodiment for manipulating a patty placed on a lower grill according to one embodiment of the present invention.

[0058] Figure 28 is a perspective view of an operating state in which a spatula passes through a residue scraper provided in a lower grill according to one embodiment of the present invention.

[0059] Figure 29 is a perspective view illustrating a state in which three lower grills independently rise and fall for one upper grill and a spatula and guide selectively operate on the lower grills.

[0060] Figure 30a is a front view showing a space formed between the upper and lower grills in which a spatula and a guide are moved while two lower grills are raised and one lower grill is lowered.

[0061] Figure 30b is a perspective view of a grill to which a grill module according to another embodiment is applied.

[0062] FIG. 30c is a top view for explaining the relationship between the arrangement of the cooking object on the lower grill and the release position in the automatic hamburger cooking system (100) according to one embodiment of the present invention.

[0063] Fig. 31 is a perspective view of an automatic cooking device according to one embodiment of the present invention.

[0064] Fig. 32 is a front view of an automatic cooking device according to one embodiment of the present invention.

[0065] FIG. 33 is a drawing showing a side view and a top view of the top grill portion of an automatic cooking device according to one embodiment of the present invention.

[0066] FIG. 34 is a drawing exemplarily showing a pressure value displayed on a display unit according to one embodiment of the present invention.

[0067] Figure 35 is a drawing schematically showing a lower grill portion according to one embodiment of the present invention.

[0068] FIG. 36a is a drawing showing an operating body cleaner assembly of a lower grill section according to one embodiment of the present invention.

[0069] FIGS. 36b, 37 and 38 are drawings showing various embodiments of the operating body cleaner assembly of the lower grill section according to one embodiment of the present invention.

[0070] FIG. 39 is a schematic drawing showing an operating body assembly of an automatic cooking device according to one embodiment of the present invention.

[0071] FIGS. 40a and 40b are drawings showing various embodiments of an operating body according to one embodiment of the present invention.

[0072] Figure 41a is a schematic diagram illustrating a separation function by an operating body assembly according to another embodiment of the present invention.

[0073] FIG. 41b and FIG. 42 are drawings for explaining the structure of the operating body, the joining position of the operating body joining portion, the inclination angle of the seating portion, a variation of the separation portion, and a variation of the separation portion having a coating according to another embodiment of the present invention.

[0074] FIG. 43 is a drawing for explaining a modified example of a second support part of an operating body guide according to one embodiment of the present invention.

[0075] FIG. 44 is a drawing for explaining an embodiment in which an operating body according to another embodiment of the present invention is detachably coupled to a transport unit.

[0076] FIG. 46 and FIG. 47 are drawings for explaining an embodiment in which an operating body guide is detachably coupled to a transport unit according to another embodiment of the present invention.

[0077] FIG. 48 is a drawing exemplarily showing an operation body being automatically cleaned by an operation body cleaner according to one embodiment of the present invention.

[0078] FIG. 49 is a drawing showing various variations of a multiple module structure according to one embodiment of the present invention.

[0079] FIG. 50 is a drawing exemplifying various linear elements according to one embodiment of the present invention.

[0080] FIG. 51 is a drawing showing a second support portion of an operating body guide by combining an operating body guide and a support member of an operating body assembly according to one embodiment of the present invention.

[0081] FIGS. 52a to 52e are drawings exemplarily showing a cooking object being transported by an operating body assembly according to one embodiment of the present invention.

[0082] FIG. 53 is a drawing exemplarily showing a surface of a top grill portion being cleaned by a top grill cleaner according to one embodiment of the present invention.

[0083] Fig. 54 is a perspective view of an automatic cooking device according to another embodiment of the present invention.

[0084] FIG. 55 is a drawing exemplarily showing a safety sensor mounted on an automatic cooking device according to one embodiment of the present invention.

[0085] FIG. 56 is a drawing showing another type of arrangement structure in contrast to the arrangement structure of an automatic cooking device according to one embodiment of the present invention.

[0086] Figure 57 is a block diagram schematically illustrating a detailed configuration of a control unit according to one embodiment of the present invention.

[0087] Figure 58 is a drawing exemplarily showing the reference position and movement range of the lower grill part according to one embodiment of the present invention.

[0088] FIG. 59 is a drawing showing a process for correcting a reference position of a lower grill part and a process for correcting a posture of an upper grill part or a lower grill part according to one embodiment of the present invention.

[0089] FIG. 60 is a drawing exemplarily showing pressure values ​​before and after posture correction is performed according to one embodiment of the present invention.

[0090] FIG. 61 is a drawing for explaining how to align the upper and lower module and the operating body in parallel according to one embodiment of the present invention.

[0091] Figure 62 is a drawing for explaining the parallelism of the upper module and the lower module according to one embodiment of the present invention.

[0092] FIG. 63 is a drawing for explaining an embodiment for measuring the parallelism of an upper module and a lower module to which a force sensor is applied, and an operating body including at least one parallelism measuring hand, and the upper module or the lower module being configured with at least one force sensor.

[0093] Figure 64 is a drawing for explaining an embodiment showing a method for correcting parallelism.

[0094] Figure 65 is a perspective view of an automatic cooking device according to one embodiment of the present invention.

[0095] Fig. 66 is a front view of an automatic cooking device according to one embodiment of the present invention.

[0096] Figure 67 is a drawing showing a side view and a top view of the top grill portion of an automatic cooking device according to one embodiment of the present invention.

[0097] Fig. 68 is a drawing exemplarily showing a pressure value displayed on a display unit according to one embodiment of the present invention.

[0098] FIG. 69 is a drawing exemplarily showing a cooking object being transported by a spatula assembly according to one embodiment of the present invention.

[0099] Fig. 70 is a drawing exemplarily showing a surface of a top grill portion being cleaned by a top grill cleaner according to one embodiment of the present invention.

[0100] FIG. 71 is a schematic drawing of a warmer plate of an automatic cooking device according to one embodiment of the present invention.

[0101] Fig. 72 is a drawing exemplarily showing a safety sensor mounted on an automatic cooking device according to one embodiment of the present invention.

[0102] FIG. 73a is a drawing showing another type of arrangement structure in contrast to the arrangement structure of an automatic cooking device according to one embodiment of the present invention.

[0103] FIGS. 73b and 73c are drawings for explaining various modifications to the position of the control unit of an automatic cooking device according to one embodiment of the present invention.

[0104] FIG. 74 is a drawing exemplarily showing pressure values ​​before and after posture correction is performed according to one embodiment of the present invention.

[0105] FIG. 1 is a block diagram illustrating an automatic cooking system (100) according to an embodiment of the present invention. Referring to FIG. 1 (a), the automatic cooking system (100) includes an interface unit (10), an automatic cooking management module (20), at least two cooking modules (30), a packaging module (40), and an assembler module (50). The interface unit (10) performs the function of an interface for performing at least one of system operation confirmation, system control, cooking order, and schedule management. The automatic cooking management module (20) confirms and manages a plurality of modules constituting the system. The packaging module (40) supplies packages and receives and packages completed food assembled on the packages from the cooking modules (30). The assembler module (50) is controlled by the automatic cooking management module to move packages and food being cooked between the cooking modules (30) and the packaging module (40). In the automatic cooking system (100), a combination of at least one cooking module (30), a packaging module (40), and an assembler module (50) is referred to as a local module.

[0106] As illustrated in (b) of FIG. 1, the plurality of cooking modules (30) include a cache (41) that temporarily stores ingredients in a refrigerated, frozen, or room temperature state, a local processor (42) that is in charge of the functions of individual modules, and a sensor (43) that monitors the amount of the cache (41) or the normal operation of the local processor (42). In addition, the packaging module (40) and the assembler module (50) include sensors (43, 53) that monitor the normal operation. The sensors (43, 53) are attached to the cooking modules (30), the packaging module (40), and the assembler module (50) to monitor the amount of the cache (41) or the normal operation of the local processor (42), and are also attached to the entire system to enable real-time monitoring of operation by module, between modules, and monitoring of error situations. Sensor data collected by sensors (43, 53) is sent to the automatic cooking management module (20) in real time to perform corrective action through feedback, or can be accumulated and used for artificial intelligence learning based on big data.

[0107] When looking at the material flow diagram during operation, the plurality of cooking modules (30) move the ingredients stored in the cache (41) to the local processor (42) through the cache-to-local processor movement, perform cooking operations in the local processor (42), move to the assembler module (50) through the local processor-to-assembler module movement, assemble, and then move to the next module. For convenience, the automatic cooking system is described as a fully automatic cooking system. First, the interface unit (10), the automatic cooking management module (20), the plurality of cooking modules (30), the packaging module (40), and the assembler module (50) will be described in detail. The interface unit (10) is an interface through which a user can check and control the operation of the system, and performs operations such as checking cooking orders, system start and stop, schedule management, and system error elements. The interface unit (10) refers to a digital device that includes a function that can communicate after connecting to the automatic cooking management module (20).

[0108] As illustrated in (c) of FIG. 1, the automatic cooking management module (20) includes a scheduler unit (21), a data management unit (22), and a communication unit (23). The automatic cooking management module (20) is a digital device that includes a function capable of communicating with each module. The scheduler unit (21) identifies the modules connected to this system and controls the operation sequence of the modules according to the manufacturing process determined by the scheduling algorithm. The scheduler unit (21) can initially identify the number and status of each module connected to this system. The status at this time includes whether the module is available for use, whether there is an error, whether it has been cleaned, and the version. Based on the status and number of modules identified initially, the scheduler unit (21) determines a module operation sequence schedule for cooking the type and number of hamburger orders input from the interface unit (10) and controls each module through the communication unit (23). At this time, the module operation sequence schedule follows a set scheduling algorithm. The scheduler unit (21) estimates the cooking start time of the previous module calculated backward from the cooking completion time of the next module so that the waiting time for the cooking completion of the next module after the ingredients of each module are cooked can be minimized, thereby maximizing the freshness of the cooking. The scheduling algorithm includes a built-in scheduling algorithm and a scheduling algorithm directly defined by the user. An example of the built-in scheduling algorithm may be an algorithm that maximizes the amount of hamburgers cooked per hour. At this time, the built-in scheduling algorithm can be updated from the central server through the communication unit (23).

[0109] As illustrated in (c) of FIG. 1, the data management unit (22) processes and manages the outputs of the sensors (43, 53) in each module and transmits them to the scheduler unit (21). The outputs of the sensors (43, 53) include all signals involved in the hamburger manufacturing process, such as errors, video, digital images, infrared signals, weight, and temperature. The data management unit (22) can transmit and receive the collected data to and from the central server through the communication unit (23). The data management unit (22) can perform a function of learning the material management and module control model based on the data regarding the input of the interface unit (10). The estimation model according to one embodiment can be implemented using an artificial neural network such as a convolutional neural network (CNN) or a recurrent neural network (RNN).

[0110] Fig. 2 is a perspective view of a grill that is a local processor when the cooking module according to the present invention is a grill module. Fig. 3 is an exploded perspective view of a grill according to one embodiment of the present invention. As illustrated, a plurality of cooking modules (30) are provided with a cache (41) and a local processor (42) corresponding to each cooking. The grill module (33) includes a lower grill (331), an upper grill (332), a cooking object operating body (334), a guide (333), and a transport unit (335) that transports the guide (333) and the operating body (334). The lower grill (331) is configured to place a cooking object (P), and the upper grill (332) is configured to face the lower grill (331) in the vertical direction to contact the cooking object (P) and cook the cooking object (P). According to the operation of the transfer unit (335), the guide (333) and the operator (334) are configured to be able to put the food to be cooked into the lower grill (331) and to move and take out the cooked food. The lower grill (331) is connected to the lifting linear (71) so as to be able to move up and down. The transfer unit (335) includes a first linear (81a) that moves the guide (333) and the operator (334) in a first direction (x-axis), and a second linear (81b) that is mounted on the first linear (82a) on one side. The second linear (81b) includes a guide linear (821) and an operator linear (822) that respectively mount the guide (333) and the operator (334) and move them in the second direction (y-axis).

[0111] Fig. 4 is an exploded perspective view of the top grill of a grill according to one embodiment of the present invention. The top grill (332) has an induction coil (IC) built into a frame (F) and an induct plate (PT) provided at the bottom, and the induction coil (IC) is covered with a cover (C) on the upper side, and a Teflon sheet (S) is provided on the lower surface of the induct plate (PT) to prevent the patty (P) from sticking. The set of the induction coil (IC) and the induct plate (PT) is provided to correspond to the lower grill (331). The Teflon sheet (S) can replace a coating layer, and a clip (not shown) for attaching and detaching the Teflon sheet (S) can be provided. The top grill may have various heat source structures. The heat source structure may be configured as a circular coil structure. The heat source structure may be configured as a circular or rectangular structure. The heat source structure may be composed of multiple coils on a single top grill. The heat source structure may be composed of a heating wire structure.

[0112] Fig. 5 is an exploded perspective view of a lower grill according to an embodiment of the present invention, viewed from below. Fig. 6 is a drawing exemplarily showing various iron plate structures of a lower grill according to an embodiment of the present invention. Fig. 7 is a drawing exemplarily showing an upper grill and various linear structures according to an embodiment of the present invention. Fig. 8 is an exploded perspective view of a lower grill according to an embodiment of the present invention, viewed from above. Fig. 9 is a perspective view of an operating state of an operating body and a guide according to a first embodiment for manipulating a cooking object placed on a lower grill according to an embodiment of the present invention. Fig. 10 is a perspective view of an operating state of an operating body passing through a residue scraper provided on a lower grill according to an embodiment of the present invention.

