Large-capacity cooking robot system for performing large-capacity cooking through multiple modes

Abstract

A cooking robot system according to some embodiments of the present disclosure may comprise: a first pot; an articulated robot; and a control unit, wherein the control unit may determine whether to rotate a gripper unit coupled to the articulated robot according to the type of cooking utensil when the cooking utensil is gripped by controlling the movement of the articulated robot.

Description

Large-capacity cooking robot system that performs large-capacity cooking through multiple modes

[0001] The present disclosure relates to a large-capacity cooking robot system that performs large-capacity cooking through multiple modes. Specifically, it relates to a cooking robot system that enhances robot usability by configuring a single cooking robot system to enable various types of cooking, such as deep-frying, stir-frying, and soup cooking, through multiple modes.

[0002] Since the past, robotic systems have been deployed in various industrial manufacturing sites, such as those for automobiles, machine parts, and electronic products, to perform tasks that are difficult or dangerous for humans, or to rapidly process repetitive tasks.

[0003] Recently, they are being deployed not only in industrial manufacturing sites but also in spaces familiar to people to assist or replace human work, thereby increasing work efficiency.

[0004] One of the representative places is a food preparation facility.

[0005] Robot systems can be used efficiently, especially in facilities that prepare large quantities of food.

[0006] Due to the recent intensification of inflation, labor costs for cooking staff are rising. Additionally, people tend to avoid cooking large quantities of fried foods, stir-fries, and soups because it requires high labor intensity. In particular, since most food preparation involves the use of fire and hot water, safety accidents can occur during large-scale cooking operations.

[0007] Recently, robot systems have been introduced into cooking facilities to assist human labor, thereby reducing the intensity of human work and the rate of safety accidents, and enabling repetitive, simple cooking tasks to be performed quickly.

[0008] However, until recently, robot systems introduced into cooking facilities were often designed to perform only one type of cooking. For example, a robot system might be designed to perform only deep-frying, but this robot system cannot perform other dishes such as stir-frying or soups. Since it is designed for only one type of cooking, there is a limitation in that it cannot perform a variety of dishes.

[0009] In addition, when a cooking robot system is introduced, the cook cannot perform separate cooking tasks using the system; consequently, when the cooking robot system is not used, there is a problem in that the system cannot be utilized.

[0010] The present disclosure aims to solve the aforementioned problems and other problems. The technical problem that some embodiments of the present disclosure aim to achieve is to increase the usability of the cooking robot system and to enable the use of a pot even when a multi-joint robot is not used.

[0011] The technical problems to be solved in this disclosure are not limited to those mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the description below.

[0012] A cooking robot system according to some embodiments of the present disclosure comprises a first pot; a multi-joint robot; and a control unit; wherein the control unit can determine whether to rotate a gripper unit coupled to the multi-joint robot when gripping a cooking utensil by controlling the movement of the multi-joint robot, depending on the type of cooking utensil.

[0013] According to some embodiments of the present disclosure, the first pot includes an automatic water supply unit for filling the first pot with water, and the automatic water supply unit may include: a water supply unit that draws water from an external water storage or water supply source; an electric valve that operates by receiving a control signal from the control unit via wired or wireless communication; and a water supply amount recognition unit that recognizes the amount of water supplied into the first pot.

[0014] According to some embodiments of the present disclosure, the control unit may control the automatic water supply unit to supply a preset amount of water to the first pot according to a preset recipe.

[0015] According to some embodiments of the present disclosure, the control unit further includes a temperature checking sensor for checking the temperature of water supplied to the first pot; the control unit controls the temperature of the first pot so that the temperature of the water supplied to the first pot becomes a preset temperature according to the preset recipe, and can control an output unit to output a preset notification when the temperature of the water supplied to the first pot reaches the preset temperature through the temperature checking sensor.

[0016] According to some embodiments of the present disclosure, the control unit controls the output unit to output the preset notification, recognizes the currently selected mode among a plurality of modes, and controls the movement of the multi-joint robot in conjunction with controlling the first pot according to the type of the currently selected mode to determine whether to cook food in the first pot.

[0017] According to some embodiments of the present disclosure, the control unit controls the first pot and does not control the movement of the multi-joint robot when it recognizes that a manual mode among the plurality of modes has been selected, and when it recognizes that an automatic mode among the plurality of modes has been selected, it can control the movement of the multi-joint robot to cook food in the first pot in conjunction with controlling the first pot.

[0018] According to some embodiments of the present disclosure, a second pot different from the first pot; further comprising, and the control unit,

[0019] Apart from controlling at least one of the amount of water supplied to the first pot and the temperature of the first pot, at least one of the amount of water supplied to the second pot and the temperature of the second pot can be controlled.

[0020] According to some embodiments of the present disclosure, the control unit can control the amount of water supplied to the first pot and the temperature of the first pot, and control the movement of the multi-joint robot.

[0021] According to some embodiments of the present disclosure, the gripper unit may be capable of detaching each of a plurality of cooking utensils to cook a plurality of different types of food.

[0022] According to some embodiments of the present disclosure, the cooking apparatus may include: a ladle base portion coupled to the gripper unit; a ladle portion connected to the lower part of the ladle base portion; and a detachable portion for detaching the ladle base portion and the ladle portion.

[0023] According to some embodiments of the present disclosure, the ladle base portion may include: a first base; a second base spaced apart from the first base; a side base connecting both ends of the first base and both ends of the second base; and a ladle link rod, the upper end of which is connected to the first base and the lower end of which the detachable portion is disposed.

[0024] According to some embodiments of the present disclosure, the ladle base portion further includes a fitting block that connects the upper part of the first base and the upper part of the second base and has a through fitting hole formed in the center side, and the second base may be arranged so as to be inclined toward the first base as it goes from the bottom to the top.

[0025] According to some embodiments of the present disclosure, the ladle portion may include a ladle bar having a ladle opening groove formed at the upper portion into which the lower portion of the ladle link rod is inserted; and a cooking block connected to the lower portion of the ladle bar.

[0026] According to some embodiments of the present disclosure, the detachable portion comprises: a detachable hole formed by penetrating the upper part of the ladle bar; and a spring pin disposed by protruding radially from the lower part of the ladle link rod; wherein the spring pin is detachably attached to the detachable hole and the ladle bar and the ladle link rod can be detachably attached.

[0027] According to some embodiments of the present disclosure, the cooking utensil further comprises a hanging portion disposed on the ladle link rod; and the hanging portion may include a hanging plate connected to the ladle link rod; and a hanging block connected to the lower part of the hanging plate and protruding in the direction of the ladle portion.

[0028] According to some embodiments of the present disclosure, the hanging block has a triangular prism shape, and the hanging portion may further include a hanging surface portion formed flatly along the longitudinal direction of the hanging block at one or more of the plurality of corners forming the hanging block.

[0029] According to some embodiments of the present disclosure, the device further comprises a mounting portion disposed in a cooking facility, to which the hanging portion is coupled and which supports the cooking utensil; wherein the mounting portion may include a mounting frame; a mounting connecting bar connected to the mounting frame at an angle downward; and a mounting block connected to the mounting connecting bar and having a mounting groove formed therein into which the hanging block is inserted.

[0030] According to some embodiments of the present disclosure, the mounting block and the mounting groove are in the shape of a triangular prism larger than the hanging block, and the mounting portion further comprises a mounting surface portion formed flatly along the longitudinal direction of the mounting groove at one or more corners corresponding to the hanging surface portion among a plurality of corners forming the mounting block; the hanging surface portion is inserted into the mounting surface portion, the cooking utensil is mounted at a designated position in the mounting portion, the multi-joint robot moves to a designated position, and the gripper unit can grasp the ladle base portion.

[0031] According to some embodiments of the present disclosure, the mounting member further comprises a mounting beam that is positioned at the lower part of the mounting block in the mounting frame and supports the side of the ladle bar; and the mounting beam may include a first mounting beam and a second mounting beam that spread out in opposite directions.

[0032] According to some embodiments of the present disclosure, the cooking apparatus comprises a frying basket, wherein the frying basket comprises: a basket mesh for receiving cooking materials; a rounding portion formed at the lower part of the basket mesh and having a curved surface in the downward direction; and a basket frame connected to the upper part of the basket mesh and coupled to the gripper unit; wherein the basket frame may comprise: a first bar in the form of a beam bent into a square shape that is connected to the basket mesh and protrudes upward; a second bar in the form of a beam bent into a square shape that is positioned adjacent to the first bar in the basket mesh and protrudes upward at an angle; a first lower crossbar connecting across both sides of the first bar; a second lower crossbar connecting across both sides of the second bar; and an upper crossbar connecting the upper part of the first bar and the upper part of the second bar.

[0033] The technical solutions obtainable in this disclosure are not limited to the solutions mentioned above, and other solutions not mentioned will be clearly understood by those skilled in the art to which this disclosure belongs from the description below.

[0034] The effects of the cooking robot system according to the present disclosure are described as follows.

[0035] Some embodiments of the present disclosure enable various cooking methods, such as frying, stir-frying, and soups, using a single robot. While conventional robots could only perform specific cooking methods, the cooking robot system according to the present disclosure can perform various cooking methods by changing the cooking equipment. In particular, stirring can be implemented through a multi-joint robot, allowing for a wider variety of cooking methods.

[0036] Some embodiments of the present disclosure allow for the cooking of fried food using a large pot instead of a deep fryer. In particular, in school cafeteria cooking facilities, fried dishes can be cooked using existing large pots.

[0037] Some embodiments of the present disclosure can increase robot usability. In particular, in cases where frying is limited to twice a week in school meal cooking facilities according to Ministry of Education guidelines, the robot can perform other dishes such as stir-frying and soup without interruption during the remaining three times a week, thereby improving the robot's operability.

[0038] Some embodiments of the present disclosure allow for food cooking using a pot that constitutes a cooking robot system even when a multi-joint robot is not used by utilizing multiple modes.

[0039] The effects obtainable through the present disclosure are not limited to those mentioned above, and other unmentioned effects will be clearly understood by those skilled in the art to which the present disclosure belongs from the description below.

[0040] Various embodiments of the present disclosure are described with reference to the drawings, wherein similar reference numbers are used to refer to collectively similar components. In the following embodiments, for illustrative purposes, a number of specific details are presented to provide a comprehensive understanding of one or more embodiments. However, it will be apparent that such embodiment(s) may be practiced without these specific details.