[0113] As illustrated, the lower grill (331) is configured to have at least one induction coil (IC2) built into the frame (F2), cover the lower side of the induction coil (IC2) with a cover (C2), and uniformly transfer heat to each cooking object (P) to at least one induction coil (IC2). This is a drawing exemplifying various heat source structures of the lower grill. The heat source structure may be configured as a circular coil structure. The heat source structure may be configured as a circular square structure. The heat source structure may be configured as a plurality of coils in one upper grill. The heat source structure may be configured as a heating wire structure. The heat source structure may be configured as a plurality of heating wire structures.

[0114] Fig. 6 is a drawing exemplarily showing a structural heat source structure including various heat sources of the lower grill. The type of heat source of the lower grill may include induction and heating wire. In this case, the heat source of the upper grill corresponding to the lower grill may be configured with the same type as the heat source of the lower grill. Alternatively, the heat source of the upper grill corresponding to the lower grill may be configured with a different type from the heat source of the lower grill. The lower grill (331) may include an oil hole (H) in the frame (F) and an oil tray (T) that is introduced into and withdrawn from the frame (F). The oil tray (T) can collect and store residue and oil that has flowed out after grilling the food (P), and since it is configured in a form that is separate from the lower grill (331), it can be easily separated and cleaned even during operation of the patty grill module (33).

[0115] As illustrated in (a) of Fig. 6, the lower grille may be formed of a single iron plate (700b) such as stainless steel or steel and may receive heat from a heat source (700a). As illustrated in (b) of Fig. 6, the lower grille may be formed of a double iron plate structure including a first iron plate (700b) having relatively good durability, for example, an iron plate formed of stainless steel and steel, and a second iron plate (700c) having relatively better thermal conductivity than the first iron plate, for example, aluminum. Referring to Fig. 6 (b), in the double iron plate structure, the second iron plate (700c) having relatively high thermal conductivity from the heat source can quickly receive heat, and then transfer the received heat to the first iron plate (700b). Therefore, referring to Fig. 7e (b), in the double iron plate structure, heat can be quickly transferred to the first iron plate through the second iron plate (700c) having relatively high thermal conductivity.

[0116] As illustrated in (c) of Fig. 6, the lower grill may be configured as a triple-plate structure in which a first iron plate having relatively good durability, for example, stainless steel and steel, a second iron plate having relatively high thermal conductivity, for example, aluminum, and a third iron plate having relatively good durability, for example, stainless steel and steel. The triple-plate structure allows the third iron plate to receive heat from a heat source, transfer the heat received by the third iron plate to the second iron plate, and the second iron plate can transfer heat to the first iron plate. The triple-plate structure reduces the risk of fire or accident by preventing heat from being directly transferred from the heat source to the second iron plate having high thermal conductivity, and transfers heat to the first iron plate that comes into contact with the food being cooked.

[0117] According to the present invention, the types of heat sources of the upper grill (332) may include induction (761) and heating wires (771). At this time, the heat source of the lower grill (331) corresponding to the upper grill (332) may be configured with the same type as the heat source of the upper grill. Alternatively, the heat source of the lower grill (331) corresponding to the upper grill (332) may be configured with a different type from the heat source of the upper grill. In addition, the lower grill (331) has a structure that moves up and down. The linear (71) is located on the side of the lower grill (331) and is connected to the lower grill (331) to drive the lower grill (331) up and down. The linear (711) is located at the bottom of the lower grill (331) and is connected to the lower grill (331) to drive the lower grill (331) up and down.

[0118] Referring to FIGS. 9 and 10, the guide (333) is mounted on the guide linear (821) by forming a space as a frame to surround the outer edge of the cooking object (P) before or after it is placed on the lower grill (331). The operating body (334) is mounted on the operating body linear (822) by forming a plate that supports the lower surface of the patty (P) surrounded by the frame. The guide (333) and the operating body (334) can be interchanged depending on the type and condition of the material.

[0119] According to the present invention, the operating body (334) can have a function of moving a cooking object (P) stored in a cache in a frozen, refrigerated, or room temperature state onto the lower grill (331). The operating body (334) can have a function of capturing a cooked object (P'). The operating body (334) can have a function of lifting the cooked object (P') and moving it to the discharge unit (E) and releasing it on the discharge unit (E). The operating body (334) can have a function of lifting the cooked object (P') and placing the cooked object (P') on top of another cooking object (HBG) located in the discharge unit (E). The operating body (334) can have a function of cleaning cooking residue and oil through a scraping motion in the lower grill (331) after cooking is completed. The guide (333) restricts the movement of the cooking object (P) in the plane direction so that the operation of the operating body (334) can smoothly perform its role of moving the cooking object (P). After scraping the surface of the lower grill (331), the operating body (334) can pass between the residue scrapers (3341) to wipe off the residue on the operating body (334). The residue scraper (3341) can be made of a material that can flexibly contact and wipe off the operating body (334) while firmly maintaining its shape, i.e., an elastic material such as silicone or rubber.

[0120] FIGS. 11A to 11H are perspective views illustrating a sequence of moving a cooked patty on a lower grill according to an embodiment of the present invention. Referring to FIG. 11A, the guide (333) and the operating body (334) approach the first lower grill (61) by the first and second linear (81a, 81b) and the guide linear (821) and the operating body linear (822) of the transfer unit (335). The first lower grill (61) is positioned higher than the guide (333) and the operating body (334) by the first elevation linear (71) of FIG. 3. Referring to FIGS. 11A and 11B, in the state of FIG. 11A, the elevation linear (71) descends to lower the height of the first lower grill (61) to a height appropriate for insertion of the guide (333) and the operating body (334). Referring to Fig. 11b, the guide (333) is positioned vertically above the patty (P) by the guide linear (821).

[0121] Referring to FIGS. 11b and 11c, the lifting linear (71) rises so that the lower grill (331) rises and touches the guide (333). Referring to FIGS. 11c and 11d, the operating body (334) is inserted between the first lower grill (61) and the patty (P) by the operating body linear (822). Referring to FIGS. 11d and 11e, the lower grill (331) is lowered by the first lifting linear (71), thereby lowering the height of the first lower grill (61) to a height appropriate for the withdrawal of the guide (333) and the operating body (334). Referring to FIGS. 11E and 11F, the guide (333) and the operating body (334) are positioned vertically above the discharge portion (E) of the first grill (61) by the guide linear (821) and the operating body linear (822). Referring to FIGS. 11F and 11G, the operating body (334) is retracted by the operating body linear (822). The cooking object (P) is released, for example, downwards, from the operating body and the guide on the discharge portion (E). Alternatively, the cooking object (P) is settled on another cooking object (HBG) positioned on the discharge portion (E). Referring to FIGS. 11G and 11H, in the state of FIG. 11G, the guide (333) and the operating body (334) are retracted by the guide linear (821) and the operating body linear (822), thereby preparing for the next process.

[0122] Fig. 12 is a perspective view illustrating a state in which at least two lower grills independently raise and lower for one upper grill according to one embodiment of the present invention, and an operating body and a guide selectively operate on the lower grill. Fig. 13 is a front view illustrating a space formed in which an operating body and a guide advance between the upper and lower grills in a state in which one lower grill is raised and one lower grill is lowered according to one embodiment of the present invention. For one upper grill (332), at least two lower grills (331), that is, the first and second lower grills (62, 63), independently raise and lower the first and second elevating linear guides (71, 73). Therefore, a space is formed between the upper and lower grills (332, 331), so that the guide (333) and the operating body (334) can move. Accordingly, as the first hagrill (61) rises to cook the patty (P), the third hagrill (63) descends, and the guide (333) and the operating body (334) move into space, thereby performing the operation of putting in and taking out the cooking object (P) for the second hagrill (63). As a result, space can be saved with respect to the grill module (33), and the number of the first and second lifting linears (71, 73) and the guide linears (821) and the operating body linears (822) can be reduced.

[0123] Fig. 14 is a perspective view of a combined state of an operating body and a guide according to a first embodiment for manipulating a cooking object placed on a lower grill according to an embodiment of the present invention. Fig. 15 is a perspective view of an operating body and a guide according to an embodiment of the present invention. Fig. 16 is a perspective view illustrating an operating state of an operating body and a guide according to an embodiment of the present invention. Figs. 14 to 16 illustrate an automated process in which a guide (633) and an operating body (634) supply an uncooked cooking object and remove a cooked object after cooking.

[0124] As illustrated, the guide (633) is formed with a first space (S1) and a second space (S2) symmetrically formed on both sides of the intermediate space to selectively surround the outer surface of the patty (P) in both directions before or after being inserted into the lower grill (331), and is mounted on the guide linear (841). The operating body (634) is formed with a symmetrical plate that is disposed in the intermediate space (S3) and selectively operates in the first space (S1) and the second space (S2) to support the lower surface of the patty (P), and is mounted on the operating body linear (842). The support portion of the operating body (634) is inserted into the guide (633) from below through the third space (S3) of the guide (633), and can be moved to a position (first position) toward the first space (S1) or toward the second space (S2) by the operating body linear (842). For example, by operating the linear actuator (842), a pre-cooked food can be handled in the first space (S1), and a cooked food can be handled in the second space (S2). Accordingly, since the cooked food and the cooked food are handled by different parts of the guide (633) and the actuator (634), sanitary issues can be resolved.

[0125] As illustrated in FIGS. 17 and 18, the grill module (33) further includes a cooking object supply unit (85). The cooking object supply unit (85) is configured to store cooking objects (P) to be supplied to the lower grill (331) and supply them by discharging them one by one. For example, the cooking object supply unit (85) includes a cache (851), a separation operation unit (852), a separation bar (853), and a catch member (854). The cache (851) has a plurality of cooking objects (P) stacked and built-in and has a discharge port (8511) at the bottom. The separation operation unit (852) is configured to be inserted between the cooking objects (P) through the discharge port (8511) and then withdrawn to withdraw one cooking object (P). The separation bar (853) is provided on both sides of the separation operation body (852) and is configured to contact the outer side in the radial direction of the cooking object (P). The catch member (854) is configured to be folded when inserted and unfolded when withdrawn by interposing an elastic member (8541) at the tip of the separation bar (853) so that the cooking object (P) can be pulled out.

[0126] As illustrated, the separation operation body (852) is inserted into the discharge port (8511) of the cache (851). At this time, the separation bar (853) is advanced toward the side of the cooking object (P), and the catch member (854) is advanced in a folded state at the tip of the separation bar (853) while overcoming the elastic force of the elastic member (8541), and the separation operation body (852) is inserted between the lowest layer and the second layer among the stacked patties (P), thereby completing the insertion. At this time, the catch member (854) is unfolded by the elastic restoring force of the elastic member (8541) to catch the cooking object (P). In addition, in a state where the catch member (854) is unfolded and catches the cooking object (P), the separation operation body (852) is withdrawn from the discharge port (8511).

[0127] As illustrated in Fig. 20, when the catch member (854) is unfolded and the cooking object (P) is hung, the separation operation body (852) is completely withdrawn from the discharge port (8511). At this time, the separation operation body (852) mounted on the power transmission unit (8521) with a hinge and a torsion spring rotates due to the load of the cooking object (P), causing the patty (P) to fall from the separation operation body (852).

[0128] As illustrated in FIG. 21, the separation operation body (852) is inserted back into the discharge port (8511) of the cache (851) and is repeatedly operated in the state of FIG. 17. According to the general assembly order of a hamburger, the assembler module (50) moves to the discharge port of the packaging module (40) to receive packaging paper or boxes for assembling the hamburger, transfers them to a module according to the order of the menu among the cooking modules (30), and moves between the cooking modules (30). At this time, the assembler module (50) may be formed as one of a 1-axis robot, a 2-axis robot, a 3-axis robot, a 4-axis robot such as a SCARA robot, a 6-axis robot such as a collaborative robot arm, and an N-axis robot and an end effector that can be formed by adding a rotational motion to these multi-axis robots.

[0129] In the automatic cooking system (100), a combination of a cooking module, a packaging module, and an assembler module is referred to as a local module.

[0130] As illustrated in (b) of FIG. 22, the plurality of cooking modules (30) include a cache (41) that temporarily stores ingredients in a refrigerated, frozen, or room temperature state, a local processor (42) that is in charge of the functions of individual modules, and a sensor (43) that monitors the amount of the cache (41) or the normal operation of the local processor (42). In addition, the packaging module (40) and the assembler module (50) include sensors (43, 53) that monitor the normal operation. The sensors (43, 53) are attached to the cooking modules (30), the packaging module (40), and the assembler module (50) to monitor the amount of the cache (41) or the normal operation of the local processor (42), and are also attached to the entire system to enable real-time monitoring of operation by module, between modules, and monitoring of error situations. Sensor data collected by sensors (43, 53) is sent to the automatic cooking management module (20) in real time to perform corrective action through feedback, or can be accumulated and used for artificial intelligence learning based on big data.

[0131] When looking at the material flow diagram during operation, the plurality of cooking modules (30) move the materials stored in the cache (41) to the local processor (42) through cache-to-local processor movement, perform cooking operations in the local processor (42), move to the assembler module (50) through local processor-to-assembler module movement, assemble, and move to the next module.

[0132] As illustrated in (a) of FIG. 22, the interface unit (10) is an interface through which a user can check and control the operation of the system, and performs operations such as placing a cooking order, starting and stopping the system, managing a schedule, and checking system error elements. The automatic hamburger cooking system includes an interface unit (10), an automatic cooking management module (20), a plurality of cooking modules (30), a packaging module (40), and an assembler module (50). The interface unit (10) performs at least one of checking the operation of the system, controlling the system, and managing a cooking order and a schedule. The automatic cooking management module (20) checks and manages a plurality of modules constituting the system. The cooking modules (30) send data to the automatic cooking management module (20). The packaging module (40) supplies a package and receives a completed hamburger assembled on the package from the cooking modules (30) and packages it. The assembler module (50) is controlled by the automatic cooking management module to move the packaged and manufactured hamburger between the cooking modules (30) and the packaging module (40). For example, the plurality of cooking modules (30) include a grill module (31), a sauce dispenser module (32), a patty grill module (33), a cheese module (34), a filling dispenser module (35), and a slicing module (36).

[0133] As illustrated in (c) of FIG. 22, the automatic cooking management module (20) includes a scheduler unit (21), a data management unit (22), and a communication unit (23). The automatic cooking management module (20) is a digital device that includes a function capable of communicating with each module. The scheduler unit (21) checks the modules connected to this system and controls the operation order of the modules according to the manufacturing process determined by the scheduling algorithm. The scheduler unit (21) can primarily check the number and status of each module connected to this system. The status at this time includes whether the module is available for use, whether there is an error, whether it is being cleaned, and the version.

[0134] The scheduler unit (21) determines the module operation sequence schedule for cooking the type and number of hamburger orders input from the interface unit (10) based on the status and number of modules identified in the first stage, and controls each module through the communication unit (23). The module operation sequence schedule at this time follows a determined scheduling algorithm. The scheduler unit (21) estimates the cooking start time of the previous module calculated backward from the cooking completion time of the next module so that the waiting time for the cooking completion of the next module after the ingredients of each module are cooked can be minimized, thereby maximizing the freshness of the cooking.

[0135] Scheduling algorithms include built-in scheduling algorithms and user-defined scheduling algorithms. An example of a built-in scheduling algorithm may be an algorithm that maximizes the amount of hamburgers cooked per hour. In this case, the built-in scheduling algorithm may be updated from the central server via the communication unit (23).

[0136] The data management unit (22) processes and manages the output of the sensors (43, 53) in each module and transmits it to the scheduler unit (21). The output of the sensors (43, 53) includes all signals involved in the hamburger manufacturing process, such as whether there is an error, video, digital image, infrared signal, weight, temperature, etc. The data management unit (22) can transmit and receive the collected data to and from the central server through the communication unit (23). The data management unit (22) can perform the function of learning the material management and module control model based on the data regarding the input of the interface unit (10). The communication unit (23) is composed of a communication network that connects the interface unit (10), the automatic cooking management module (20), a plurality of cooking modules (30), the packaging module (40), the assembler module (50), and the central server (not shown).

[0137] The bun grill module (31) is configured to handle bread, and the material handled by the bun grill module (31) is not limited to bread, but includes rice shaped to replace the role of a burger bun or material for stacking and wrapping the inner ingredients of a hamburger from top to bottom. Depending on the type and characteristics of the bun, it is stored in a cache (41) in a frozen, refrigerated, or room temperature state, and the cooking time and temperature can be controlled by a local processor (42) during cooking. In the bun grill module (31), the cache (41) can also be configured to block external air to prevent the outer surface of the bun from drying out.

[0138] The grill module (31) may include sensors (43), for example, a pressure sensor or a position sensor, and may control and monitor the cooking degree of the bun by feeding back appropriate cooking pressure, time, position, etc. to the control unit (51) of the assembler module (50) according to the type and state of the bun (for example, the thickness and temperature of the bun). The sensors (43) of the grill module (31) may further include a state measurement sensor that can determine the cooking degree of the bun temperature, hardness, and color, thereby controlling the cooking temperature and time of the bun.

[0139] The assembler module (50) is configured to move the ingredients to the discharge ports of the cooking modules (30) and the packaging module (40) so that the ingredients can be sequentially supplied to the packaging paper or box. The control unit (51) of the assembler module (50) is configured to control the packaging paper or box containing the ingredients to wait or move and to communicate with the automatic cooking management module (20). The control unit (51) controls the assembler module (50) based on an input signal of the automatic cooking management module (20) and serves to communicate the status of the assembler module (50) to the automatic cooking management module (20). At this time, the status of the assembler module (50) may include whether it is operable, whether it is currently operating, whether there is an error, and the operating speed.

[0140] The sauce dispenser module (32) is configured to dispense sauce or dressing ingredients through digital input. Ingredients handled by the sauce dispenser module (32) may include hamburger sauce, salad dressing, ice cream syrup, fruit jam, and various edible liquids. The sauce dispenser module (32) dispenses the sauce based on the input signal of the automatic cooking management module (20). At this time, the status of the sauce dispenser module (32) may include at least one of the amount of remaining sauce, detection of an object at an automatic spraying location, whether operation is possible, whether current operation is in progress, and whether there is an error.

[0141] The patty grill module (33) includes a form that grills beef, pork, chicken, or vegan food on a grill, and a form that fries shrimp, chicken, and potato hash browns in a deep fryer. Taking the grill as an example, the grill module includes a heating device for cooking patties, and may include one or more of induction, a heating wire, an electromagnetic wave device, and an infrared device as a heat source.

[0142] The grill module may further include a seasoning module (not shown) for seasoning with salt, pepper, and herbs during cooking depending on the type of patty, and the control unit (not shown) of the fryer module may adjust the seasoning time, type, and capacity. Taking a fryer as an example, the fryer module may perform the operation of putting the patty in and taking it out of the oil, and may filter out debris in the oil after the frying is finished, and may perform the oil replacement operation depending on the oil acidity measurement result. The cache of the patty grill module (33) may be maintained in a frozen, refrigerated, or room temperature state depending on the characteristics of the patty, and may include packaging that blocks the inflow and flow of external air to maintain freshness.

[0143] The cheese module (34) supplies cheese onto a hamburger being assembled on a packaging paper or box located at the discharge port of the cheese module (34) by the assembler module (50). At this time, the type of cheese includes at least one of sliced, shredded, and liquid cheese. The cheese module (34) can supply cheese stored in a cache that temporarily stores cheese, which can be refrigerated, frozen, or maintained at room temperature, directly to the assembler module (50), or can heat the cheese to an appropriate temperature through a local processor such as a heater or oven and supply it to the assembler module (50).

[0144] The filling dispenser module (35) supplies various fillings at a set rate and in a set quantity according to the menu on top of a hamburger being assembled on the packaging paper or box located at the discharge port. At this time, the fillings include onions, lettuce, and pickles. The filling dispenser module (35) can supply the fillings stored in a cache that temporarily stores ingredients that can be refrigerated, frozen, or kept at room temperature directly to the assembler module (50), or can block the liquid flowing out of the fillings through a local processor such as a liquid blocker and supply only the ingredients to the assembler module (50). The slicing module (36) supplies various fillings by slicing them on top of a hamburger being assembled on the packaging paper or box located at the discharge port by the assembler module (50). At this time, the fillings include at least one of onions, tomatoes, pickles, and cheese.

[0145] The slicing module (36) can cut the filling material temporarily stored in a cache (41) that can be refrigerated, frozen, or maintained at room temperature into an appropriate thickness using a local processor (42) composed of one or more of a straight blade, a rotary blade, and a string blade, and the cut filling material is supplied to the assembler module (50).

[0146] As illustrated in FIGS. 23 and 24, the patty grill module (33) includes a lower grill (331), an upper grill (332), a guide (333), and a transfer unit (335) for transferring a spatula (334). The lower grill (331) is configured to place a patty (P) as a cooking object, and the upper grill (332) is configured to face the lower grill (331) in the vertical direction to contact the patty (P) and cook the patty (P). Depending on the operation of the transfer unit (335), the guide (333) and the spatula (334) are configured to put the patty (P) into the lower grill (331) and move and take out the cooked patty (P).

[0147] The upper grill (332) is formed as one, and the lower grill (331) includes at least a first lower grill (61) and a second lower grill (62). In the present embodiment, the lower grill (331) is formed of three first, second, and third lower grills (61, 62, 63), but may be formed of a greater number. For convenience, the description will be made with reference to the first, second, and third lower grills (61, 62, 63). The first lower grill (61) is movably connected to the first lifting linear (71), and the second and third lower grills (62, 63) are movably connected to the second and third lifting linear (72, 73).

[0148] The transfer unit (335) includes a first linear (81a) that moves a guide (333) and a spatula (334) in a first direction (x-axis), and a second linear (81b) that is mounted on one side of the first linear (81a). The second linear (81b) includes a guide linear (821) and a spatula linear (822) that respectively mount the guide (333) and the spatula (334) and move them in a second direction (y-axis).

[0149] As illustrated in FIGS. 25 to 28, the top grill (332) is configured to have an induction coil (IC) built into a frame (F) and an induct plate (PT) provided at the bottom, cover the upper side of the induction coil (IC) with a cover (C), and provide a Teflon sheet (S) on the lower side of the induct plate (PT) to prevent the patty (P) from sticking. The induction coil (IC) and induct plate (PT) sets are provided to correspond to the first, second, and third grills (61, 62, 63), respectively. The Teflon sheet (S) can replace a coating layer, and a clip (not shown) for detaching the Teflon sheet (S) can be provided. The lower grill (331) is configured to have four induction coils (IC2) built into the frame (F2), cover the lower side of the induction coils (IC2) with a cover (C2), and connect the four induction coils (IC2) to each other so that heat is evenly transferred to each patty (P).

[0150] The induction circuit shares one, and since it is affected by the inductance value of the induction coil (IC2), two of the induction coils (IC2) are connected in parallel and the remaining two are connected in series to maintain the inductance value. In order to minimize the cancellation effect due to interference between the induction coils (IC2), two are connected so that the current flows clockwise and two counterclockwise (i.e., the same directions are located diagonally). The lower grill (331) may include an oil hole (H) in the frame (F) and an oil tray (T) that is introduced or drawn into the frame (F). The oil tray (T) can collect and store the residue and the oil that flows out after grilling the patty (P), and since it is configured to be separate from the lower grill (331), it can be easily separated and cleaned even while the patty grill module (33) is in operation.

[0151] Referring to FIGS. 27 and 28, the guide (333) is mounted on the guide linear (821) by forming a space as a frame to surround the periphery of the patty (P) before or after being placed on the lower grill (331). The spatula (334) is mounted on the spatula linear (822) by forming a plate to support the lower surface of the patty (P) surrounded by the frame. The guide (333) and the spatula (334) can be interchanged depending on the type and condition of the material.

[0152] The spatula (334) moves the patty (P) stored in the cache at a frozen, refrigerated, or room temperature state onto the lower grill (331), and also lifts the fully cooked patty (P) and moves the patty (P) onto the hamburger (HBG) located at the discharge portion (E). It is configured to clean the patty residue and oil through a scraping motion in the lower grill (331) after cooking is completed. The guide (333) restricts the movement of the patty (P) in the plane direction so that the spatula (334) can smoothly perform its function of moving the patty (P) by assisting the operation of the spatula (334).

[0153] After scraping the surface of the lower grill (331), the spatula (334) can pass between the residue scrapers (3341) to wipe off the residue on the spatula (334). The residue scraper (3341) can be made of a material that can maintain its shape firmly while flexibly coming into contact with the spatula (334) to wipe off the residue, i.e., an elastic material such as silicone or rubber.

[0154] The guide (333) and the spatula (334) approach the first hagrill (61) by the first and second linear (81a, 81b) and the guide linear (821) and the spatula linear (822) of the transfer unit (335). The first hagrill (61) is positioned higher than the guide (333) and the spatula (334) by the first elevation linear (71). The first elevation linear (71) descends to lower the height of the first hagrill (61) to a height suitable for insertion of the guide (333) and the spatula (334). The guide (333) is positioned vertically above the patty (P) by the guide linear (821). The first lifting linear (71) rises, and the first hagrill (61) rises and touches the guide (333). In this state, the spatula (334) is inserted between the first hagrill (61) and the patty (P) by the spatula linear (822). The first hagrill (61) is lowered by the first lifting linear (71), and the height of the first hagrill (61) is lowered to a height appropriate for the withdrawal of the guide (333) and the spatula (334). The guide (333) and the spatula (334) are positioned vertically above the discharge portion (E) of the first hagrill (61) by the guide linear (821) and the spatula linear (822). The spatula (334) is retracted by the spatula linear (822), so that the patty (P) is placed on the hamburger (HBG) being manufactured at the discharge portion (E). The guide (333) and the spatula (334) are retracted by the guide linear (821) and the spatula linear (822), thereby preparing for the next process.

[0155] Fig. 29 is a perspective view illustrating a state in which three lower grills independently raise and lower for one upper grill and a spatula and a guide selectively operate on the lower grill. Fig. 30a is a front view illustrating a space formed in which a spatula and a guide advance between the upper and lower grills in a state in which two lower grills are raised and one lower grill is lowered. Fig. 30b is a perspective view of a grill to which a grill module according to another embodiment is applied. Fig. 30c is a top view illustrating a relationship between the arrangement of a cooking object on the lower grill and a release position in an automatic hamburger cooking system (100) according to one embodiment of the present invention.

[0156] For one upper grill (332), three lower grills (331), i.e., the first, second, and third lower grills (61, 62, 63), are independently raised and lowered by the first, second, and third elevation linear guides (71, 72, 73). Accordingly, a space is formed between the upper and lower grills (332, 331), so that the guide (333) and the spatula (334) can move. Accordingly, while the first and second lower grills (62, 63) are raised to cook the patty (P), the third lower grill (63) is lowered, so that the guide (333) and the spatula (334) move into the space to perform the operation of putting in and taking out the patty (P) for the third lower grill (63). Due to this, space can be saved based on the petti grill module (33), and the number of the first, second, and third lifting linear (71, 72, 73) and the guide linear (821) and the spatula linear (822) can be reduced.