[0041] FIG. 1 is a drawing for explaining a cooking robot system according to some embodiments of the present disclosure.

[0042] FIG. 2 is a drawing for explaining a gripper unit according to some embodiments of the present disclosure.

[0043] FIG. 3 is a drawing for explaining the coupling structure between a gripper unit and a basket according to some embodiments of the present disclosure.

[0044] FIG. 4 is a drawing for explaining the coupling structure between a gripper unit and a frying basket according to some embodiments of the present disclosure.

[0045] FIG. 5 is a drawing for explaining a frying net-shaped cooking device according to some embodiments of the present disclosure.

[0046] FIG. 6 is a drawing for explaining the coupling structure between a gripper unit and a cooking utensil according to some embodiments of the present disclosure.

[0047] FIG. 7 is a drawing for explaining a cooking utensil in the form of a mixing plate according to some embodiments of the present disclosure.

[0048] FIG. 8 is a drawing for explaining the coupling structure between a gripper unit and a cooking utensil according to some embodiments of the present disclosure.

[0049] FIG. 9 is a drawing for explaining a hanging part and a detachable part according to some embodiments of the present disclosure.

[0050] FIG. 10 is a drawing for explaining a mounting portion according to some embodiments of the present disclosure.

[0051] FIG. 11 is a drawing for explaining a tray bogie member according to some embodiments of the present disclosure.

[0052] FIG. 12 is a drawing for explaining a bathtub bogie member according to some embodiments of the present disclosure.

[0053] FIG. 13 is a drawing for explaining a locking operation part according to some embodiments of the present disclosure.

[0054] FIG. 14 is a drawing for illustrating a locking base according to some embodiments of the present disclosure.

[0055] FIG. 15 is a diagram illustrating an example of a cooking robot system that performs large-capacity cooking using multiple pots.

[0056] FIG. 16 is a drawing illustrating another example of a cooking robot system that performs large-capacity cooking using multiple pots.

[0057] Hereinafter, various embodiment(s) of a cooking robot system according to the present disclosure and a food cooking method using the same will be described in detail with reference to the drawings. Identical or similar components are given the same reference number regardless of the drawing symbols, and redundant descriptions thereof will be omitted.

[0058] The purpose and effects of the present disclosure, and the technical configurations for achieving them, will become clear by referring to the embodiments described in detail below in conjunction with the accompanying drawings. In describing one or more embodiments of the present disclosure, if it is determined that a detailed description of related prior art may obscure the essence of at least one embodiment of the present disclosure, such detailed description is omitted.

[0059] The terms of this disclosure are defined with consideration of their functions in this disclosure, and these may vary depending on the intentions or practices of the user or operator. Furthermore, the attached drawings are intended only to facilitate understanding of one or more embodiments of this disclosure, and the technical scope of this disclosure is not limited by the attached drawings; it should be understood that the technical scope of this disclosure includes all modifications, equivalents, and substitutions that fall within the spirit and technical scope of the invention.

[0060] The suffixes "module" and "part" for components used in the following description are assigned or used interchangeably solely for the ease of drafting the present disclosure, and do not have distinct meanings or roles in themselves.

[0061] Among the terms used in the following description, "user" and "cook" are assigned or used interchangeably solely for the ease of drafting this disclosure and do not have distinct meanings or roles in themselves.

[0062] Terms including ordinal numbers, such as first, second, etc., may be used to describe various components, but said components are not limited by said terms. Such terms are used solely for the purpose of distinguishing one component from another. Accordingly, the first component mentioned below may be the second component within the technical scope of the present disclosure.

[0063] When it is stated that one component is "connected" or "connected" to another component, it should be understood that while it may be directly connected or connected to that other component, there may also be other components in between. On the other hand, when it is stated that one component is "directly connected" or "directly connected" to another component, it should be understood that there are no other components in between.

[0064] Singular expressions include plural expressions unless the context clearly indicates otherwise. That is, unless otherwise specified or the context does not make it clear that the singular form is indicated, the singular in this disclosure and claims should generally be interpreted to mean "one or more."

[0065] In this disclosure, terms such as “comprising,” “comprising,” or “having” are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in this disclosure, and should not be understood as precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0066] In this disclosure, the term “or” should be understood as “or” in an implied sense, not in an exclusive sense. That is, unless otherwise specified or evident from the context, “X uses A or B” is intended to mean one of the natural implied substitutions. That is, where X uses A; where X uses B; or where X uses both A and B, “X uses A or B” may apply to any of these cases. Furthermore, the term “and / or” as used in this disclosure should be understood to refer to and include all possible combinations of one or more of the listed related items.

[0067] Unless otherwise defined, all terms used in this disclosure (including technical and scientific terms) may be used in a meaning that is commonly understood by those skilled in the art of this disclosure. Additionally, terms defined in commonly used dictionaries are not to be over-interpreted unless specifically defined otherwise.

[0068] However, the present disclosure is not limited to the embodiments disclosed below but may be implemented in various different forms. Some embodiments of the present disclosure are provided merely to fully inform those skilled in the art of the scope of the present disclosure, and the present disclosure is defined only by the scope of the claims. Therefore, such definition must be based on the content throughout the present disclosure.

[0069] Referring to FIG. 1, a cooking robot system (100) according to an embodiment of the present disclosure may include a robot base (200), a multi-joint robot (300), a gripper unit (400), a cooking utensil (500), a material procurement unit (600), and a pot (P). Since the above components are not essential for implementing the cooking robot system (100), the cooking robot system (100) described in the present disclosure may have more or fewer components than those listed above.

[0070] In the present disclosure, the cooking robot system (100) can be used to cook food in large quantities using a plurality of modes and may have multi-functional capabilities for cooking various types of food. Here, the plurality of modes may include automatic mode and manual mode.

[0071] The pot (P) may include an automatic water supply unit that fills the pot with water through automatic water supply. The automatic water supply unit may include a water supply unit, a water supply amount recognition unit, and an electric valve. The above-described components may be organically interconnected to control the supply of water to the pot (P). However, the present disclosure is not limited thereto.

[0072] The water supply unit serves to draw water from an external water reservoir or water supply source, and for this purpose, water can be supplied through a hose. Here, the hose is made of a material with excellent durability and stability to maintain a stable water flow even in a high-pressure environment. However, the present disclosure is not limited thereto.

[0073] A control unit embedded in the robot base (200) can drive a power device within the robot base (200) to control the movement of the multi-joint robot (300) and the gripper unit (400). Additionally, the control unit can control the pot (P) to adjust the temperature of the pot or the amount of water supplied to the pot, and can perform various cooking by checking recipes stored in the storage unit.

[0074] The electric valve controls the inflow of water and can operate by receiving a control signal from the control unit via wired or wireless communication. For example, when the control unit transmits an open signal to the electric valve, the electric valve opens so that water can flow into the pot, and when the control unit transmits a close signal to the electric valve, the electric valve closes so that the flow of water is blocked.

[0075] The water supply amount recognition unit can recognize the amount of water supplied into the pot (P).

[0076] For example, the water supply amount recognition unit can measure the total weight of the contents placed inside the pot using a weight recognition sensor and indirectly calculate the amount of water through this. Here, a load cell can be used as the weight recognition sensor, and when using a load cell, the weight can be measured even if there are contents other than water inside the pot (P).

[0077] As another example, the water supply volume recognition unit can precisely verify the amount of supplied water by directly measuring the flow of water through a flow sensor installed in the water supply unit.

[0078] The examples described above may be used individually or in combination, and an appropriate sensor may be selected depending on the situation, and the present disclosure is not limited to the examples described above.

[0079] The automatic water supply unit can adjust the amount of water supplied to the pot (P) so that a preset amount of water is filled into the pot (P). Specifically, the control unit can transmit an opening signal to the automatic water supply unit to supply a preset amount of water to the pot (P) according to a pre-stored recipe. In this case, the electric valve is opened so that water can be supplied to the pot (P) through the water supply unit. Then, if the control unit recognizes through the water supply amount recognition unit that a preset amount of water has been supplied, it can transmit a closing signal to the electric valve. In this case, the electric valve can be closed.

[0080] However, although the components and modes of operation described above in this disclosure are included, various modifications and additional components and modes of operation may also be included.

[0081] In the present disclosure, various recipes may be stored in a storage unit, and the storage unit may be embedded in a robot base (200). The storage unit can efficiently manage and utilize various data and information required for cooking operations and can contribute to automating and precisely performing cooking operations of the multi-joint robot (300).

[0082] Specifically, the storage unit may contain detailed information for each recipe. For example, each recipe may record in detail the type and amount of ingredients used, the amount of water supplied to the pot, the cooking order, cooking conditions according to temperature and time, and how to use cooking tools. In addition, cooking temperature information of a heating device (pot (P)) suitable for a specific food may also be included, so that the multi-joint robot (300) can be supported to perform tasks optimized for the cooking environment.

[0083] The recipe stored in the storage unit can be referenced in real time when the multi-joint robot (300) performs cooking operations. The control unit automates the cooking process by controlling the movements of the multi-joint robot (300) and the gripper unit (400) based on the stored data, and can precisely perform the necessary actions at each cooking stage. For example, the control unit can utilize the stored data to add specific ingredients at the correct time, monitor and appropriately adjust the temperature or condition of the food during cooking, and control the movements of the multi-joint robot (300) and the gripper unit (400) so that they can grip the cooking tool and cook in the pot (P). Through this, food of consistent quality can be provided.

[0084] Furthermore, new recipes can be added or existing recipes modified through a user-friendly interface. Users can easily manage recipes through a display or mobile application connected to the robot base (200), thereby enabling the multi-joint robot (300) to be used for various dishes. Additionally, the storage unit can be linked with cloud-based data to provide scalability, allowing for automatic updates to the latest recipes or sharing recipes with other users.

[0085] The storage unit is not limited to simply storing recipes, but can also contribute to the robot's learning and performance improvement based on recipe data. For example, the storage unit can record and analyze data collected during the cooking process to derive an optimal cooking method or be used to improve algorithms to increase the efficiency of repetitive tasks. Through this, continuous performance improvement of the multi-joint robot (300) and more precise cooking operations can be achieved.

[0086] Meanwhile, the pot (P) can operate with various types of heat sources to heat water or contents inside. Generally, heating can be done efficiently and stably using an induction method or a gas range method. However, the present disclosure is not limited thereto, and other heating methods may be used as needed.

[0087] The induction method is a technique that directly heats the pot itself using the principle of electromagnetic induction. The gas range method is a traditionally used heating technique that transfers heat generated through the combustion of gas to the pot. In addition to these, various heat source technologies such as electric heaters, radiant heat, and steam heaters can be applied.

[0088] In the present disclosure, the control unit can control the temperature of the pot (P) so that the temperature of the water supplied to the pot (P) becomes a preset temperature according to a pre-stored recipe. In this case, the control unit can control the temperature of the pot (P) by continuously monitoring the temperature of the water supplied to the pot (P) using a temperature checking sensor to be described later, and transmitting a control signal to the pot (P) that is suitable for the heating method of the pot (P).

[0089] The pot (P) may include a temperature checking sensor for checking the temperature of the water supplied to the pot (P). The temperature checking sensor included in the pot (P) may be composed of various types such as a thermocouple, an RTD (resistance temperature detector), or an NTC / PTC thermistor.

[0090] The temperature sensor may be installed in the center of the pot (P) to detect overall temperature changes without temperature deviation in specific parts, or mounted at the bottom of the pot (P) to quickly detect the temperature rise that occurs when water is heated, and may be designed to maintain durability even in environments exposed to high temperatures.

[0091] In the present disclosure, the temperature sensor may be installed in a manner that comes into direct contact with water, or mounted in a non-contact manner attached to the wall of the pot (P). The temperature sensor installed in a manner that comes into direct contact with water provides fast and accurate temperature measurement, while the temperature sensor mounted in a non-contact manner has the advantage of increasing the durability of the sensor and facilitating maintenance.

[0092] In the present disclosure, the temperature checking sensor measures the temperature of at least one of the pot (P) or contents (water, etc.) introduced into the pot (P) in real time, and the control unit can analyze this data and use it to control the cooking process.

[0093] Specifically, a temperature sensor present in the pot (P) can detect cooking conditions such as water temperature. The temperature sensor can convert the detected temperature into an electrical signal and output it. The signal output from the temperature sensor can be transmitted to the control unit of the robot base via wired or wireless communication. The control unit can receive the signal from the sensor, convert it into digital data, and process it. In this process, an A / D converter (Analog-to-Digital Converter) may be used to convert the analog signal into digital. The converted digital data can be analyzed by the control unit. The control unit monitors the received temperature data in real time and can evaluate the current cooking condition by comparing it with a preset reference temperature.

[0094] The control unit can continuously monitor the temperature of the water supplied to the pot (P) through a temperature check sensor and perform the function of notifying the user when the temperature reaches a preset temperature.

[0095] Specifically, the control unit can analyze data received in real time from a temperature check sensor to determine whether the water temperature inside the pot has reached a preset target temperature (e.g., 100°C). If the temperature reaches the preset temperature, the control unit can detect this and control the output unit to output a preset notification.

[0096] The output unit can be designed to deliver notifications in a manner that is easily recognizable by the user. For example, the output unit can display notifications in the form of sound (notification tone), light (LED blinking), or a screen (display message). These notification methods can be combined or implemented selectively to consider user convenience.

[0097] After a notification is output through the output unit, the control unit can recognize that the automatic mode has been selected among multiple modes if it receives input to add ingredients according to the recipe, and recognize that the manual mode has been selected otherwise. That is, the control unit can recognize that the automatic mode has been selected if the input to add ingredients from the cook is received within a preset time, and recognize that the manual mode has been selected otherwise.

[0098] Meanwhile, the details of the notifications can be defined by the user. For example, it can be set to display messages such as "Water boiling complete" or "Optimal temperature reached" when a specific temperature is reached, or to show additional instructions that guide the progress of other tasks. This can help users manage the cooking process efficiently.

[0099] Furthermore, the control unit may include a function capable of triggering additional actions while simultaneously outputting notifications. For example, when the water reaches a preset temperature, the control unit can execute a command to automatically stop heating or switch to the next cooking step. This function supports the automation of cooking tasks and enhances convenience by minimizing user intervention.

[0100] As a result, the control unit not only simply monitors the information received from the temperature check sensor, but can also control the output unit to output a preset notification when the temperature of the water supplied to the pot (P) reaches a preset temperature, or automatically adjust the cooking environment.

[0101] Meanwhile, when the control unit recognizes that the current mode among the multiple modes is an automatic mode, it can control the movement of the multi-joint robot (300) and the gripper unit (400) to enable food to be cooked automatically in the pot (P).

[0102] Meanwhile, the robot base (200) can be placed in a cooking facility, and a power device and a control unit capable of driving a multi-joint robot (300) can be placed inside the robot base (200).

[0103] A control unit embedded in the robot base (200) can drive a power device within the robot base (200) to control the movement of the multi-joint robot (300) and the gripper unit (400). Here, the gripper unit (400) may have a structure capable of gripping multiple cooking utensils of various types.

[0104] In the present disclosure, a control unit positioned on a robot base (200) can determine whether to rotate a gripper unit according to the type of cooking utensil used when performing cooking, and whether to grip the cooking utensil through the gripper unit.

[0105] For example, when the control unit determines that the frying basket (510) is used when performing cooking, it may decide not to rotate the gripper unit to grip the frying basket (510) through the gripper unit. In this case, the power device may drive the multi-joint robot (300) so that the frying basket (510) is gripped through the gripper unit after positioning the first gripper (410) at the top.

[0106] In another example, when the control unit determines that the cooking utensil (500) illustrated in FIG. 5 or FIG. 7 is used when performing cooking, it may determine to rotate the gripper unit so that the second gripper (420) is positioned at the top to grip the cooking utensil (500) through the gripper unit. In this case, the power device may drive the multi-joint robot (300) so that the cooking utensil (500) illustrated in FIG. 5 or FIG. 7 is gripped through the gripper unit after rotating the gripper unit to position the second gripper (420) at the top.

[0107] In another example, when the control unit determines that the basket (632) is used when performing cooking, it may decide not to rotate the gripper unit to grip the basket (632) with the gripper unit. In this case, the power unit may drive the multi-joint robot (300) to grip the basket (632) after positioning the first gripper (410) on top without rotating the gripper unit.

[0108] The examples described above are merely illustrative of the present disclosure and are not limited to the examples described above.

[0109] The control unit can transmit control signals to the pot (P) via wired or wireless communication. To this end, a communication unit for transmitting control signals may be built inside the robot base (200). The control unit can transmit the necessary control signals to the pot (P) through the communication unit built into the robot base (200).

[0110] The control unit can control the temperature of the pot (P) through a control signal.

[0111] For example, when the pot (P) is heated by an induction method, the control unit can generate a signal to regulate power to maintain a desired temperature and transmit it via wired or wireless communication.

[0112] As another example, when the pot (P) is heated in a gas range manner, the control unit can transmit a signal to control the heat to a specific temperature via wired or wireless communication.

[0113] The examples described above are examples for explaining the present disclosure, and the present disclosure is not limited to the examples described above.

[0114] The control unit can control the amount of water supplied to the pot (P) through a control signal. A detailed explanation of this is not provided here, as it has been described above in relation to the automatic water supply unit.

[0115] A multi-joint robot (300) can be placed on a robot base (200), and multiple joints are combined so that the joints can move in multiple directions and positions. A separate actuator can be placed at each joint of the multi-joint robot (300), and each actuator receives power from a power device, and the direction and amount of rotation are determined by a control unit, and can move in multiple directions and positions.

[0116] According to some embodiments of the present disclosure, the control unit may recognize the currently selected mode among a plurality of modes after controlling the output of a preset notification through an output unit. The control unit may determine whether to cook food in the pot (P) by controlling the movement of the multi-joint robot (300) and the gripper unit (400) in conjunction with controlling the pot (P) according to the type of the currently selected mode among the plurality of operation modes. Here, the plurality of operation modes may include automatic modes and manual modes, and each mode may be selectively applied according to the cooking environment and the user's needs.

[0117] The control unit may recognize that automatic mode is selected if an input to input ingredients is received from a cook within a preset time, and recognize that manual mode is selected otherwise. However, the present disclosure is not limited thereto, and the user may directly select either automatic mode or manual mode.

[0118] The automatic mode is a mode focused on minimizing the intervention of a cook by automating the cooking process as much as possible. When this mode is activated, the control unit can perform the task of automatically cooking food in the pot (P) by controlling the movement of the multi-joint robot (300) and the gripper unit (400) connected to the pot (P) in conjunction with controlling the amount of water supplied to the pot (P) and the temperature of the pot (P). For example, the control unit can automatically perform the task of adding ingredients to the pot (P) according to a recipe and gripping cooking utensils to mix by controlling the movement of the multi-joint robot (300) and the gripper unit (400). This automatic mode efficiently handles complex cooking processes and can significantly reduce the workload on the user, especially in environments requiring multiple tasks.

[0119] Manual mode is a mode designed to support the cook's proactive cooking process. When manual mode is selected, the control unit automatically adjusts the amount of water supplied to the pot (P) and the temperature of the pot (P) according to the recipe, but may not control the movement of the multi-joint robot (300) and the gripper unit (400). In this case, the control unit focuses on supplying the necessary amount of water to the pot (P) and controlling the temperature of the pot (P), while the cooking of the food is performed entirely by the cook. For example, the control unit provides optimal cooking conditions by adjusting the amount of water supplied to the pot (P) according to a pre-stored recipe and maintaining the set temperature for the pot (P), allowing the cook to directly handle ingredients and proceed with cooking based on this. Manual mode provides an environment where the user can control the cooking process more precisely or attempt creative cooking.

[0120] The control unit detects the currently active mode among these multiple modes and can execute different control logic for each mode. In the case of automatic mode, the movement of the multi-joint robot (300) and the gripper unit (400) can be precisely adjusted to perform cooking steps according to the recipe in the pot (P). Conversely, in manual mode, the operation of the multi-joint robot (300) and the gripper unit (400) is deactivated, and the user's work is prioritized.

[0121] In this way, a structure in which the control unit can organically control the amount of water supplied to the pot (P), the temperature of the pot (P), and the movements of the multi-joint robot (300) and the gripper unit (400) according to a plurality of modes can significantly improve the flexibility and efficiency of the cooking environment. By selecting a suitable mode according to specific cooking or working conditions, the user can be provided with the option to automate or manually manage cooking operations.