[0157] As illustrated in Fig. 30c, the cooked objects (P1 - P8) placed on the lower grill have their release positions determined in correspondence with their placement positions on the lower grill. For example, the cooked objects (P1 - P8) are released in positions on other cooking objects (B1 - B8) located in the discharge section (E) in correspondence with their placement positions on the lower grill.

[0158] The automatic cooking device includes a lower grill (331) on which the cooking object can be placed. The automatic cooking device may include an operating body assembly (333, 334) extending in a first direction and capable of capturing the cooking object from a position at which the cooking object is placed on the lower grill and releasing the cooking object at a release position. The automatic cooking device may include a transport unit (335) capable of transporting the operating body assembly (333, 334) in the first direction and the second direction. The automatic cooking device may be configured such that the release position of the cooked object placed on the lower grill (331) is determined corresponding to the position at which the cooked object is placed on the lower grill (331). The cooking device may cook different types of cooking objects by configuring the cooked object placed on one lower grill (331) to correspond to the position at which the cooked object is placed on the lower grill (331). Referring to Fig. 30c, for example, even when the burger menu types are arranged into the first group of B1, B4, and B8 and the second group of B2, B3, B5, B6, and B7, P1-P8 and B1-B8 are configured to correspond to each other, so it is possible to cook different burger menus. Conversely, even when the patties (P1-P8) are different, cooking is possible because P1-P8 and B1-B8 are configured to correspond to each other as described above.

[0159] The automatic cooking device above enables quick cooking by configuring the cooked food placed on the lower grill (331) to correspond to the position placed on the lower grill (331), and can also cook different types of food, so that quick cooking is possible even when cooking multiple menus.

[0160] The automatic cooking device can efficiently control the order in which a plurality of cooked objects (P1 to P8) are moved to the release position and released. For example, among the cooked objects (P1 to P8), the cooked objects (P1, P2) located closer to the transfer unit can be released before the cooked objects (P3, P4) located farther from the transfer unit. The automatic cooking device for automatically cooking an object to be cooked includes a lower grill (331) on which the object to be cooked can be placed. The automatic cooking device includes an operating body assembly (333, 334) extending in a first direction and capable of capturing the object to be cooked from a position arranged on the lower grill and releasing it at a release position. The automatic cooking device includes a transfer unit (335) capable of transferring the operating body assembly (82) in the first direction and the second direction.

[0161] Referring to FIG. 30c, the automatic cooking device can operate to release the cooking objects (P1, P2) located closer to the transfer unit (335) among the plurality of cooking objects (P1-P8) mounted on the lower grill (331) before the cooking objects (P3, P4) located farther from the transfer unit (335).

[0162] The grill module (33) includes a lower grill (331), a top grill (not shown), a cooking object operating body (334), a guide (333), and a transport unit for transporting the guide (333) and the operating body (334). The transport unit includes a rotary arm (1081a) for rotating the guide (333) and the operating body (334) around a vertical rotation axis (z-axis), and a second linear (82) mounted on the rotary arm (1081a). The second linear (82) includes a guide linear (821) and an operating body linear (822) for mounting the guide (333) and the operating body (334) respectively and horizontally moving them in the circumferential direction from the rotation axis. The horizontal position aiming of the guide on the lower grill is performed by the rotational movement of the rotary arm (1081a). Adjusting the horizontal position of the operating body and guide to the release position is achieved by the rotational movement of the rotary arm (1081a) and the guide linear (821) and operating body linear (334) so ​​that the guide (333) and operating body (334) are positioned vertically above the discharge portion (E) of the first hagrill (61).

[0163] Fig. 31 is a perspective view of an automatic cooking device according to one embodiment of the present invention. Fig. 32 is a front view of an automatic cooking device according to one embodiment of the present invention. The automatic cooking device (10') is a device that automatically cooks and transports a cooking object, and may include an upper grill part (100'), a lower grill part (200'), and an operating body assembly (300'). Here, the cooking object may be a flat food material that requires double-sided cooking, such as a hamburger patty, bread, or steak.

[0164] The top grill portion (100') of the automatic cooking device (10') according to one embodiment of the present invention may be formed in a substantially square plate shape and may have a heat source therein to perform the function of applying heat to the upper surface of the object to be cooked. In one embodiment, the top grill portion (100') may include an induction coil, a heating wire, an electromagnetic wave device, an infrared device, or the like as a heat source.

[0165] According to one embodiment of the present invention, the lower surface of the top grill part (100'), which is the surface that comes into contact with the food to be cooked, may be provided with a Teflon sheet to prevent the food from sticking during the cooking process. In one embodiment, the Teflon sheet may be detachably mounted on the lower surface of the top grill part (100'). The top grill part (100') may include a sensor part (110') configured to measure pressure applied to the top grill part (100'). In one embodiment, the sensor part (110') may include a plurality of force sensors, and the plurality of force sensors may be installed in different areas of the top grill part (100') and configured to measure pressure applied to different areas of the top grill part (100'), respectively.

[0166] FIG. 33 is a drawing showing a side view and a top view of the top grill part of an automatic cooking device according to an embodiment of the present invention. The sensor part (110') may include at least two force sensors (111', 112'), and at least two force sensors (111', 113') may be installed on the upper surface of the top grill part (100'). Specifically, at least two force sensors (111', 113') may be installed at positions corresponding to at least two corner regions of the top grill part (100'). Accordingly, at least two force sensors (111', 113) may measure pressure for each of at least two different corner regions of the top grill part (100'). However, the present invention is not limited thereto, and the number and installation positions of the force sensors may be changed depending on the size, shape, etc. of the top grill part.

[0167] According to one embodiment of the present invention, the sensor unit (110') may be configured to operate at a point in time when the upper surface of the lower grill unit (200') comes into contact with the lower surface of the upper grill unit (100') while the lower grill unit (200') moves toward the upper grill unit (100'). In one embodiment, the sensor unit (110') may measure in real time the pressure applied to the upper grill unit (100') by the lower grill unit (200'). The pressure value measured by the sensor unit (110') may be provided to the user through the display unit (700'). In one embodiment, the display unit (700') may display in real time the pressure value measured by each force sensor of the sensor unit (110').

[0168] Fig. 34 is a drawing exemplarily showing a display of a pressure value according to one embodiment of the present invention. When at least two force sensors are installed on the upper surface of the upper grill portion (100'), the pressure values ​​measured by each force sensor (111, 113') are displayed on the display portion (700'). The display portion (700') can display the pressure values ​​measured by each force sensor at a position corresponding to the position of each force sensor.

[0169] The lower grill part (200') of the automatic cooking device (10') according to one embodiment of the present invention may have a heat source therein and perform a function of applying heat to the lower surface of an object to be cooked. In one embodiment, the lower grill part (200') may include an induction coil, a heating wire, an electromagnetic wave device, an infrared device, etc. as a heat source. The lower grill part (200') may be arranged at a position facing the upper grill part (100') and configured to move along a direction (Z-axis direction) toward the upper grill part (100'). In one embodiment, one side of the lower grill part (200') may be coupled to an elevation part (600') configured to move the lower grill part (200') along a direction (Z-axis direction) toward the upper grill part (100'). When the lower grill part (200') is raised toward the upper grill part (100') while the cooking object is placed on the upper surface of the lower grill part (200'), the upper surface of the cooking object placed on the lower grill part (200') is brought into close contact with the upper grill part (100'), and heat is applied simultaneously to both sides of the cooking object by the upper grill part (100') and the lower grill part (200'), so that the cooking object can be cooked more quickly.

[0170] Fig. 35 is a schematic diagram of a lower grill unit according to one embodiment of the present invention. The lower grill unit (200') may be provided with a cooking plate (210') configured to allow a cooking object to be placed on its upper surface. The cooking plate (210') may be formed in a substantially rectangular plate shape and may be divided into a plurality of cooking regions so that a plurality of cooking objects can be cooked simultaneously. For example, the cooking plate (210') may be divided into at least two cooking regions based on a center point. Here, a heat source may be arranged at a position corresponding to each cooking region, so that heat can be uniformly transferred to the cooking objects arranged in each cooking region.

[0171] According to one embodiment of the present invention, a channel (230') configured to discharge oil generated during cooking may be formed in the lower grill part (200'). In one embodiment, the channel (230') may be formed as a groove of a constant width along the edge of the cooking plate (210'), and may be formed in a shape in which one side is inclined so that the oil can flow well. For example, the channel (230') may be formed in a shape in which it is inclined in a direction toward the oil discharge part installed in the front part of the lower grill part (200'). The corner part of the channel (230') may be filleted, so that oil, residue, etc. can be cleanly removed without getting stuck in the corner part.

[0172] According to one embodiment of the present invention, an operating body cleaner assembly (250) that performs the function of cleaning oil, residue, etc. stuck to the operating body (310) described below may be installed on one side of the lower grill portion (200).

[0173] FIG. 36A is a drawing showing an operating body cleaner assembly of a lower grill portion according to one embodiment of the present invention. An operating body cleaner coupling portion (251') is installed on one side of the lower grill portion (200'), and an operating body cleaner (253') is coupled to the operating body cleaner coupling portion (251'), so that the operating body cleaner assembly (250') can be installed on the lower grill portion (200'). In one embodiment, the operating body cleaner (253') can be coupled to the operating body cleaner coupling portion (251') in a detachable form. The operating body cleaner (253) can be made of a material that can flexibly contact the operating body (310') while firmly maintaining its shape. For example, the operating body cleaner (253') can be made of a material having a predetermined elasticity, such as silicone or rubber.

[0174] FIGS. 36b, 37, and 38 are drawings showing various embodiments of the operator cleaner assembly of the lower grill portion according to one embodiment of the present invention. The operator cleaner (253') can be configured at various locations on the lower grill portion. The operator cleaner (253') can be located at the center of one side of the lower grill portion. The operator cleaner (253') can be located at either side of one side of the lower grill portion. The operator cleaner (253') can be located away from one side of the lower grill portion. In this case, the operator cleaner (253') can be attached to a separate structure. The operator cleaner (253') is located at the center, but can be located at any side.

[0175] Figures 36b, 37, and 38 are drawings showing various embodiments of the operating body cleaner assembly of the lower grill portion according to one embodiment of the present invention. An oil tray (421, 422) may be configured on one side of the lower grill portion. At this time, the lower surface of the oil tray (421, 422) may be configured to be the same as or differently from the lower surface of the lower grill.

[0176] Referring to (a) of Fig. 37, the operating body cleaner may include a silicone scraper (4291, 4292). At this time, the silicone scraper may be configured with at least one or more. It is a structure configured with two silicone scrapers (4291, 4292). At this time, the two scrapers are configured to correspond to each other. The operating body cleaner may be configured with at least one or more metal scrapers. Referring to (b) of Fig. 37, the operating body cleaner may be configured with three scrapers. Here, the metal scrapers are configured with an upper scraper (4201), a lower scraper (4202), and a side scraper (4203). Referring to Fig. 42j, the upper scraper (4201) and the lower scraper (4202) correspond to each other and may be configured in a vertical direction.

[0177] Referring to (c) of Fig. 37, the metal scrapers of the operating body cleaner are composed of an upper scraper (4211), a lower scraper (4212), and a side scraper (4213). At this time, the upper scraper (4201) and the lower scraper (4212) can be configured to be inclined relative to each other. The upper scraper (4211) and the lower scraper can be composed of an elastic metal material.

[0178] Referring to Fig. 38, the upper scraper (4222) and the lower scraper (4221) may be configured in multiple units. At this time, the upper scraper (4222) and the lower scraper (4221) may both be configured of the same material. For example, they may all be obtained as scrapers made of metal or silicon. The upper scraper (4222) and the lower scraper (4221) may be configured of different materials. For example, they may be configured by mixing scrapers made of metal or silicon. The upper scraper (4222) and the lower scraper (4221) may sequentially configure the scraper configuration. For example, referring again to Fig. 42l, among the multiple upper and lower scrapers, the upper scraper and the lower scraper that first encounter the debris may be configured as metal scrapers.

[0179] The operating body assembly (300') of the automatic cooking device (10') according to one embodiment of the present invention can perform the function of capturing or transporting a cooking object to the lower grill part (200').

[0180] Fig. 39 is a schematic drawing of an operating body assembly of an automatic cooking device according to one embodiment of the present invention. The operating body assembly (300') of the automatic cooking device (10') may include an operating body (310'), an operating body guide (330'), and a transport unit (350').

[0181] Figures 40a and 40b are drawings showing various embodiments of an operating body according to one embodiment of the present invention. The operating body (310') may include a mounting portion (311'), a separation portion (313'), and a coupling portion (first coupling portion) (315'). The mounting portion (311') of the operating body (310') is a means for mounting a cooking object spaced from the lower grill portion (200'). The mounting portion (311') may be formed in a rectangular plate shape with a size corresponding to the size of the cooking object so that the cooking object can be stably mounted.

[0182] According to one embodiment of the present invention, the separation portion (313') of the operating body (310') can perform a function of separating a cooking object placed on the upper surface of the lower grill portion (200') from the lower grill portion (200'). Specifically, the lower grill portion (200') can perform a function of removing the cooking object from the upper surface of the lower grill portion (200'). The separation portion (313') of the operating body (310') performs a function of separating the cooking object from the lower grill portion (200') independently or in cooperation with the mounting portion (311') or in cooperation with the support portion of the operating body guide (333').