[0122] Consequently, the plurality of mode-based control systems according to the present embodiment can provide a platform capable of supporting both the automated cooking functions of the multi-joint robot (300) and the gripper unit (400) and the creative cooking work of the chef.

[0123] Meanwhile, although only one pot is illustrated in FIG. 1, the present disclosure is not limited thereto, and multiple pots may be provided. Additionally, the robot base may be positioned between multiple pots to have a structure in which the multi-joint robot and the gripper unit can cook food alternately or simultaneously in multiple pots, or the robot base may be positioned in a location where food can be cooked in only one pot, as shown in FIG. 15 and FIG. 16. In this case, the control unit may determine whether to control the movement of the multi-joint robot and the gripper unit in conjunction with controlling the amount of water supplied to each of the multiple pots and the temperature of each of the multiple pots.

[0124] Meanwhile, according to some embodiments of the present disclosure, food may be cooked using a pot combined with a stirrer in addition to the pot illustrated in the present disclosure. In this case, the control unit may control the movement of the gripper unit and the multi-joint robot in conjunction with controlling the operation of the stirrer combined with the pot, the temperature of the pot, and the amount of water supplied to the pot.

[0125] The gripper unit (400) can be coupled to the multi-joint robot (300) and can detach the cooking utensil (500). In an embodiment of the present disclosure, the gripper unit (400) can selectively use one or more of the cooking utensils (500) among the plurality of cooking utensils (500) according to the target food, and can perform cooking of the target food using the corresponding cooking utensil (500). Here, the food that can be cooked by the multi-joint robot (300) is a plurality of foods, and the gripper unit (400) can selectively use one of the cooking utensils to cook any one of the foods.

[0126] Referring to FIG. 2, the gripper unit (400) may include a gripper drive unit (430), a first gripper (410), and a second gripper (420).

[0127] The gripper drive unit (430) may include a coupling unit (431), a drive module (432), a first moving plate (433), and a second moving plate (434).

[0128] The drive module (432) can provide a driving force that enables the first and second grippers (410, 420) to move in the up and down direction. Various structures that enable the first and second grippers (410, 420) to move in the up and down direction may be applied inside the drive module (432). For example, although not illustrated in the drawing, a motor, a gearbox, and a screw may be connected and arranged in a power-transmitting manner inside the drive module (432) to move the first and second grippers (410, 420) in the up and down direction.

[0129] The first moving plate (433) may have a square plate shape and may be positioned on one side of the drive module (432) to be movable in the vertical direction (Z), and the first gripper (410) may be coupled thereto. For example, although not shown in the drawing, the first moving plate (433) may be connected to a screw and may move in the vertical direction (Z) according to the rotational direction of the screw.

[0130] The second moving plate (434) may have a square plate shape and may be positioned on one side of the drive module (432) to be movable in the vertical direction (Z), and the second gripper (420) may be coupled thereto. For example, although not illustrated in the drawing, the second moving plate (434) may be connected to a screw and may move in the vertical direction (Z) according to the rotational direction of the screw.

[0131] The coupling portion (431) may be positioned on the other side of the drive module (432) and may be coupled to the arm of the multi-joint robot (300). Various coupling structures may be designed in the coupling portion (431), and an electrical port capable of supplying power and signals to the drive module (432) may also be positioned therein, although not shown in the drawing.

[0132] The first gripper (410) can be movably connected to the gripper drive unit (430).

[0133] This first gripper (410) may include a first link plate (411), a first link beam (412), a center bar (413), a side bar (414), a center support piece (415), and a side support piece (416).

[0134] The first link plate (411) may be in the shape of a square plate and may be coupled to the first movable plate (433).

[0135] One side of the first link beam (412) may be connected to the first link plate (411), and the other side may protrude in the front direction (X). In the embodiment of the present disclosure, the first link beam (412) may be in the shape of an arch, but is not necessarily limited thereto. For example, to stably support the center bar (413) in the longitudinal direction (Y), a plurality of first link beams (412) that are disconnected from each other may be arranged at a predetermined interval in the longitudinal direction (Y), and each first link beam (412) may connect the first link plate (411) and the center bar (413).

[0136] The center bar (413) can be connected to the other side of the first link beam (412) and can hold a cooking utensil (500). In an embodiment of the present disclosure, the center bar (413) may be in the form of a bar extended in the longitudinal direction (Y).

[0137] The side bar (414) can be connected to both ends of the center bar (413) by protruding in the front direction (X) and can hold the cooking utensil (500).

[0138] The center support piece (415) can be connected to the center bar (413) by protruding downward and can support the cooking utensil (500). At this time, the center support piece (415) can be positioned at an angle in the front direction (X) where the side bar (414) protrudes. In the embodiment of the present disclosure, the center support piece (415) may be in the shape of a square plate, but is not necessarily limited thereto.

[0139] The side support piece (416) can be connected to the side bar (414) by protruding downward and can support the cooking utensil (500). At this time, the side support piece (416) can be positioned at an angle in the direction (Y) facing the center bar (413). In the embodiment of the present disclosure, the side support piece (416) may be in the shape of a square plate, but is not necessarily limited thereto.

[0140] The second gripper (420) can be movably connected to a position opposite the first gripper (410) in the gripper drive unit (430).

[0141] This second gripper (420) may include a second link plate (421), a second link beam (422), a lower support plate (423), and a center support plate (424).

[0142] The second link plate (421) may be in the shape of a square plate and may be coupled to the second movable plate (434).

[0143] One side of the second link beam (422) may be connected to the second link plate (421), and the other side may protrude in the front direction (X). In an embodiment of the present disclosure, the second link beam (422) may be in an arch shape that is longer than the first link beam (412), but is not necessarily limited thereto. For example, a plurality of second link beams (422) that are disconnected from each other may be in a form that protrudes in the front direction (X).

[0144] The lower support plate (423) may be positioned in the front direction of the second link beam (422) and may support the cooking utensil (500). In an embodiment of the present disclosure, the lower support plate (423) may be in the form of a thin plate with a curved edge corresponding to the shape of the other side of the second link beam (422), but is not necessarily limited thereto.

[0145] The center support plate (424) may be positioned to protrude upward (Z) on the upper part of the second link beam (422) and may support the cooking utensil (500). At this time, the center support plate (424) may be positioned at an angle in the rear direction (X) facing the center bar (413). In the embodiment of the present disclosure, the center support plate (424) may be in the shape of a thin rectangular plate, but is not necessarily limited thereto.

[0146] In an embodiment of the present disclosure, the lower support plate (423) and the center support plate (424) may be formed integrally, and the center support plate (424) may be bent at a predetermined angle relative to the lower support plate (423) to be arranged as disclosed in FIG. 2. Alternatively, the lower support plate (423) and the center support plate (424) may be manufactured separately and welded.

[0147] Meanwhile, FIG. 3 shows a state in which a gripper unit (400) holds a basket (632). The basket (632) shown in FIG. 3 may be a basket (632) loaded onto a tray trolley member (630) shown in FIG. 12.

[0148] Referring to FIG. 3, the basket (632) of the tray trolley member (630) may have an open top and a shape in which the internal size narrows from top to bottom. That is, the side of the basket may have a trapezoidal shape in which the width narrows from top to bottom.

[0149] Additionally, a basket rib (632b) protruding outward along the perimeter may be formed on the upper part of the basket. Furthermore, the side (632a) of the basket may have a trapezoidal shape and be inclined downward.

[0150] The gripper unit (400) can grasp the basket in the following way.

[0151] First, the drive module (432) operates so that the first moving plate (433) moves upward, and accordingly, the first gripper (410) coupled to the first moving plate (433) moves upward together.

[0152] At the same time, the second moving plate (434) moves downward, and accordingly, the second gripper (420) coupled to the second moving plate (434) moves downward together.

[0153] Move the multi-joint robot (300) and position the basket (632) in the space between the first and second grippers (410, 420).

[0154] The multi-joint robot (300) moves the gripper unit (400) toward the basket (632) until the side (632a) of the basket (632) comes into contact with the center support plate (424).

[0155] When the side (632a) of the basket comes into contact with the center support plate (424), the multi-joint robot (300) stops the movement of the gripper unit (400).

[0156] Afterwards, the drive module (432) operates to move the first moving plate (433) downward and simultaneously move the second moving plate (434) upward.

[0157] As the first moving plate (433) moves downward, the first gripper (410) moves downward, and the center bar (413) and side bar (414) are seated on the basket rib (632b) and fixed in contact.

[0158] At this time, the side support piece (416) and the center support piece (415) come into contact with and are fixed to the inner surface of the basket.

[0159] And as the second moving plate (434) moves upward, the second gripper (420) moves upward, and the lower support plate (423) comes into contact with and supports the lower part of the basket.

[0160] At this time, the side of the basket is in contact with and supported by the center support plate (424).

[0161] That is, the upper part of the basket is stably fixed by the first gripper (410), and the lower part and side of the basket are stably fixed by the second gripper (420), so that the gripper unit (400) can stably hold and transport the basket.

[0162] Meanwhile, FIGS. 4 to 10 disclose various cooking utensils (500) according to embodiments of the present disclosure.

[0163] Referring to FIG. 4, the frying basket (510) of the cooking apparatus (500) according to an embodiment of the present disclosure can be used when performing large-capacity frying.

[0164] This frying basket (510) may include a basket net (511) and a basket frame (512).

[0165] The basket net (511) can accommodate ingredients for frying. In an embodiment of the present disclosure, the basket net (511) may be cylindrical in shape with an open top, and the sides and bottom may be structured with a mesh net made of heat-resistant metal material.

[0166] The rounding portion (511a) may be formed on the lower part of the basket mesh (511) and may have a shape that forms a curved surface in the downward direction. At this time, the rounding portion (511a) may have the same curvature as the inside of the pot (P). Accordingly, when cooking, the lower part of the basket mesh (511) can be pressed tightly against the bottom of the pot (P) to fry the ingredients.

[0167] The rounding portion (511a) is shaped to protrude downward from the bottom of the basket mesh (511), so it can accommodate more ingredients for frying, which is suitable for large-capacity frying.

[0168] The basket frame (512) can be connected to the upper part of the basket net (511) and can be gripped by the gripper unit (400).

[0169] This basket frame (512) may include a first bar (513), a second bar (514), a first lower crossbar (515), a second lower crossbar (516), and an upper crossbar (517).

[0170] The first bar (513) may be a beam bent into a square shape, connected to a basket net (511), and positioned to protrude upward.

[0171] The second bar (514) may be a beam bent into a square shape and may be positioned adjacent to the first bar (513) in the basket net (511). The second bar (514) may be positioned to protrude upward at an angle. Accordingly, when the gripper unit (400) grasps the basket frame (512), the upper part of the second bar (514) may be fixed in contact with the lower part of the center bar (413).

[0172] The first lower crossbar (515) may be in the shape of a thin beam and may be positioned across both sides of the first bar (513) and may connect both lower sides of the first bar (513). When the gripper unit (400) grasps the basket frame (512), the first lower crossbar (515) may be seated on and fixed to the lower support plate (423) of the second gripper (420).

[0173] The second lower crossbar (516) may be in the shape of a thin beam and may be positioned across both sides of the second bar (514) and may connect both lower sides of the second bar (514). When the gripper unit (400) grasps the basket frame (512), the second lower crossbar (516) may be fixed in contact with the center support plate (424) of the second gripper (420). As described above, as the second bar (514) is positioned at an angle in the upward direction (Z), the upper part of the second bar (514) is supported by the lower part of the center bar (413), and the second lower crossbar (516) may be supported in contact with the center support plate (424).

[0174] The upper crossbar (517) may be in the shape of a thin beam, arranged in the front direction (X), and may connect the upper part of the first bar (513) and the upper part of the second bar (514). When the gripper unit (400) grasps the basket frame (512), the upper crossbar (517) may be fixed in contact with the side of the center support piece (415) of the first gripper (410).

[0175] Referring to FIG. 4, in an embodiment of the present disclosure, a pair of upper crossbars (517) may be arranged between a pair of center support pieces (415), and each upper crossbar (517) may be fixed in contact with the side of the center support piece (415).

[0176] The following describes how the gripper unit (400) grips the frying basket (510).

[0177] The gripper unit (400) can grasp the basket frame (512) of the frying basket (510) in the following manner. Here, the frying basket (510) may be seated on the tray plate (613) of the tray trolley member (610) disclosed in FIG. 11.

[0178] First, the drive module (432) operates so that the first moving plate (433) moves upward, and accordingly, the first gripper (410) coupled to the first moving plate (433) moves upward together.

[0179] At the same time, the second moving plate (434) moves downward, and accordingly, the second gripper (420) coupled to the second moving plate (434) moves downward together.

[0180] The multi-joint robot (300) moves so that the basket frame (512) is positioned in the space between the first and second grippers (410, 420). At this time, the position of the gripper unit (400) is adjusted so that the first gripper (410) is positioned on the upper part of the first and second bars (513, 514) and the second gripper (420) is positioned on the lower part of the first and second lower crossbars (515, 516).

[0181] The multi-joint robot (300) moves the gripper unit (400) toward the frying basket (510) until the second lower crossbar (516) contacts the center support plate (424).

[0182] When the second lower crossbar (516) comes into contact with the center support plate (424), the multi-joint robot (300) stops the movement of the gripper unit (400).

[0183] Afterwards, the drive module (432) operates to move the first moving plate (433) downward and simultaneously move the second moving plate (434) upward.

[0184] As the first moving plate (433) moves downward, the first gripper (410) moves downward, and the center bar (413) is seated on the second bar (514) and fixed in contact.

[0185] At this time, a pair of upper crossbars (517) are positioned between a pair of center support pieces (415), and the sides of each upper crossbar (517) are fixed in contact with the center support pieces (415).

[0186] And as the second moving plate (434) moves upward, the second gripper (420) moves upward, and the lower support plate (423) comes into contact with and supports the first and second lower crossbars.

[0187] At this time, the second bar (514) is fixed in contact by the center support piece (415), and since the second lower crossbar (516) is supported in contact by the center support plate (424), the frying basket (510) can also be fixed in the front-rear direction (X).

[0188] That is, the upper part of the basket frame (512) is stably fixed by the first gripper (410), the lower part of the basket frame (512) is stably fixed by the second gripper (420), and the movement of the basket frame (512) in the front-rear direction (X) can be fixed by the center support piece (415) fixing the second bar (514) and the center support plate (424) supporting the second lower crossbar (516).

[0189] Therefore, the gripper unit (400) can stably hold the frying basket (510) through the above method.

[0190] Referring to FIGS. 5 to 9, a cooking utensil (500) used for small-capacity frying, soup, or stir-frying among the cooking utensils (500) according to an embodiment of the present disclosure is disclosed.

[0191] This cooking appliance (500) may include a ladle base part (520), a hanging part (531), a detachable part (537), and a ladle part (540).

[0192] The ladle base portion (520) may be configured to be gripped by the gripper unit (400).

[0193] This ladle base section (520) may include a fitting block (521), a first base (522), a second base (524), a side base (523), and a ladle link rod (525).

[0194] The first base (522) may have a square frame shape.

[0195] The second base (524) may have a square frame shape and may be spaced apart from the first base (522) at a predetermined distance.

[0196] In an embodiment of the present disclosure, the second base (524) may be positioned so as to be inclined toward the first base (522) as it moves from the bottom to the top. With respect to the third direction (Z), the inclination angle of the second base (524) (see FIG. 7) may correspond to the inclination angle of the center support plate (424) (see FIG. 2).

[0197] The side base (523) can connect both ends of the first base (522) and both ends of the second base (524). In an embodiment of the present disclosure, as the second base (524) slopes toward the first base (522) from the bottom to the top, the side base (523) may generally have a trapezoidal shape.

[0198] The insert block (521) can connect the upper part of the first base (522) and the upper part of the second base (524), and a through insert hole (521a) can be formed in the center.

[0199] The ladle link rod (525) may be in the shape of a long rod, and the upper part may be connected to the first base (522), and a detachable part (537) may be disposed at the lower part.

[0200] When moving the multi-joint robot (300) to grasp the ladle base portion (520) with the gripper unit (400), the lower part of the second base (524) can be fixed to the center bar (413) and center support piece (415) of the first gripper (410).

[0201] And the lower part of the side base (523) can be fixed to the side bar (414) and side support piece (416) of the first gripper (410).

[0202] The lower support plate (423) of the second gripper (420) can be inserted into the insertion hole (521a) of the insertion block (521).

[0203] And the second base (524) is in contact with and supported by the center support plate (424) of the second gripper (420), and the ladle base part (520) can be fixed to the gripper unit (400).

[0204] Hereinafter, with reference to FIGS. 6 and FIGS. 8, the method of the gripper unit (400) grasping the ladle base portion (520) of the cooking utensil (500) will be explained.

[0205] The gripper unit (400) can grasp the ladle base portion (520) of the cooking utensil (500) in the following manner. At this time, the cooking utensil (500) may be mounted on the mounting portion (550).

[0206] First, the joints of the multi-joint robot (300) are moved to rotate the gripper unit (400). Accordingly, the second gripper (420) is positioned at the top, and the first gripper (410) is positioned at the bottom of the second gripper (420). Subsequently, the drive module (432) is operated so that the first moving plate (433) moves upward, and accordingly, the first gripper (410) coupled to the first moving plate (433) moves upward together.

[0207] At the same time, the second moving plate (434) moves downward, and accordingly, the second gripper (420) coupled to the second moving plate (434) moves downward together.

[0208] Afterward, the multi-joint robot (300) is moved to insert the lower support plate (423) of the second gripper (420) into the insertion hole (521a) of the insertion block (521). This inserts the lower support plate (423) into the insertion hole (521a) until the second base (524) contacts the center support plate (424).

[0209] Next, the drive module (432) is operated to move both the first and second grippers (410, 420) so that the first and second grippers (410, 420) are brought closer to each other. Alternatively, only the first gripper (410) may be moved toward the second gripper (420).

[0210] Accordingly, the lower part of the second base (524) is supported in contact with the center bar (413). At this time, the lower part of the second base (524) may be located at the boundary between the center bar (413) and the center support piece (415), and in this case, the movement of the second base (524) in the front-rear direction (X) can be fixed.

[0211] At the same time, the lower part of the side base (523) is supported in contact with the side bar (414). At this time, the lower part of the side base (523) may be located at the boundary between the side bar (414) and the side support piece (416), and in this case, the side base (523) can be fixed to move in the left-right direction (Y).

[0212] That is, as described above, the upper part of the ladle base portion (520) is fixed by inserting the second gripper (420) into the fitting groove of the fitting block (521), the side part of the ladle base portion (520) is fixed by the center support plate (424) contacting the second base (524), and the lower part of the ladle base portion (520) can be fixed by the center bar (413) and the side bar (414) contacting the lower parts of the second base (524) and the side base (523), respectively.

[0213] In addition, the movement of the ladle base part (520) in the front-rear direction (X) and left-right direction (Y) can be fixed by positioning the lower part of the second base (524) at the boundary between the center bar (413) and the center support piece (415), and positioning the lower part of the side base (523) at the boundary between the side bar (414) and the side support piece (416).

[0214] Therefore, the gripper unit (400) can stably hold the cooking utensil (500) through the above method.

[0215] Meanwhile, the ladle section (540) can be connected to the lower part of the ladle base section (520) and can cook ingredients.

[0216] This ladle section (540) may include a ladle bar (541) and a cooking block (543).

[0217] The ladle bar (541) may be in the shape of a long rod, and a ladle opening groove (542) into which the lower part of the ladle link rod (525) is inserted may be formed at the upper part.

[0218] And a cooking block (543) can be placed at the bottom of the ladle bar (541).

[0219] If small-capacity frying is performed, the cooking block (543) may be a heat-resistant metal mesh, that is, a ladle bar (541) with a mesh attached can be combined with the ladle base (520) for use.

[0220] If soup or stir-frying is performed, the cooking block (543) may be a mixing plate made of heat-resistant metal material, that is, a ladle bar (541) with a mixing plate attached may be combined with the ladle base part (520) for use. The mixing plate can be used to mix the broth and solid ingredients in the case of soup cooking, and can be used to mix and stir various cooking ingredients in the case of stir-frying.

[0221] Referring to FIG. 9, the detachable part (537) can detach the ladle base part (520) and the ladle bar (541). That is, the ladle bar (541) with the mesh net or the ladle bar (541) with the mixing plate described above can be selectively detached from the ladle base part (520).

[0222] These detachable parts (537) may include a detachable hole (538) and a spring pin (539).

[0223] The detachable hole (538) can be formed by penetrating the upper part of the ladle bar (541).