[0183] The operating body assembly (300') of the automatic cooking device (10') may include an operating body (310'), an operating body guide (330'), and a transfer portion (350') that can be transferred in the first direction, respectively. Here, the automatic cooking device includes a mounting portion (311') for mounting a cooking object and a coupling portion (315') for coupling the operating body (310') to the transfer portion (350'), and the operating body guide (330') may include a support portion (313') extending from one side of the first direction toward the cooking table, and a coupling portion (315') for coupling the support portion (313') to the transfer portion (350'). The support portion (313') may be configured with a separation portion (313'). Here, the support member (313') may be composed of a plurality of separation members (C) at least twice downward from one side of the anchoring member (311').

[0184] Figure 41a is a schematic diagram illustrating a separation function by an operating body assembly according to another embodiment of the present invention. The operating body (310') or the operating body guide (330') may be moved to approach the cooking object, and the operating body (310') may be inserted between the contact surface of the cooking surface and the cooking object, so that the cooking object is seated on the seating portion.

[0185] When the separation part (313') of the operating body (310') is in contact with the surface of the lower grill part (200'), and the cooking object and the separation part (313') come close to each other, and the tip of the separation part (313') comes into contact with the end of the contact portion between the upper surface of the lower grill part (200') and the contact portion of the cooking object, the tip of the separation part (313') is inserted into the gap between the upper surface of the lower grill part (200') and the contact portion of the cooking object. In other words, the tip of the separation part (313') squeezes into the gap between the upper surface of the lower grill part (200') and the contact portion of the cooking object.

[0186] Referring to (b) of Fig. 41a, as the cooking object and the separation portion (313') come closer together, the tip of the separation portion (313') further enters the gap between the upper surface of the lower grill portion (200') and the contact surface of the cooking object, and accordingly, the separation area between the upper surface of the lower grill portion (200') and the contact surface of the cooking object increases. As a result, the cooking object is completely separated from the upper surface of the lower grill portion (200'). The movement of the separation portion (313') and the lower grill portion (200') in the direction of approaching each other can proceed until the cooking object is completely seated on the separation portion (313') or the seating portion (311'). The movement of the separation portion (313') and the lower grill portion (200') toward each other may proceed until the cooking object leaves the separation portion (313') and is completely seated on the settling portion (313'). Although the cooking object is shown as being completely seated on the settling portion (313'), the cooking object may be seated partially on the separation portion (313') and partially on the settling portion (313').

[0187] Meanwhile, in general, after cooking patties or the like on a grill, residues such as grease and residue from the grill must be scraped off, and for this purpose, a separate tool must be used. However, the operating body (310') according to one embodiment of the present invention can scrape off residues on the surface of the lower grill part (200') while sliding with the inclined end of the inclined part (313') in contact with the surface of the lower grill part (200'), thereby also performing the function of a scraper. The connecting portion (first connecting portion) (315') of the operating body (310') is arranged symmetrically on both sides of the mounting portion (311') to perform the function of connecting and coupling the operating body (310') to the transfer portion (350'). One end of the coupling portion (first coupling portion) (315') can be coupled to the transfer portion (350'), and the coupling portion (first coupling portion) (315') can be easily detachably coupled to the transfer portion (350') for easy cleaning and replacement.

[0188] Meanwhile, in the process of moving the cooking object away from the lower grill part (200') or in the process of scraping the surface of the lower grill part (200') to remove residues, etc., stuck to the surface of the lower grill part (200'), foreign substances such as residues and oil may stick to the operating body (210'), and the foreign substances such as residues and oil stuck to the operating body (210') can be completely removed by the operating body cleaner (253') installed on the lower grill part (200').

[0189] Fig. 48 is a drawing exemplarily showing an operation body being automatically cleaned by an operation body cleaner according to one embodiment of the present invention. As the operation body (310') moves left and right (based on the drawing) in accordance with the movement of the transport unit (350'), the operation body (310'), specifically the inclined portion (313') of the operation body (310'), passes between the operation body cleaners (253'), and thus residues such as oil and debris on the inclined portion (313') of the operation body (310') can be removed.

[0190] The automatic cooking device may include a transport unit (335) that operates a linear unit (82), and an elevation linear unit (71, 72) that operates the first lower grill (61) and the second lower grill (62) up and down. The cooking table may be configured as a fixed cooking table. The cooking table may be configured as a non-fixed conveyor belt (not shown) for the safety of the worker. In particular, in the case where there is a linear unit (82) that operates around the cooking table and in the case of a structure that is dangerous to the worker due to a hot upper grill or lower grill, the cooking table may be configured as various moving means (not shown) such as a conveyor belt.

[0191] Referring to (a) of Fig. 49, the linear section (82) is located in the center between the first hagrill (61) and the second hagrill (62). The linear section (82) is located in the center and can move left and right in the X-axis direction. The operating body (not shown) of the linear section (82) can move in the Y-axis direction. At this time, the lifting linear (71, 72) can be located on one side of the hagrill rather than between the first hagrill (61) and the second hagrill (62).

[0192] Referring to (b) of Fig. 49, the transfer parts (335a, 335b) can be located at both left and right ends in the X-axis direction, not between the first hagrill (61) and the second hagrill (62). The linear part (82) connected to the transfer parts (335a, 335b) can operate in the Y-axis direction. At this time, the operating body (not shown) can operate in the X-axis direction. Referring to (c) of Fig. 49, the transfer parts (335a, 335b) are located at both left and right ends in the X-axis direction, not between the first hagrill (61) and the second hagrill (62). At this time, the cooking surface can be located at the ends of the transfer parts (335a, 335b) in the Y-axis direction, as in Fig. 46d. At this time, the lifting linear (71, 72) can be positioned on the first hagrill (61) and the second hagrill (62) on a side other than the cooking surface. At this time, the linear part (82) connected to the transfer part (335a, 335b) can operate in the Y-axis direction. At this time, the operating body (not shown) can operate in the X-axis direction.

[0193] Referring to (d) of FIG. 49, as a modified example of another embodiment, the transfer units (335a, 335b) are located at the left and right ends in the X-axis direction, not between the first hagrill (61) and the second hagrill (62). At this time, the cooking surface may be located at either of the left and right ends of the linear unit (82) in the X-axis direction, not between the first hagrill (61) and the second hagrill (62) in the X-axis direction. At this time, the linear unit (82) connected to the transfer units (335a, 335b) may operate in the Y-axis direction. At this time, the operating body (not shown) may operate in the X-axis direction.

[0194] Referring to (e) of Fig. 49, the transfer units (335a, 335b) are located at both ends of the transfer units in the X-axis direction of the first hagrill (61) and the second hagrill (62). At this time, the cooking surface may be located between the first hagrill (61) and the second hagrill (62) in the X-axis direction as in Fig. 46f. It may be located at either of the left and right ends of the linear unit (82) in the X-axis direction. Referring to (f) of Fig. 49, the transfer unit (335) is located at both ends of the transfer unit in the X-axis direction, not between the first hagrill (61) and the second hagrill (62) in the X-axis direction.

[0195] Referring to (g) of Fig. 49, the linear sections (82a, 82b) are positioned in the center and can operate in their respective corresponding hagrill directions in the X-axis direction. At this time, the operating body (not shown) of the linear section (82) can operate in the Y-axis direction. At this time, the cooking surface is positioned on the opposite side of the transfer section (335). At this time, the elevating linear sections (71, 72) can be positioned on one side of the corresponding first hagrill (61) and second hagrill (62), respectively. The elevating linear sections (71, 72) are arranged at various positions corresponding to the first hagrill (61) and the second hagrill (62), respectively. The elevating linear sections (71, 72) operate the first hagrill (61) and the second hagrill (62) in the z-axis direction in the up-and-down direction of the z-axis at various positions. For this purpose, the lifting linear (71, 72) can be configured with lifting linear embodiments of various structures depending on the location, size, and characteristics of the cooking object.

[0196] FIG. 50 is a drawing exemplifying various linear actuators according to an embodiment of the present invention. Referring to FIG. 50 (a), it is a lifting linear actuator having a belt structure including a belt (4671). At this time, the belt structure can be controlled at a high speed. Therefore, it can be used when the cooking time of the food is short or when a large amount of food must be cooked. Referring to FIG. 50 (b), it is a lifting linear actuator having a screw structure including a screw (4681). At this time, the screw structure can be precisely controlled. It can move a heavy food. Referring to FIG. 50 (c), it is a lifting linear actuator having an actuator structure. Here, it is shown as a cylindrical actuator, but it is not limited thereto. In addition to a cylindrical shape, polygonal shapes such as a triangle, a square, and a pentagon are also possible. Here, it is shown as a two-stage lifting linear actuator composed of two parts, a middle cylinder (4692) and a small cylinder (4691), but it is not limited thereto. A cylinder can be composed of at least one cylinder.

[0197] According to one embodiment of the present invention, the operator guide (330') of the operator assembly (300') can perform a function of stably supporting the cooking object during the process in which the operator (310') lifts and transports the cooking object (support function). The operator guide (330') can participate in a manner of cooperating with the operator (310') during the process in which the operator (310') performs the above-described cooking object separation function (separation function). The cover part (331') of the operator guide (330') can perform a function of fixing the position of the support part (333') so that the support part (333') can be arranged above the cooking object and be arranged on both sides of the cooking object. The support part (333') of the operator guide (330') can perform a function of restricting the movement of the cooking object during the process in which the cooking object is transported.

[0198] Referring to FIG. 51, the first support portion (333a') of the operating body guide (330') can cooperate with the separation function of the operating body (310') in a manner that restricts the movement of the cooking object during the process of the operating body (310') separating the cooking object from the lower grill portion (200'). According to one embodiment, the first support portion (333a') of the operating body guide can cooperate with the operating body (310') in a manner that pushes the cooking object during the process of the operating body (310') performing the cooking object separation function. According to one embodiment, the second support portion (333c') of the operating body guide can cooperate with the operating body (310') in a manner that pushes the cooking object during the process of the operating body (310') performing the cooking object release function.

[0199] Referring to FIG. 51, the second support portion (333c') of the operating body guide (330') may perform a function of limiting the movement of the cooking object during the process of the cooking object being moved while being seated on the operating body (310') or during the process of releasing the cooking object to the transport position. In one embodiment, the second support portion (333c') of the operating body guide (330') may be arranged on the opposite side of the first support portion (333a') and may be coupled to the support member coupling portion (333b') to support the rear portion of the cooking object. In one embodiment, the second support portion (333c') of the operating body guide (330') may be formed to have a length extending downward from the cover portion (331') shorter than that of the first support portion (333a') for smooth movement of the operating body (310').

[0200] In one embodiment, the second support portion (333c') of the operating body guide (330') can be formed by combining separate support members made of a flexible material. The second support portion (333c') can be formed of a silicone material. In this case, the second support portion (333c') can be formed of various materials in addition to the silicone material. Here, one end (not shown) of the support member coupling portion (333b') can be formed of a magnet. In this case, the inside of the second support portion (333c') that is connected to one end (not shown) of the support member coupling portion (333b') can be formed of a metal portion (not shown). Conversely, the coupling portion (not shown) of the second support portion (333c') that is connected to the support member coupling portion (333b') can be formed of a magnet. Even in the case where the second support member (333c') is formed of a flexible material such as silicone as mentioned above, the connecting portion (not shown) of the second support member (333c') can be formed of a magnet.

[0201] Referring to (b) of FIG. 51, the coupling portion (second coupling portion) (335') of the operating body guide (330') may be arranged symmetrically on both sides of the cover portion (331') to perform a function of connecting and coupling the operating body guide (330') to the transfer portion (350'). In one embodiment, the coupling portion (second coupling portion') (335') may be configured such that one end thereof is coupled to the transfer portion (350'), and the coupling portion (second coupling portion') (335') may be configured to be easily detachable from the transfer portion (350) for easy cleaning and replacement. (Separate and interchangeable method of the operating body and operating body guide)

[0202] Meanwhile, the operating body (310') and the operating body guide (330') can be configured to be easily separated from the transport unit (350'), and, if necessary, the operating body (310') and the operating body guide (330') can be replaced with a brush-shaped cleaning member and used. Specifically, when the operating body (310') and the operating body guide (330') are replaced with a brush-shaped cleaning member and the existing operation (operation of the operating body assembly (300') performed to transport the cooking object) is performed, the brush-shaped cleaning member moves in contact with the surface of the lower grill part (200'), and cleaning of the lower grill part (200') can be automatically performed.

[0203] The transfer unit (350') may be configured to be capable of reciprocating linear movement in the horizontal direction (y-axis direction) by being connected to horizontal rails at the front and rear based on the longitudinal direction. In one embodiment, the transfer unit (350') may be configured to be movable in the space between the upper grill unit (100') and the lower grill unit (200'). The transfer unit (350') may be provided with a means for linearly reciprocatingly transferring the operating body (310') and the operating body guide (330') inside the case. As described above, the operating body (310') and the operating body guide (330') may be respectively connected and coupled to the transfer unit (350'), and may linearly move along the longitudinal direction of the transfer unit (350') to transport the cooking object in the front-to-back direction (X-axis direction).

[0204] FIGS. 52a to 52e are drawings exemplarily showing a cooking object being transported by the operating body assembly according to one embodiment of the present invention. When the cooking of the cooking object is completed, the lower grill part (200') is lowered, and the operating body assembly (300') can move between the upper grill part (100') and the lower grill part (200'). At this time, as the transport part (350') moves in the horizontal direction (Y-axis direction), the operating body (310') and the operating body guide (330') approach the cooking object placed on the lower grill part (200').