[0224] A spring pin (539) may be positioned to protrude radially from the lower part of the ladle link rod (525). Although not shown in the drawing, the spring pin (539) may include a spring and a pin, the spring may be embedded inside the ladle link rod (525), and the pin is connected to the spring and may be inserted into or removed from the detachable hole (538) depending on the extension of the spring.

[0225] When the user separates the ladle bar (541) from the ladle link rod (525), the spring pin (539) is fully pressed into the detachment hole (538), and then the ladle bar (541) is pulled. Accordingly, the lower part of the ladle link rod (525) is disengaged from the ladle opening groove (542) of the ladle bar (541), and the ladle bar (541) and the ladle link rod (525) are separated.

[0226] When the user combines the ladle bar (541) and the ladle link rod (525), the spring pin (539) is fully pressed, and then the lower part of the ladle link rod (525) is inserted into the ladle opening groove (542) of the ladle bar (541). When the spring pin (539), which was compressed inside the ladle opening groove (542), is inserted to a position corresponding to the detachable hole (538), the pin protrudes radially due to the elasticity of the spring, and the ladle bar (541) and the ladle link rod (525) are combined.

[0227] Referring to FIG. 9, the hanging portion (531) can be placed on the ladle link rod (525), the hanging portion (531) is connected to the mounting portion (550), and the cooking unit can be mounted on the mounting portion (550).

[0228] These hanging portions (531) may include a hanging block (532), a hanging surface portion (533), and a hanging plate (534).

[0229] The hanging plate (534) may be plate-shaped and may be connected to the ladle link rod (525).

[0230] The hanging block (532) may be connected to the hanging plate (534) by protruding downward. In an embodiment of the present disclosure, the hanging block (532) may be in the shape of a triangular prism, but is not necessarily limited thereto.

[0231] The hanging portion (533) can be formed flat along the longitudinal direction of the hanging block (532) on one or more of the plurality of corners forming the hanging block (532).

[0232] The hanging portion (533) can guide the direction and position in which the cooking utensil (500) is mounted when the hanging block (532) of the hanging portion (531) is inserted into the mounting groove (553) of the mounting portion (550). This ensures that the cooking utensil (500) is always mounted in the designated direction and position on the mounting portion (550), thereby allowing the gripper unit (400) to grasp the ladle base portion (520) when the multi-joint robot (300) moves to the designated direction and position.

[0233] Referring to FIG. 10, the mounting portion (550) can be placed in a cooking facility and the hanging portion (531) is combined to mount a cooking utensil (500).

[0234] This mounting part (550) may include a mounting frame (551), a mounting connecting bar (556), a mounting block (552), a mounting surface part (552a), a mounting groove (553), a mounting beam (554), and a mounting base (555).

[0235] The mounting base (555) may be plate-shaped and may have a fastening hole (555a) formed therein. A fastening tool, such as a bolt or nail, may pass through the fastening hole (555a) and be connected to the ground, thereby fixing the mounting base (555) to the ground of the cooking facility.

[0236] The mounting frame (551) may be in the shape of a long rod and may be positioned to protrude upward on the upper part of the mounting base (555).

[0237] The mounting connection bar (556) may be in the shape of a short rod and may be connected by tilting downward from the upper part of the mounting frame (551).

[0238] The mounting block (552) can be connected to the mounting connecting bar (556), and a mounting groove (553) with an open top can be formed. A hanging block (532) can be inserted into the mounting groove (553).

[0239] At this time, the mounting block (552) and the mounting groove (553) may be in the shape of a triangular prism larger than the hanging block (532).

[0240] The mounting surface (552a) may be formed on one or more corners that correspond to the hooking surface (533) among the plurality of corners forming the mounting block (552). The mounting surface (552a) may be formed flat along the longitudinal direction of the mounting groove (553).

[0241] When inserting the hanging block (532) into the mounting groove (553) to mount the cooking utensil (500), by inserting it so that the position of the hanging surface (533) and the position of the mounting surface (552a) coincide, the direction and position in which the cooking utensil (500) is mounted on the mounting portion (550) can be consistently guided.

[0242] Accordingly, the cooking utensil (500) is always mounted on the mounting part (550) in a designated direction and position, and when the multi-joint robot (300) moves to the designated direction and position, the gripper unit (400) moves to a position corresponding to the ladle base part (520), and the gripper unit (400) can grasp the ladle base part (520) without error.

[0243] The mounting beam (554) can be positioned at the bottom of the mounting block (552) in the mounting frame (551), and when mounting the cooking utensil (500) on the mounting part (550), the mounting beam (554) can support the side of the ladle bar (541).

[0244] In an embodiment of the present disclosure, the mounting beam (554) may include a first mounting beam (554a) and a second mounting beam (554b) that are spread out in opposite directions. The side of the ladle bar (541) may be seated and supported between the first and second mounting beams (554a, 554b).

[0245] According to some embodiments of the present disclosure, as the hook portion (531) of the cooking utensil (500) is inserted into the mounting groove (553) of the mounting block (552) provided in the mounting portion (550), the cooking utensil (500) is mounted in a designated direction and position, and when the multi-joint robot (300) moves in a designated direction and position, the gripper unit (400) can grip the cooking utensil (500) without error.

[0246] Meanwhile, FIGS. 11 to 13 disclose a material procurement unit (600) and a locking member (650) according to an embodiment of the present disclosure.

[0247] The material procurement unit (600) can procure cooking materials.

[0248] Referring to FIG. 11, the material procurement unit (600) may include a tray trolley member (610).

[0249] The tray trolley member (610) can transport the frying basket (510) and can supply cooking ingredients for frying.

[0250] This tray trolley member (610) may include a tray frame (611), a tray support beam (612), a tray plate (613), and a tray wheel part (615).

[0251] The tray support beam (612) may be in the shape of a long rod and may be arranged in the vertical direction (Z).

[0252] The tray frame (611) may be ring-shaped and may be arranged in multiple layers at predetermined intervals along the vertical direction (Z) of the tray support beam (612). The tray frame (611) may include an upper tray beam (611a) and a lower tray beam (611b). The upper tray beam (611a) is positioned on the upper part of the tray plate (613) and may prevent the frying basket placed on the tray plate (613) from moving outward. The lower tray beam (611b) is positioned on the lower part of the tray plate (613) and may connect multiple tray support beams (612).

[0253] The tray plate (613) may be in the shape of a circular plate and may be placed on the upper part of the tray support beam (612). In an embodiment of the present disclosure, the central part of the tray plate (613) may form a downwardly concave curved surface corresponding to the rounded part (511a) of the frying basket (510).

[0254] As described above, the basket mesh (511) of the frying basket (510) protrudes downward in a curved shape, so if the tray plate (613) is in the shape of a flat disc, the lower part of the basket mesh (511) cannot be stably seated. Therefore, by forming the central part of the tray plate (613) into a curved shape corresponding to the rounded part (511a) of the basket mesh (511), the frying basket (510) is stably seated on the upper part of the tray plate (613).

[0255] The tray wheel section (615) can be positioned at the bottom of the tray support beam (612) and can allow the tray trolley member (610) to move.

[0256] This tray wheel section (615) may include a tray wheel (615a), a tray wheel bracket (615b), and a tray wheel brake (615c).

[0257]

[0258] *229 The tray wheel bracket (615b) can be connected to the lower part of the tray support beam (612). The tray wheel (615a) can be rotatably connected to the tray wheel bracket (615b) by a rotation axis. Although not shown in the drawing, a bearing is placed between the rotation axis and the tray wheel (615a) to allow the tray wheel (615a) to rotate smoothly.

[0259] The tray wheel brake (615c) can be positioned on the upper part of the tray wheel bracket (615b), and if the user wants to prevent the tray wheel (615a) from rotating, the tray wheel brake (615c) can be lowered to come into contact with the tray wheel (615a), thereby preventing the tray wheel (615a) from rotating. In this case, the position of the tray trolley member (610) can be fixed.

[0260] Referring to FIG. 12, the material procurement unit (600) may include a tray trolley member (630).

[0261] The tray trolley member (630) can transport multiple baskets and can supply various cooking ingredients such as frying, soup, and stir-frying.

[0262] This tray trolley member (630) may include a shelf frame (631), a shelf handle (636), a basket, a shelf base (633), an anti-detachment part (634), and a shelf wheel part (635).

[0263] The shelf frame (631) may be in the form of multiple beams joined together in a rectangular shape. A shelf handle (636) may be placed on both sides of the shelf frame (631), and the user may move the tray trolley member (630) by holding the shelf handle (636).

[0264] The shelf bracket (633) can be arranged in multiple steps along the vertical direction (Z) of the shelf frame (631), and a basket can be placed on the shelf bracket (633).

[0265] The anti-detachment member (634) can be placed on the shelf frame (631) and can prevent the basket on the shelf bracket (633) from coming out of the shelf frame (631).

[0266] These anti-detachment members (634) may include an anti-detachment beam (634a), a cross beam (634b), a seating block (634d), and an insertion beam (634c).

[0267] The anti-detachment beam (634a) may be in the shape of a long beam and may be positioned in the vertical direction (Z) of the shelf frame (631).

[0268] The cross beam (634b) can be connected to the anti-detachment beam (634a) and can be positioned in the left-right direction (Y) of the shelf frame (631).

[0269] The mounting blocks (634d) can be arranged in multiple layers along the vertical direction on the shelf frame (631). Although not shown in the drawing, through holes (not shown) may be formed in the mounting blocks (634d).

[0270] The insertion beam (634c) can be connected to the end of the cross beam (634b) by bending it downward and can be inserted into the through hole of the seating block (634d).

[0271] When separating the anti-detachment beam (634a) from the shelf frame (631), the user grasps the cross beam (634b) and lifts it upward, causing the insertion beam (634c) to be removed from the through hole of the mounting block (634d). Subsequently, the basket can be removed from the shelf base (633).

[0272] The shelf wheel part (635) can be placed at the bottom of the shelf frame (631) and can allow the tray trolley member (630) to move.

[0273] This shelf wheel part (635) may include a shelf wheel (635a), a shelf wheel bracket (635b), and a shelf wheel brake (635c).

[0274] The shelf wheel bracket (635b) can be connected to the lower part of the shelf frame (631). The shelf wheel (635a) can be rotatably connected to the shelf wheel bracket (635b) by a rotation axis. Although not shown in the drawing, a bearing is placed between the rotation axis and the shelf wheel (635a) to allow the shelf wheel (635a) to rotate smoothly.

[0275] The shelf wheel brake (635c) can be positioned on the upper part of the shelf wheel bracket (635b), and if the user wants to prevent the shelf wheel (635a) from rotating, the shelf wheel brake (635c) can be lowered to come into contact with the shelf wheel (635a), thereby preventing the shelf wheel (635a) from rotating. In this case, the position of the tray bogie member (630) can be fixed.

[0276] Meanwhile, referring to FIGS. 13 and 14, the locking member (650) can be positioned in conjunction with the material procurement unit (600) and the ground of the cooking facility, and can fix the position of the material procurement unit (600). By using the locking member (650), the material procurement unit (600) can be fixed at a designated position, and the multi-joint robot (300) can move so that the gripper unit (400) can grab and move the basket at the designated position.

[0277] This locking member (650) may include a locking base (660) and a locking operating part (670).

[0278] The locking base (660) can be fixed to the ground of the cooking facility.

[0279] This locking base (660) may include a fixing block (663), a top plate (662), and a locking hole (661).

[0280] The fixed block (663) can protrude downward and can be inserted into the ground of the cooking facility.

[0281]

[0282] *252 The top plate (662) may be in the shape of a disc and may be placed on the upper part of the fixed block (663) and may be placed on the ground of the cooking facility. A fastening hole (662a) may be formed in the top plate (662), and a fastening device such as a bolt or nail may be inserted into the fastening hole (662a) and fixed to the ground.

[0283] The locking groove can be formed by being recessed downward at a position corresponding to the fixing block (663) on the top plate (662).

[0284]

[0285] The locking operation part (670) can be coupled to the material procurement unit (600), coupled to the locking base (660), and can fix the position of the material procurement unit (600).

[0286] This locking operation part (670) may include a locking frame (671), a locking beam (672), a locking handle (674), and a handle hole (673).

[0287] The locking frame (671) may have a square block shape and a penetrating beam hole (671b) may be formed. A flat coupling surface (671a) may be formed on one side of the locking frame (671), and the coupling surface (671a) may be coupled to the material procurement unit (600). The coupling surface (671a) may be coupled to the tray frame (611) in the case of the tray trolley member (610), and may be coupled to the side of the shelf frame (631) in the case of the tray trolley member (630). In addition, a plurality of locking frames (671) may be arranged along the longitudinal direction of the locking beam (672), and each may be coupled to the material procurement unit (600).

[0288] The locking beam (672) may be in the shape of a long rod and may be positioned vertically through the beam hole (671b).

[0289] The locking handle (674) may be plate-shaped and may be connected to the upper part of the locking beam (672).

[0290] The handle hole (673) can be formed in the locking frame (671) in the vertical direction (Z), and the locking handle (674) can move up and down in the vertical direction.

[0291] If the user wants to fix the position of the material procurement unit (600), the user grasps the locking handle (674), rotates it, and lowers it along the handle hole (673), causing the locking beam (672) connected to the locking handle (674) to move downward and be inserted into the locking hole (661). Accordingly, the material procurement unit (600) can be fixed in a designated position.

[0292] If the user wants to move the material procurement unit (600), the user grasps the locking handle (674), raises it upward along the handle hole (673), and rotates it, causing the locking beam (672) connected to the locking handle (674) to move upward. Afterward, the locking handle (674) is fixed in a seated state on the upper part of the locking frame (671), so the locking beam (672) also does not move downward. In this case, since the locking beam (672) is disengaged from the locking hole (661), the user can move the material procurement unit (600) by pushing it.

[0293] Hereinafter, a method for cooking food using a cooking robot system (100) according to an embodiment of the present disclosure will be described. For detailed operation methods applied to the components of the cooking robot system (100) in each food cooking method, please refer to the description above.

[0294] Meanwhile, according to some embodiments of the present disclosure, the cooking robot system (100) can perform large-capacity cooking using a plurality of pots. Hereinafter, deep-frying, stir-frying, or soup cooking is performed through the cooking robot system (100) including a plurality of pots with reference to FIGS. 15 and 16.

[0295] Referring to FIGS. 15 and 16, the first pot (P1) can be installed to be fixed to a first area (R1) of the floor of the cooking facility. Specifically, the first pot (P1) can be firmly fixed to the floor of the cooking facility using anchor bolts to prevent it from moving or shaking during cooking. The anchor bolts ensure the stability of the first pot (P1) and are designed to enable stable cooking without moving the equipment. However, the present disclosure is not limited to a fixing method using anchor bolts, and fixing may be achieved by other methods (e.g., fixing plates, adhesive supports, etc.).

[0296] The second pot (P2) may be installed to be fixed to the second area (R2) of the floor of the cooking facility. Specifically, the second pot (P2) may be firmly fixed to the floor of the cooking facility using anchor bolts to prevent it from moving or shaking during cooking. The anchor bolts ensure the stability of the second pot (P2) and are designed to enable stable cooking without moving the equipment. However, the present disclosure is not limited to a fixing method using anchor bolts, and fixing may be achieved by other methods (e.g., fixing plates, adhesive supports, etc.).

[0297] If the first pot (P1) and the second pot (P2) are not fixed to the floor, there is a risk that the equipment may move or shake during the process of cooking a large amount of food or mixing contents. This not only reduces the accuracy and efficiency of cooking but can also cause safety accidents. Therefore, the first pot (P1) and the second pot (P2) must be firmly fixed to the floor. This may also apply even when there is only one pot, as shown in FIG. 1.

[0298] The first pot (P1) and the second pot (P2) may include an automatic water supply unit that fills the pot with water through automatic water supply. As the pot (P) in FIG. 1 includes an automatic water supply unit, this is applicable to the first pot (P1) and the second pot (P2), so a detailed explanation is omitted.

[0299] Meanwhile, the first pot (P1) and the second pot (P2) can operate with various types of heat sources to heat water or contents inside. As described in FIG. 1, the fact that the pot (P) can operate with various heat sources is applicable to the first pot (P1) and the second pot (P2), so a detailed explanation is omitted.

[0300] Meanwhile, the control unit can continuously monitor the temperature of at least one of the water in the first pot (P1) or the second pot (P2) through a temperature checking sensor and perform the function of notifying the user when the temperature reaches a preset temperature. In this regard, the details described in FIG. 1 may be applicable here.

[0301] The control unit can transmit control signals to the first pot (P1) and / or the second pot (P2) via wired or wireless communication. To this end, a communication unit for transmitting control signals may be built inside the robot base (200). The control unit can transmit the necessary control signals to the first pot (P1) and / or the second pot (P2) through the communication unit built into the robot base (200).

[0302] The control unit can control the temperature of the first pot (P1) and the temperature of the second pot (P2) through a control signal.

[0303] For example, when the first pot (P1) and / or the second pot (P2) are heated by induction, the control unit may generate a signal to regulate power to maintain a desired temperature and transmit it via wired or wireless communication.

[0304] As another example, when the first pot (P1) and / or the second pot (P2) are heated in a gas range manner, the control unit may transmit a signal to control the heat to a specific temperature via wired or wireless communication.

[0305] Even if the heating methods of the first pot (P1) and the second pot (P2) are different, the control unit can independently transmit control signals suitable for the characteristics of each pot. For example, when the first pot (P1) is heated using an induction method, a signal to control power can be generated and transmitted to the corresponding pot, and when the second pot (P2) is heated using a gas range method, a signal to control heat can be generated and transmitted to the corresponding pot.

[0306] The examples described above are examples for explaining the present disclosure, and the present disclosure is not limited to the examples described above.

[0307] The robot base (200) can be installed to be fixed in the third area (R3), thereby stably supporting the multi-joint robot (300) that performs large-volume cooking. Specifically, the robot base (200) is firmly fixed to the floor of the cooking facility using anchor bolts, thereby effectively preventing vibrations or movements that may occur during operation. However, the present disclosure is not limited to a fixing method using anchor bolts, and depending on the situation, adhesive plates, special supports, or structures that are movable but ensure safety may be adopted. The multi-joint robot (300) can be combined with the robot base (200) to perform various cooking tasks. The multi-joint robot (300) is used to automate tasks such as mixing or moving large quantities of ingredients, or precise cooking processes. If the robot base (200) is not stably fixed in the third area (R3), the base may shake or move due to the load generated during operation and the movement of the robot. This not only reduces the accuracy and efficiency of the cooking process but also increases the risk of safety accidents if there are people nearby. In particular, for large robots, securing the robot base is crucial because detachment poses a high risk of causing serious casualties.

[0308] The robot base (200) must be fixed in a fixed position in the third area (R3), thereby allowing the robot to maintain stability and precision while performing work.

[0309] In the present disclosure, the first pot (P1) may be installed to be fixed in the first area (R1), the second pot (P2) may be installed to be fixed in the second area (R2), and the robot base (200) may be installed to be fixed in the third area (R3). Here, the first area (R1), the second area (R2), and the third area (R3) may exist on the same virtual line (L).

[0310] When the first area (R1), the second area (R2), and the third area (R3) are designed to exist on the same virtual line (L), there are various operational and structural advantages.

[0311] First, the linear arrangement simplifies the physical relationship between the robot base (200), the first pot (P1), and the second pot (P2), thereby increasing efficiency during the system design and installation process. Through linear arrangement, space utilization can be maximized, and the stability and operational efficiency of the system can be improved by minimizing interference between devices. This can contribute to clearly defining the motion path and working range of the multi-joint robot (300) and preventing unexpected collisions or interference.

[0312] Second, colinear arrangement can also be advantageous in terms of maintenance and management. Since each component is aligned, device accessibility is improved, simplifying maintenance tasks and enabling quick response in the event of problems. Furthermore, utilizing a linear arrangement when designing wiring or communication lines between components reduces complexity and allows for a cleaner and more efficient configuration of infrastructure, such as cable routing and power supply.

[0313] Third, linear arrangement can also have a positive impact on user experience. When machines and equipment are intuitively arranged within a workspace, it can reduce confusion for users when operating equipment or controlling robots. In particular, in environments such as kitchens where cooking takes place, a linear layout can improve productivity by simplifying user movement and naturally guiding the necessary workflow.

[0314] Fourth, aligning the components can increase the scalability of automated cooking systems. For example, when additional cooking devices or robots are added on the same line, integration can be facilitated due to high compatibility with the existing system. This provides flexibility for future technology upgrades or equipment expansion and can contribute to ensuring the economic viability of the system in the long term.