[0205] As shown in Fig. 52b, the cover plate (331') of the operator guide (330') is positioned vertically above the cooking object, and the lower grill part (200') rises to a height where it comes into contact with the support part (first support part) (333a') of the operator guide (330'), so that the first support part (333a') is positioned in front of the cooking object.

[0206] As illustrated in Fig. 52c, as the operating body (310') and the cooking object come into close proximity to each other due to the transport function of the transporting unit (350'), the separation portion (313') of the operating body (310') is inserted between the lower grill portion (200') and the cooking object. As the approach of the operating body (310') and the cooking object further progresses, the separation portion between the lower grill portion (200') and the cooking object increases. As this process progresses further, the cooking object is completely separated from the upper surface of the lower grill portion (200') and is completely seated on the seating portion (311') following the separation portion (313'). At this time, since the first support part (333a') of the guide is positioned to limit the position of the front end of the cooking object, the cooking object can be placed on the mounting part (313') following the separation part (313') while being separated from the lower grill part (200').

[0207] According to one embodiment, the operating body (310') slides along the longitudinal direction of the transporting part (350') toward the operating body guide (330') and is inserted between the lower grill part (200') and the cooking object, and the cooking object is lifted along the separation part (313') of the operating body (310') and positioned on the settling part (311'). At this time, the first support part (333a') of the operating body guide (330') is positioned at the front part of the cooking object to support the cooking object so that it is not pushed forward by the operating body (310'), thereby allowing the cooking object to be stably settling on the operating body (310').

[0208] As shown in Fig. 52, when the cooking object is positioned on the plate (311') of the operating body (310'), the operating body (310') and the operating body guide (330') move to the transport position of the cooking object (e.g., a warmer plate).

[0209] As illustrated in FIG. 52e, when the operating body (310') and the operating body guide (330') are positioned above the transport position, the operating body (310') moves rearward along the transport section (350'), i.e., away from the operating body guide (330'), and accordingly, the cooking object is dropped to the transport position. At this time, since the rear portion of the cooking object is supported by the second support portion (333c') of the operating body guide (330'), the cooking object is naturally dropped to the transport position while only the operating body (310') moves rearward while maintaining its position without moving together with the operating body (310').

[0210] An automatic cooking device (10') is provided with a control unit (not shown), and the operation of the operating body assembly (300') can be automatically controlled by the control unit. In one embodiment, the control unit can control the operation of the operating body assembly (300') based on position information and status information of the cooking object. The control unit can control the movement of the operating body assembly (300') and the transport operation of the transport unit (350') according to the position information of the cooking object. Specifically, the control unit can determine the position of the cooking object through sensor data measured by a sensor (e.g., a weight sensor, a camera), and control the movement of the operating body assembly (300') and the transport operation of the transport unit (350') according to the position information of the cooking object.

[0211] In the operation of cooperating with the operating body (310') and the operating body guide (330') to separate the cooking object from the lower grill part (200'), the acceleration force of the driving unit that moves the operating body (310') and the operating body guide (330') can be controlled based on the shape of the cooking object captured by the camera so that the cooking object can be smoothly and quickly separated from the lower grill part (200') and settled on the operating body (310').

[0212] A machine learning model through supervised learning can be used based on labeling data regarding the motion of the operating body (310') and the operating body guide (330') cooperating to transport and release cooking objects of various shapes and sizes from the lower grill part (200'). The machine learning model can be trained using input data regarding cooking objects of various shapes and sizes and their positions during the cooking process, and correct answer data regarding the motion of quickly and accurately transporting and releasing the cooking objects from the lower grill part (200') using the operating body (310') and the operating body guide (330') actually performed by a skilled human. The machine learning model according to the present embodiment can predict the correct answer and adjust to minimize the error between the predicted and actual correct answer.

[0213] In one embodiment, the machine learning model does not require labeled data, but instead learns by obtaining a reward in the process of the operator (310') and the operator guide (330') cooperatively performing the motion of transporting and releasing cooking objects of various shapes and sizes from the lower grill part (200'). The machine learning model learns the cooperative motion of the operator (310') and the operator guide (330') to maximize the reward. For example, the machine learning model can find an optimal policy regarding the speed and accuracy of the motion of transporting, releasing, and separating the cooking object from the lower grill part (200') according to the motion of the operator (310'), the operator guide (330'), and the transport part, and obtain a reward.

[0214] In one embodiment, the control unit may determine a transport location of the cooking object based on the condition score of the cooking object and transmit a movement command to the operating body assembly (300'). For example, if the condition score of the cooking object is equal to or greater than a reference score, the control unit may command the operating body assembly (300') to transport the cooking object to a storage location (e.g., a warmer plate). In another example, if the condition score of the cooking object is less than a reference score, the control unit may command the operating body assembly (300') to transport the cooking object to a disposal location.

[0215] Meanwhile, the status information of the cooking object may be displayed on the display unit (700'), thereby allowing the user to check the status of the cooking object in real time. In one embodiment, if the status score of the cooking object is below a reference score, the status information of the cooking object may be indicated through visual or auditory notification means so that the user can immediately recognize and respond. For example, the poor status of the cooking object may be indicated by turning on an LED or outputting a warning sound through a speaker.

[0216] According to one embodiment of the present invention, the cleaning wiper (373) can be installed on both sides of the oil tray (371), i.e., in a vertical direction with respect to the movement direction (Y-axis direction) of the conveying unit (350), and can be made of a flexible and elastic material to perform the function of wiping the surface of the upper plate grill unit (350) while coming into contact with the surface of the upper plate grill unit (100). In one embodiment, the cleaning wiper (373) can be installed in a form that is easy to attach and detach, and, if necessary, the cleaning wiper (373) can be replaced with another cleaning member in the form of a brush and used. Specifically, when the conveying unit (350) is operated in a state where the cleaning wiper (373) is replaced with a cleaning member in the form of a brush, the cleaning member in the form of a brush moves in a state of coming into contact with the surface of the upper plate grill unit (100'), and cleaning of the upper plate grill unit (100) can be automatically performed. In this way, the present disclosure can improve efficiency because cleaning of the upper grill portion (100) can be performed only with the existing operation of the transport portion (350') while replacing the cleaning wiper (373') with a brush-type cleaning member without a separate operation for cleaning the upper grill portion (100).

[0217] Fig. 70 is a drawing exemplarily showing a surface of a top grill part being cleaned by a top grill cleaner according to one embodiment of the present invention. After cooking is completed, when the conveying part (350) moves horizontally to convey the food to be cooked, the cleaning wiper (373) comes into contact with the top grill part (100) to wipe away foreign substances such as oil and residues on the top grill part (100). The oil wiped by the cleaning wiper (373) runs down the side of the cleaning wiper (373) and collects in the oil tray (371). That is, the automatic cooking device (10) can prevent oil from the top grill part (100) from dripping onto the food to be cooked by providing the top grill cleaner (370), and can improve the efficiency of the cooking process by immediately removing oil generated during the cooking process while conveying the food to be cooked.

[0218] FIG. 71 is a schematic diagram of a warmer plate of an automatic cooking device according to one embodiment of the present invention. The warmer plate (400) may include a heating element (410), a temperature sensor (420), and a container (430). The heating element (410) of the warmer plate (400) may perform a function of providing heat to a cooking object. The heating element (410) may be composed of heating silicone, a heating wire, a mica heater, an induction coil, or the like. In addition, the temperature sensor (420) of the warmer plate (400) may be installed on a top plate mounted on top of the heating element, and the temperature sensor (420) may perform a function of measuring the temperature of the top plate. In one embodiment, temperature information measured by the temperature sensor (420) may be provided to a user through a display unit (700). Accordingly, the user may check the current temperature information of the warmer plate (400) in real time and set a desired temperature.

[0219] According to one embodiment of the present invention, the container (430) of the warmer plate (400) can perform the function of receiving and storing a cooking object that has been cooked. In one embodiment, the container (430) can receive heat from the heating element (410) to maintain the cooking object at a constant temperature.

[0220] FIG. 72 is a drawing exemplarily showing a safety sensor mounted on an automatic cooking device according to one embodiment of the present invention. The safety sensor (500) may be installed vertically on a path for entering the automatic cooking device, and may be configured to output a detection signal when it detects the entry of a worker or an object. In one embodiment, the safety sensor (500) may be configured as, for example, a light curtain, a safety interlock, a safety ultrasonic sensor, a safety magnetic sensor, etc. In addition, the safety sensor (500) may be configured to output a detection signal when an object (e.g., a part of a user's body) is detected within a detection area during the operation of the automatic cooking device. Specifically, the safety sensor (500) may output a detection signal when a moving object is detected within an operation radius while the lower grill unit (200) is moving upward or downward or the operating body assembly (300) is operating. The detection signal may be transmitted to a control unit, and when the control unit receives the detection signal, the operation of the lower grill unit (200) or the operating body assembly (300) may be stopped.

[0221] Fig. 54 is a perspective view of an automatic cooking device according to another embodiment of the present invention. Fig. 55 is a drawing exemplarily showing an automatic cooking device equipped with a safety sensor according to one embodiment of the present invention. The automatic cooking device may include two modules (a first module and a second module) each including an upper grill portion and a lower grill portion, and may be configured such that an operating body assembly (300") is disposed between the first module and the second module so that operations (cooking and transporting) are performed simultaneously in the first module and the second module.

[0222] FIG. 56 is a drawing showing another type of arrangement structure that is contrasted with the arrangement structure of an automatic cooking device according to one embodiment of the present invention. As shown in (a) of FIG. 56, the automatic cooking device may have an operator assembly (300") movably arranged between a first module and a second module. According to this arrangement structure, while the lower grill part (200") of the first module is raised and cooking is being performed, the operator assembly can perform a transport operation on a cooking object that has been cooked in the second module, so that work can be performed simultaneously in the first module and the second module. As shown in (b) of FIG. 56, the operator assembly (300") may be arranged on one side rather than between the first module and the second module.

[0223] Referring to FIG. 58, the automatic cooking device is configured to cook both sides of the food item simultaneously by placing the food item between the upper grill part (100") and the lower grill part (200). In order to ensure uniform cooking quality, it is essential to correct the position or posture of the upper grill part (100") or the lower grill part (200"). Accordingly, the automatic cooking device is configured to correct the position or posture of the upper grill part (100") or the lower grill part (200") based on the pressure value of the upper grill part (100") measured by the sensor part (110") of the upper grill part (100") by the control unit.

[0224] Referring to FIG. 57, the control unit (800") may include a data management unit (810"), a position correction unit (820"), a posture correction unit (830"), and a communication unit (840"). In addition, the data management unit (810), the position correction unit (820"), the posture correction unit (830"), and the communication unit (840) may be program modules, at least some of which communicate with an external device (not shown). In addition, the data management unit (810) may perform a function of obtaining a pressure value measured by the sensor unit (110"). The data management unit (810) can obtain pressure values ​​of different areas of the upper plate grill part (100"). In addition, a plurality of force sensors of the sensor unit (110") can measure pressures applied to different areas of the upper plate grill part (100"), and the data management unit (810") can obtain pressure data of different areas of the upper plate grill part (100") from this. For example, the data management unit (810") can obtain pressure values ​​of four different areas of the upper plate grill part (100").

[0225] According to one embodiment of the present invention, the data management unit (810") can perform a function of calculating a compression strength based on the pressure value of the upper grill part (100") obtained. As described above, the data management unit (810") can obtain pressure values ​​of different areas of the upper grill part (100"), and the data management unit (810") can calculate an average value for the pressure values ​​of the multiple areas. In one embodiment, the data management unit (810") can calculate the compression strength from the calculated average value. The data management unit (810") can transmit information about the pressure value, the average value, and the compression strength to the position correction unit (820") and / or the posture correction unit (830"), which will be described later. In addition, the position correction unit (820") can perform a function of correcting the position of the upper grill part (100") and / or the lower grill part (200") based on the pressure value obtained by the data management unit (810") or the calculated compression strength. In addition, the position correction unit (820") can correct the reference position of the upper grill part (100") or the lower grill part (200") based on the pressure value. Here, the reference position of the upper grill part (100") or the lower grill part (200") means a position that serves as a reference for determining the movement range of the upper grill part (100") or the lower grill part (200").

[0226] FIG. 58 is a drawing exemplarily showing the reference position and movement range of the lower grill part according to one embodiment of the present invention. It shows an automatic cooking device configured such that the lower grill part (200") can move in a direction toward the upper grill part (100") while the upper grill part (100") is fixed. Referring to FIG. 55 (a), the reference position of the lower grill part (200") indicates the position (Z-axis direction position) where the lower grill part (200") moves in the direction (Z-axis direction) toward the upper grill part (100") and the lower grill part (200") comes into contact with the upper grill part (100"). Referring to FIG. 55 (b), the movement range of the lower grill part (200") is determined in consideration of the reference position of the lower grill part (200") and the thickness of the food to be cooked. Specifically, the lower grill part (200") can be controlled to move to a position spaced apart from the reference position of the lower grill part (200") by a distance corresponding to the thickness of the food to be cooked.

[0227] FIG. 59 is a drawing showing a process for correcting a reference position of a lower grill part according to one embodiment of the present invention. First, the lower grill part (200") is moved in a direction toward the upper grill part (100") (S1901"). When the upper surface of the lower grill part (200") comes into contact with the lower surface of the upper grill part (100") (S1903"), the sensor part (110") installed in the upper grill part (100") operates, and the sensor part (110") measures the pressure applied to the upper grill part (100") by the lower grill part (200") (S1905"). Next, the position correction part (820") compares the pressure value measured by the sensor part (110") with a preset threshold value. When the pressure value of the upper grill part (100") exceeds the threshold value, the lower grill part (200") is stopped (S1907"), and the position correction part (820") sets the position where the lower grill part (200") is stopped as the reference position of the lower grill part (200") (S1909").

[0228] Meanwhile, when a cooking object is placed between the upper grill part (100") and the lower grill part (200") and cooking is performed by applying pressure and heat, if the upper grill part (100") and the lower grill part (200") are not level, a problem may occur in which a portion of the cooking object is overcooked or undercooked. Accordingly, the automatic cooking device (10") according to one embodiment of the present disclosure automatically adjusts the horizontal position of the upper grill part (100") or the lower grill part (200"), thereby improving the reliability and efficiency of the device. In addition, the position correction unit (830") may perform a function of correcting the position of the upper grill part (100") or the lower grill part (200") based on a pressure value.

[0229] According to one embodiment of the present disclosure, the posture correction unit (830") can correct the horizontal posture of the upper grill part (100") and / or the lower grill part (200") based on pressure values ​​measured and acquired in different areas of the upper grill part (100"). The posture correction unit (830") can correct the horizontal posture of the upper grill part (100") or the lower grill part (200") by adjusting the height of the upper grill part (100") or the lower grill part (200") so that the pressure values ​​in different areas of the upper grill part (100") exhibit the same magnitude. In one embodiment, the posture correction unit (830") can adjust the height of the upper grill part (100") or the lower grill part (200") so that the pressure values ​​in different areas of the upper grill part (100") match an average value.

[0230] The posture correction unit (830") can correct the horizontal posture of the upper grill unit (100") or the lower grill unit (200") by adjusting the height of the horizontal adjustment means (not shown) provided in the automatic cooking device (100"). The horizontal adjustment means can be installed in the upper grill part (100") or the lower grill part (200"), and can be installed in a position corresponding to the position where the force sensor of the sensor part (110") is installed. The lower grill part (200") is moved in the direction toward the upper grill part (100") (S1901). When the upper surface of the lower grill part (200") comes into contact with the lower surface of the upper grill part (100") (S1903), the sensor part (110") installed in the upper grill part (100") operates, and the sensor part (110") measures the pressure applied to the upper grill part (100") by the lower grill part (200") (S1905). Subsequently, the position correction part (820") compares the pressure value measured by the sensor part (110") with a preset threshold value. When the pressure value of the upper grill part (100") is higher than the threshold value, the lower grill part (200") is moved. The position correction unit (820") sets the position where the lower grill unit (200") stops (S1907) to the reference position of the lower grill unit (200") (S1909).

[0231] Referring to (a) of Fig. 59, the lower grill part (200") is moved in a direction toward the upper grill part (100") (S2001"). When the upper surface of the lower grill part (200") comes into contact with the lower surface of the upper grill part (100") (S2003"), the sensor part (110") installed in the upper grill part (100") operates, and the sensor part (110") measures the pressure applied to the upper grill part (100") by the lower grill part (200") (S2005"). The pressure value measured by the sensor unit (110") is transmitted to the data management unit (810"), and the data management unit (810") calculates an average value of the pressure values ​​and transmits the average value to the attitude correction unit (830") (S2007"). Next, the attitude correction unit (830") compares the pressure value measured by the sensor unit (110") with the average value calculated therefrom and adjusts the height of the horizontal adjustment means (S2009"). Specifically, in an area where the measured pressure value is greater than the average value, the horizontal adjustment means is controlled so that the upper grill unit (100") and the lower grill unit (200") are spaced apart, and in an area where the measured pressure value is lower than the average value, the horizontal adjustment means is controlled so that the upper grill unit (100") and the lower grill unit (200") are brought closer to each other. The posture correction of the upper grill part (100") or the lower grill part (200") through the horizontal adjustment means can be performed until the pressure values ​​in different areas of the upper grill part (100") match the average value.

[0232] FIG. 60 is a drawing exemplarily showing pressure values ​​before and after posture correction is performed according to one embodiment of the present disclosure. It shows the pressure measured for each of the four corner regions of the upper grill part (100:) by the four force sensors of the sensor part (110). Referring to (a) of FIG. 60, it can be confirmed that before performing the posture correction, the pressures of the four corner regions of the upper grill part (100") are all measured differently because the horizontal positions of the upper grill part (100") and the lower grill part (200") are not aligned. Referring to (b) of FIG. 60, by adjusting the height of the upper grill part (100") or the lower grill part (200") based on the pressure values, the horizontal posture of the upper grill part (100") or the lower grill part (200") is corrected, so that the pressures of the four corner regions of the upper grill part (100") all show the same magnitude, i.e., the same value as the average value.

[0233] Figure 61 is a drawing for explaining the parallelism of the upper and lower module and the operating body according to one embodiment of the present invention. Figure 62 is a drawing for explaining the parallelism of the upper and lower module according to one embodiment of the present invention. In order for the operating body to properly scoop out patties, the lower surface of the operating body and the upper surface of the lower grill must be parallel to each other.

[0234] Referring to (a) of FIG. 62, a gap measuring device (5833) may be installed in the upper or lower module (5832). The gap measuring device (5833) may include, for example, a sensor such as a bore gauge. At this time, the gap measuring device (5833) may be installed in either the upper module (5831) or the lower module (5832). Alternatively, the gap measuring device (5833) may be installed in both the upper module (5831) and the lower module (5832). At this time, the gap measuring device (5833) may measure the gap between the upper module (5831) and the lower module (5832) facing each other, thereby measuring the parallelism of the upper module and the lower module (5832). Accordingly, the gap measuring device (5833) attached to the operating body can measure the parallelism between the operating body and the upper module (5831) or the lower module (5832) when the mounting body moves. Alternatively, the parallelism between the operating body and the upper module (5831) and the lower module (5832) can be measured.

[0235] Referring to (b) of Fig. 62, this is to align the parallelism of the upper module (5845) or the lower module (5846) and the operating body. At this time, a gap measuring device (5847) may be installed on the mounting body. The gap measuring device (5847) may include a sensor such as a bore gauge. At this time, the method of measuring the parallelism may be to install the gap measuring device (5847) on either the operating body and the upper module (5845) or the lower module (5846) to measure the parallelism.

[0236] FIG. 63 is a drawing for explaining another embodiment for measuring the parallelism of an upper module and a lower module to which force sensors are applied. This is another embodiment for measuring the parallelism of an upper module (5851) and a lower module (5852) to which force sensors are applied. The force sensors may be configured with at least four force sensors in the upper module (5851) or the lower module (5852). Alternatively, the force center may be configured with at least four force sensors in each of the upper module (5851) and the lower module (5852). In this case, the force applied to the four force sensors of each module may be displayed on a display screen. Referring to FIG. 63 (b), the operating body (5861) includes at least one parallelism measuring hand (5863), and the upper module (not shown) or the lower module (5862) includes at least one force sensor (5864). At this time, the parallelism measuring hand (5863) measures the parallelism between the operating body and the upper or lower module (5862). The upper or lower module (5862) can move in a vertical direction and measure the included force sensor. At this time, the force applied to the force sensor (5864) included in the upper or lower module (5862) can be displayed on the display screen.

[0237] Referring to (a) of Fig. 64, a correction screw (5871) may be included. The correction screw (5871) may include a leveling pin, etc. The correction screw included in the operating body may include at least one correction screw. The correction screw may be installed in a correction screw fastening portion (5872) configured with a plurality of fastening holes at the lower portion of the operating body. A plurality of correction screws may be fastened to the plurality of fastening holes. At this time, the correction screw may be fastened to at least one of the plurality of fastening holes. At this time, the balance point of the operating body may vary depending on the fastening position of the correction screw, thereby correcting the left-right balance of the operating body. Referring to (b) of Fig. 64, a plurality of actuators (5881) may be applied to the operating body to correct the balance. At this time, the plurality of actuators (5881) may be at least one electric, pneumatic, or hydraulic actuator. At this time, the plurality of actuators (5881) may be identical actuators. At this time, the plurality of actuators may be different types of actuators. At this time, the actuator may be selected from among the above actuators depending on the type of patty (P) and the type of food.

[0238] Referring to FIGS. 65 and 66, the automatic cooking device (10) is a device that automatically cooks and transports an object to be cooked, and may include a top grill part (100), a bottom grill part (200), and a spatula assembly (300). Here, the object to be cooked is a flat food material that requires cooking on both sides, and may include, for example, a hamburger patty, bread, steak, etc. In one embodiment, each component of the automatic cooking device (10) may be configured to be partially or fully waterproofed to facilitate washing and cleaning. The top grill part (100) may be formed in a substantially square plate shape and may have a heat source therein to perform a function of applying heat to the upper surface of the object to be cooked. In one embodiment, the top grill part (100) may include, as a heat source, an induction coil, a heating wire, an electromagnetic wave device, an infrared device, etc.

[0239] According to one embodiment of the present disclosure, the lower surface of the top grill portion (100), which is the surface that comes into contact with the food to be cooked, may be provided with a Teflon sheet to prevent the food from sticking during the cooking process. In one embodiment, the Teflon sheet may be detachably mounted on the lower surface of the top grill portion (100). The top grill portion (100) may include a sensor portion (110) configured to measure pressure applied to the top grill portion (100). In one embodiment, the sensor portion (110) may include a plurality of force sensors, and the plurality of force sensors may be installed in different areas of the top grill portion (100) and configured to measure pressure applied to different areas of the top grill portion (100), respectively.

[0240] Referring to FIG. 67, the sensor unit (110) may include four force sensors (111, 112, 113, 114), and the four force sensors (111, 112, 113, 114) may be installed on the upper surface of the upper grill unit (100). Specifically, the four force sensors (111, 112, 113, 114) may be installed at positions corresponding to four corner areas of the upper grill unit (100). Accordingly, the four force sensors (111, 112, 113, 114) may measure pressure for each of the four different corner areas of the upper grill unit (100). The sensor unit (110) may be configured to operate at a point in time when the upper surface of the lower grill unit (200) contacts the lower surface of the upper grill unit (100) while the lower grill unit (200) moves toward the upper grill unit (100). In one embodiment, the sensor unit (110) may measure in real time the pressure applied to the upper grill unit (100) by the lower grill unit (200). The pressure value measured by the sensor unit (110) may be provided to the user through the display unit (700). In one embodiment, the display unit (700) may display in real time the pressure value measured by each force sensor of the sensor unit (110).

[0241] Fig. 68 is a drawing exemplarily showing a display of a pressure value according to one embodiment of the present invention. When four force sensors are installed on the upper surface of the upper grill portion (100), the pressure values ​​measured by each force sensor (111, 112, 113, 114) are displayed on the display portion (700). The display portion (700) can display the pressure values ​​measured by each force sensor at a position corresponding to the position of each force sensor. Accordingly, the user can intuitively check in which area of ​​the upper grill portion (100) the pressure is being applied significantly or significantly.

[0242] The lower grill part (200) of the automatic cooking device (10) may have a heat source therein and perform a function of applying heat to the lower surface of the object to be cooked. In one embodiment, the lower grill part (200) may include an induction coil, a heating wire, an electromagnetic wave device, an infrared device, etc. as a heat source. The lower grill part (200) may be arranged at a position facing the upper grill part (100) and configured to move along a direction (Z-axis direction) toward the upper grill part (100). One side of the lower grill part (200) may be coupled to an elevation part (600) configured to move the lower grill part (200) along a direction (Z-axis direction) toward the upper grill part (100). When the lower grill part (200) is raised toward the upper grill part (100) while the food to be cooked is placed on the upper surface of the lower grill part (200), the upper surface of the food to be cooked placed on the lower grill part (200) is brought into close contact with the upper grill part (100), and heat is applied simultaneously to both sides of the food to be cooked by the upper grill part (100) and the lower grill part (200), so that the food can be cooked more quickly. Meanwhile, although it has been described that the lower grill part (200) can move in the direction toward the upper grill part (100) while the upper grill part (100) is fixed, it is also possible to configure the upper grill part (100) to move in the direction toward the lower grill part (200) while the lower grill part (200) is fixed, or it is also possible to configure the upper grill part (100) to move simultaneously in the direction toward the lower grill part (200).

[0243] FIG. 69 is a drawing exemplarily showing a cooking object being transported by a spatula assembly according to one embodiment of the present invention. Referring to (a) of FIG. 69, when cooking of the cooking object is completed, the lower grill part (200) is lowered, and the spatula assembly (300) can move between the upper grill part (100) and the lower grill part (200). As the transport part (350) moves in the horizontal direction (Y-axis direction), the spatula (310) and the spatula guide (330) approach the cooking object placed on the lower grill part (200).

[0244] Referring to (b) of Fig. 69, the cover plate (331) of the spatula guide (330) is positioned vertically above the cooking object, and the lower grill part (200) is raised to a height where it comes into contact with the support part (first support part) (333a) of the spatula guide (330), so that the first support part (333a) is positioned in front of the cooking object. Referring to (c) of Fig. 69, the spatula (310) slides in the direction toward the spatula guide (330) along the longitudinal direction of the transport part (350) and is inserted between the lower grill part (200) and the cooking object, and the cooking object is lifted along the inclined part (313) of the spatula (310) and positioned on the plate (311). At this time, the first support part (333a) of the spatula guide (330) is positioned at the front of the cooking object to support the cooking object so that it does not move forward due to being pushed by the spatula (310), thereby allowing the cooking object to be stably placed on the spatula (310).

[0245] Referring to (d) of FIG. 69, when the cooking object is positioned on the plate (311) of the spatula (310), the spatula (310) and the spatula guide (330) move to a transport position (e.g., a warmer plate) of the cooking object. Referring to (e) of FIG. 69, when the spatula (310) and the spatula guide (330) are positioned above the transport position, the spatula (310) moves rearward along the transport section (350), i.e., away from the spatula guide (330), and thus the cooking object is dropped to the transport position. At this time, since the rear part of the cooking object is supported by the second support part (333c) of the spatula guide (330), the cooking object naturally falls to the transport position while only the spatula (310) moves rearward while maintaining its position without moving together with the spatula (310).

[0246] Figures 11a to 11h are perspective views illustrating a sequence of moving a cooked patty on a lower grill. First, referring to Figure 11a, the guide (333) and the operator (334) approach the first lower grill (61). The first lower grill (61) is positioned higher than the guide (333) and the operator (334). Referring to Figures 11a and 11b, in the state of Figure 11a, the lifting linear (71) descends to lower the height of the first lower grill (61) to a height appropriate for insertion of the guide (333) and the operator (334). Referring to Figure 11b, the guide (333) is positioned vertically above the patty (P). Referring to Figures 11b and 11c, the lower grill (331) rises and comes into contact with the guide (333). Referring to FIGS. 11c and 11d, in the state of FIG. 11c, the operating body (334) is inserted between the lower grill (61) and the patty (P). Referring to FIGS. 11d and 11e, in the state of FIG. 11d, the lower grill (61) is lowered, thereby lowering the height of the lower grill (61) to a height appropriate for the withdrawal of the guide (333) and the operating body (334).

[0247]

[0248]

[0249]

[0250] Referring to FIGS. 11E and 11F, in the state of FIG. 11E, the guide (333) and the operator (334) are positioned vertically above the discharge portion (E) of the lower grill (61). Referring to FIGS. 11F and 11G, in the state of FIG. 11F, the operator (334) is retracted. The cooking object (P) is released, for example, downwards, from the operator and the guide on the discharge portion (E). Alternatively, the cooking object (P) is settled on another cooking object (HBG) positioned on the discharge portion (E). Referring to FIGS. 11G and 11H, in the state of FIG. 11G, the guide (333) and the operator (334) are retracted to prepare for the next process.

[0251] As illustrated in FIGS. 12 and 13, for one upper grill (332), at least two lower grills (331), i.e., the first and second lower grills (62, 63), are independently raised and lowered by the first and second lifting linear guides (71, 73). Accordingly, a space is formed between the upper and lower grills (332, 331), so that the guide (333) and the operating body (334) can move. Accordingly, while the first lower grill (61) is raised to cook a patty (P), the third lower grill (63) is lowered, so that the guide (333) and the operating body (334) move into the space, thereby performing an operation of putting in and taking out a cooking object (P) for the second lower grill (63). Due to this, space can be saved based on the grill module (33), and the number of first and second lifting linear units (71, 73) and guide linear units (821) and operating linear units (822) can be reduced.

[0252] Referring to FIGS. 52a to 52e, the operating body guide (330´) may further include a first support portion (333a´) extending from one side in the first direction toward the cooking surface (200´) and a second support portion (333c´) extending from the one side in the opposite direction to the first direction toward the cooking surface (200´). The transfer unit (350´) transfers the operating body guide (330´) so that the cooking object is placed between the first support portion (333a´) and the second support portion (333c´) of the operating body guide (330´), and transfers the operating body (310´) or the operating body guide (330´) so that it is close to the cooking object, and the separation portion (313´) of the operating body (310´) is inserted between the contact surface of the cooking surface (200´) and the cooking object, so that the cooking object can be placed on the mounting portion.

[0253] Referring to Fig. 52a, the operating body (310´) and the operating body guide (330´) approach the cooking object placed on the lower grill part (200´). Then, while the cover plate (331´) of the operating body guide (330´) is positioned vertically above the cooking object, the lower grill part (200´) is raised to a height where it comes into contact with the support part (first support part) (333a´) of the operating body guide (330´), so that the first support part (333a´) is positioned in front of the cooking object. Next, as the operating body (310´) and the cooking object approach each other, the separation part (313´) of the operating body (310´) is inserted between the lower grill part (200´) and the cooking object. As the proximity of the operating body (310´) and the cooking object further progresses, the separation part between the lower grill part (200´) and the cooking object increases. As this process progresses further, the cooking object is completely separated from the upper surface of the lower grill part (200´) and is completely seated on the seating part (311) following the separation part (313´). At this time, since the first support part (333a) of the guide is arranged to limit the position of the front end of the cooking object, the cooking object can be seated on the seating part (313´) following the separation part (313´) while being separated from the lower grill part (200´).

[0254] According to one embodiment, the operating body (310´) slides along the longitudinal direction of the transport part (350´) toward the operating body guide (330´) and is inserted between the lower grill part (200´) and the cooking object, and the cooking object is lifted along the separation part (313´) of the operating body (310´) and positioned on the mounting part (311´). At this time, the first support part (333a´) of the operating body guide (330´) is positioned at the front part of the cooking object to support the cooking object so that it is not pushed forward by the operating body (310´), thereby allowing the cooking object to be stably positioned on the operating body (310´). While the cooking object is positioned on the mounting part (311´) of the operating body (310´), the operating body (310´) and the operating body guide (330´) move to the transport position of the cooking object (e.g., the warmer plate). Referring to Fig. 49d, when the operating body (310´) and the operating body guide (330´) are positioned above the transport position, the operating body (310´) moves rearward along the transport section (350´), i.e., away from the operating body guide (330´), and accordingly, the cooking object is dropped to the transport position. At this time, since the rear portion of the cooking object is supported by the second support portion (333c´) of the operating body guide (330´), the cooking object is naturally dropped to the transport position while only the operating body (310´) moves rearward while maintaining its position without moving together with the operating body (310´).

[0255] The scope of the present invention is not limited to the embodiments described above, but can be implemented in various forms within the scope of the appended claims. It is contemplated that the scope of the claims encompasses various modifications that can be made by anyone skilled in the art without departing from the spirit of the invention as claimed.

Claims

1. In an operating body assembly for transferring a cooking object on a cooking surface, Each of the operating bodies extending in the first direction; Operator guide; and It includes a transfer unit capable of transferring the above-described operating body and operating body guide in the first direction, respectively; The above operating body is, A mounting portion for mounting the above-mentioned cooking object; and including a coupling part for coupling the above-mentioned operating body to the above-mentioned transfer part; The above operating guide is, A support extending from one side of the first direction toward the countertop; and including a coupling part for coupling the support part to the transfer part; The above transport unit, The operating body or the operating body guide is moved to approach the cooking object, and the operating body is inserted between the contact surface of the cooking surface and the cooking object, so that the cooking object is seated on the seating portion. Operator assembly.

2. In paragraph 1, The above operating body is, Further comprising a separation portion extending from the first direction end of the above-mentioned fixing portion; Operator assembly.

3. In paragraph 2, The above separation part is, configured to be inclined toward the above countertop, Operator assembly.

4. In paragraph 1, The above operating guide is, A first support extending from one side of the first direction toward the countertop; and Further comprising a second support member extending from the first side in the opposite direction to the first direction toward the countertop; The above transport unit, The operating body guide is moved so that the cooking object is placed between the first support portion and the second support portion of the operating body guide, and the operating body or the operating body guide is moved close to the cooking object, and the separation portion of the operating body is inserted between the contact surface of the cooking surface and the cooking object, so that the cooking object is placed on the mounting portion. Operator assembly.

5. In a method for cooking a cooking object on a cooking surface using an operating body and an operating body guide each extending in a first direction, A step of transferring the above operating body guide; A step of moving the operating body or the operating body guide so that it approaches the cooking object; A step in which at least a part of the operating body is inserted between the contact surface of the cooking surface and the cooking object; and a step of allowing the cooking object to be seated on at least a part of the operating body; A method for cooking an object on a cooking surface using an operating body and an operating body guide, each extending in a first direction.

6. In paragraph 5, The step of transferring the above operating body guide; A step of moving the operating body guide so that the cooking object is placed between a first support portion extending from one side of the operating body guide in the first direction toward the cooking surface and a second support portion extending from the other side opposite to the first direction toward the cooking surface; further comprising; A method for cooking an object on a cooking surface using an operating body and an operating body guide, each extending in a first direction.

7. In paragraph 6, The step of settling the above; A step of moving the operating body or the operating body guide so that it approaches the cooking object; and A step of inserting the separation part of the operating body between the contact surface of the cooking surface and the cooking object, so that the cooking object is seated on the seating part; A method for cooking an object on a cooking surface using an operating body and an operating body guide, each extending in a first direction.

8. In a method for cooking a cooking object on a cooking surface using an operating body and an operating body guide each extending in a first direction, A step of aiming the horizontal position of the above operating body guide at the position of the cooking object on the cooking surface; A step of capturing the cooking object in the first direction within the area of the operating body guide by adjusting the height of the cooking surface; A step of vertically capturing the cooking object by allowing the cooking object to be settled on at least a part of the operating body; A step of adjusting the horizontal position of the above operating body and the operating body guide to the release position; and A step of moving the operating body or the operating body guide in a direction away from the operating body guide so that the cooking object falls to the release position; including; A method for cooking an object on a cooking surface using an operating body and an operating body guide, each extending in a first direction.

9. In paragraph 8, The step of capturing in the vertical direction is; A step of moving the operating body or operating body guide to approach the cooking object; and A step of inserting at least a part of the operating body between the contact surface of the cooking surface and the cooking object, thereby allowing the cooking object to be seated on the seating portion; A method for cooking an object on a cooking surface using an operating body and an operating body guide, each extending in a first direction.

10. In paragraph 8, In the case where at least two cooking objects are placed on the cooking surface, a step of determining the release positions corresponding to the placement positions of the at least two cooking objects is further included. A method for cooking an object on a cooking surface using an operating body and an operating body guide, each extending in a first direction.

11. In an automatic cooking device for automatically cooking a cooking object, A lower grill on which the above-mentioned cooking object can be placed; An upper grill spaced vertically upwards relative to the lower grill; Each of the operating bodies extending in the first direction; Each guide extending in the first direction; A lifting linear that can move the lower grill in the up and down direction; A transport unit capable of transporting the above-described operating body and the above-described guide together in a second direction different from the first direction; and An operating body linear that individually moves the operating body and the guide in the first direction; and A guide linear that individually moves the operating body and the guide in the first direction; The above operating body is, Including a surface for settling the above cooking object, The above guide is, configured to have a shape that limits movement of the cooking object in the first direction; An automatic cooking device for automatically cooking a cooking object.

12. In paragraph 11, The above transport unit, The above operating body and the above guide can be moved together to a position close to the cooking object on the lower grill, The above guide linear, An operation of moving the guide so that the cooking object is placed within the movement restriction area of the first direction of the guide can be performed, The above operating body linear or the above guide linear, The operation is configured to move the operating body or guide close to the cooking object, so that at least a part of the operating body is inserted between the lower grill and the contact surface of the cooking object, thereby performing an operation to allow the cooking object to be seated on the operating body. An automatic cooking device for automatically cooking a cooking object.

13. A method for cooking an object using a lower grill on which an object to be cooked can be placed, an upper grill spaced vertically upward from the lower grill, and an operating body and a guide each extending in a first direction, A step of moving the above operating body and the above guide together to a position close to the cooking object on the lower grill; A step of moving the guide so that the cooking object is placed inside the guide; A step of moving the operating body or the guide to approach the cooking object; and A step of inserting at least a part of the operating body between the lower grill and the contact surface of the cooking object, so that the cooking object is seated on at least a part of the operating body; A method for cooking an object using a lower grill on which an object to be cooked can be placed, an upper grill spaced vertically upward with respect to the lower grill, and an operating body and a guide each extending in a first direction.

14. In an automatic cooking device for automatically cooking a cooking object, A lower grill on which the above-mentioned cooking object can be placed; An operating assembly extending in a first direction and capable of capturing the cooking object from a position arranged on the lower grill and releasing it from a release position; and It includes a transfer unit capable of transferring the above-mentioned operating body assembly in the first direction and the second direction; The cooked food placed on the lower grill is configured so that its release position is determined in correspondence to the position placed on the lower grill. An automatic cooking device for automatically cooking a cooking object.

15. In an automatic cooking device for automatically cooking a cooking object, A lower grill on which the above-mentioned cooking object can be placed; An operating assembly extending in a first direction and capable of capturing the cooking object from a position arranged on the lower grill and releasing it from a release position; and It includes a transfer unit capable of transferring the above-mentioned operating body assembly in the first direction and the second direction; It is configured to operate so that among the plurality of cooking objects mounted on the lower grill, the cooking objects located closer to the transfer unit are released before the cooking objects located farther from the transfer unit. An automatic cooking device for automatically cooking a cooking object.

16. A method for cooking a cooking object using a lower grill on which a cooking object can be placed, and an operating body assembly extending in a first direction and capable of capturing the cooking object from a position arranged on the lower grill and releasing the cooking object from a release position, A first release step of capturing a cooking object placed near the transfer unit among a plurality of cooking objects mounted on the lower grill and releasing it at a release position; and A second release step for capturing a cooking object placed at a distant position from the transfer unit among a plurality of cooking objects mounted on the lower grill and releasing it at a release position; Cooking object Cooking method.

Images