[0315] Therefore, a design arranged on the same virtual line is an optimal layout method that considers both structural simplicity and functional efficiency, and can provide significant advantages in terms of space utilization, maintenance, user convenience, and scalability.

[0316] Meanwhile, the first area (R1) may exist between the second area (R2) and the third area (R3). This arrangement can clarify the division of roles between the multi-joint robot (300) and the cook, and contribute to maximizing the simultaneity and independence of cooking operations within the workspace.

[0317] Specifically, the third region (R3) is located at a position that is a first distance from the first region (R1) so that the multi-joint robot (300) can cook food in the first pot (P1), but is located at a second distance so that it cannot cook food in the second pot (P2). Here, the first distance may be shorter than the total length of the multi-joint robot (300), and the second distance may be longer than the total length of the multi-joint robot (300). Therefore, the multi-joint robot (300) can sufficiently cook food in the first pot (P1), but cannot cook food in the second pot (P2).

[0318] When the first area (R1) is located between the second area (R2) and the third area (R3), the work efficiency of the multi-joint robot (300) is increased. The first pot (P1) located in the first area (R1) is utilized as a dedicated cooking area for the multi-joint robot (300), and the robot secures a distance and position suitable for performing cooking work within this area. This can contribute to optimizing the robot's range of motion and reducing unnecessary movement or inefficiency of the work path.

[0319] A structure in which the second area (R2) and the first area (R1) are separated can provide spatial flexibility for a cook to perform cooking tasks independently in the second pot (P2). While the multi-joint robot (300) is performing cooking in the first pot (P1), the second pot (P2) can be utilized as a dedicated workspace for the cook, allowing the robot and the human cook to perform tasks simultaneously without interference. This can increase the productivity of cooking tasks and support the efficient performance of complex tasks, such as preparing multiple menus.

[0320] In addition, the first area (R1) is located in the middle, allowing the work path to be systematically organized. The robot performs work in the third area (R3) along a path optimized for the first pot (P1), and the cook proceeds with work in the second area (R2) via a separate path, thereby improving space utilization and work flow. This arrangement can create an environment where robots and humans can work together in harmony, especially in confined spaces.

[0321] The first area (R1) can act as a physical buffer between the robot and the cook, thereby increasing safety and work quality. For example, even if the multi-joint robot (300) makes an unexpected movement during work, the first area (R1) is separated from the second area (R2), so the impact on the cook's work can be minimized. This can help reduce the risk of accidents in the work environment and ensure the safety of the cooking work.

[0322] In addition, placing the first area (R1) in the middle facilitates system expansion and operational management. For example, since the second area (R2) and the third area (R3) are set independently, the impact on other components can be minimized when expanding or replacing the second pot (P2) or the multi-joint robot (300) as needed. This can contribute to long-term maintenance and increased operational efficiency.

[0323] In conclusion, if the first area (R1) is designed to be located between the second area (R2) and the third area (R3), an environment can be provided in which the multi-joint robot (300) and the cook can perform tasks independently and efficiently in their respective work areas.

[0324] Meanwhile, in FIGS. 15 and 16, the positions of the first pot (P1), the second pot (P2), and the robot base (200) are described as being limited to the first area (R1), the second area (R2), and the third area (R3), but the present disclosure is not necessarily limited thereto, and the positions of the first pot (P1), the second pot (P2), and the robot base (200) may be changed to other positions.

[0325] Meanwhile, the control unit can control at least one of the amount of water supplied to the first pot (P1) and the temperature of the first pot (P1), separately from controlling at least one of the amount of water supplied to the second pot (P2) and the temperature of the second pot (P2).

[0326] For example, the control unit can automatically control the temperature of the first pot (P1) and, separately from cooking food in the first pot (P1) using the multi-joint robot (300) and gripper unit (400), automatically control the temperature of the second pot (P2) so that a cook can independently cook food in the second pot (P2). In this case, the control unit can control the temperature of the second pot (P2) separately from controlling the temperature of the first pot (P1). That is, the control unit can set the temperatures of the first pot (P1) and the second pot (P2) differently.

[0327] As another example, the control unit can control the amount of water supplied to the second pot (P2) separately from the amount of water supplied to the first pot (P1). In this case, the control unit can set the amount of water supplied to the first pot (P1) and the second pot (P2) differently.

[0328] As another example, the control unit can control the amount of water supplied to the second pot (P2) and the temperature of the second pot (P2) separately from controlling the amount of water supplied to the first pot (P1) and the temperature of the first pot.

[0329] As described above, controlling multiple pots differently allows for the efficient handling of complex cooking processes and can significantly reduce the user's workload, especially in environments requiring multiple tasks.

[0330] Meanwhile, the control unit recognizes the currently selected mode among a plurality of modes and controls the movement of the multi-joint robot and the gripper unit in conjunction with controlling the first pot (P1) to determine whether to cook food in the first pot, and separately controls the second pot (P2).

[0331] FIG. 15 is a diagram illustrating the deep-frying process performed in the first pot (P1).

[0332] Referring to FIG. 15, a cook can select a recipe related to deep-frying stored in a storage unit to activate the cooking robot system (100). In this case, the cook can prepare ingredients for deep-frying and place them in the first frying basket (510a) and the second frying basket (510b). Then, the cook can place the first frying basket (510a) and the second frying basket (510b) into the first tray trolley member (610a) and the second tray trolley member (610b) and move the first tray trolley member (610a) and the second tray trolley member (610b) into the cooking facility. A detailed description of the first tray trolley member (610a) and the second tray trolley member (610b) has been described above with reference to FIG. 11, so a detailed description is omitted.

[0333] After moving the tray trolley members (610a, 610b) to a designated position, the cook can fix the tray trolley members (610a, 610b) using the locking member (650). The tray trolley member (610) must be fixed to a designated position so that the multi-joint robot (300) can stably hold the frying baskets (510a, 510b).

[0334] Specifically, a plurality of locking bases (660) may be installed on the floor (ground) of the cooking facility. A locking operation part (670) may be provided on the first tray trolley member (610a) and the second tray trolley member (610b). A cook may move the first tray trolley member (610a) and the second tray trolley member (610b) to the location where the locking bases (660) are installed, and then allow the locking beam (672) of the locking operation part (670) to be inserted into the locking bases (660). In this case, the first tray trolley member (610a) and the second tray trolley member (610b) may be fixed at designated positions. Specifically, the first tray trolley member (610a) may be located at a first designated position, and the second tray trolley member (610b) may be located at a second designated position.

[0335] More specifically, referring to FIGS. 13 and 14, the cook grasps the locking handle (674) and rotates it so that the locking handle (674) moves in the vertical direction (Z) to a position corresponding to the handle hole (673).

[0336] Subsequently, when the user grasps the locking handle (674) and moves it downward along the handle hole (673), the locking beam (672) descends along the beam hole (671b) and is inserted into the locking hole (661) of the locking base (660). Accordingly, the tray bogie members (610a, 610b) can be fixed at designated positions. That is, as disclosed in FIG. 15, the first tray bogie member (610a) and the second tray bogie member (610b) can be fixed at designated positions (first designated position and second designated position) respectively using the locking member (650).

[0337] The first designated position and the second designated position may be located at a position appropriately spaced from the third area (R3) so that the multi-joint robot (300) can grip the first frying basket (610a) placed on the first tray trolley member (610a) and the second frying basket (610b) placed on the second tray trolley member (610b).

[0338] In the present disclosure, the tray trolley members (610a, 610b) must have a structure that allows them to move via the tray wheel part (615) when transporting materials or food. However, after transport is completed, they must be fixed so that movement is restricted to reduce the occurrence of accidents and to reduce the problem of food or materials spilling.

[0339] In the present disclosure, the tray trolley members (610a, 610b) must always be fixed in the same position. If the position where the tray trolley members (610a, 610b) are fixed changes, additional sensors, such as vision sensors, must be added to the cooking robot system to verify the position of the tray trolley members (610a, 610b), and in this case, the manufacturing cost of the cooking robot system may increase. To solve this problem, according to some embodiments of the present invention, the locking base (660) may be installed at a position corresponding to a first designated position and a second designated position on the floor of the cooking facility. Thus, the tray trolley members (610a, 610b) can always be fixed in the same position.

[0340] The cook may put oil into the first pot (P1) and the second pot (P2). However, the present disclosure is not limited thereto, and oil may be filled into the first pot (P1) and the second pot (P2) through automatic refueling.

[0341] When a cook inputs that deep-frying is to be performed in the first pot (P1), the control unit can control the first pot (P1) so that the temperature of the first pot (P1) becomes a temperature for deep-frying (e.g., 180 degrees). Specifically, the control unit can transmit a control signal to the first pot (P1) via wired communication or wireless communication to control the first pot (P1) so that the temperature of the first pot (P1) becomes a temperature for deep-frying. However, the present disclosure is not limited thereto.

[0342] The control unit can check through a temperature check sensor whether the oil temperature of the first pot (P1) has reached the temperature for deep-frying. When the control unit recognizes that the oil temperature of the first pot (P1) has reached the temperature for deep-frying, it can control the output unit to output a pre-set notification. In this case, the cook can decide whether to cook in the first pot (P1) through the gripper unit (400) and the multi-joint robot (300) or to cook directly in the first pot (P1). That is, a pre-set notification can be output so that the cook can select which mode to perform cooking among a plurality of modes (automatic mode and manual mode).

[0343] When the control unit recognizes that a manual mode is selected among multiple modes, it controls the temperature of the first pot (P1) and may not control the movement of the multi-joint robot (300) and the gripper unit (400). In this case, a cook can directly cook food by deep-frying in the first pot (P1).

[0344] Meanwhile, so that the cook can cook food by frying directly in the first pot (P1), the multi-joint robot (300) and the gripper unit (400) can be moved or fixed to a position that does not interfere with the cook's cooking.

[0345] Specifically, the control unit can control the movement of the multi-joint robot (300) and the gripper unit (400) so that the multi-joint robot (300) and the gripper unit (400) do not encroach upon the cooking area of ​​the cook. To this end, the multi-joint robot (300) can retreat to the outer edge of the cooking space or move to a specific waiting position. Meanwhile, the multi-joint robot (300) can move to occupy the minimum space by folding or unfolding its arms and joints.

[0346] In the case of the gripper unit (400), it can be securely fixed at a specific point. Additionally, it can be designed to adjust the operating speed or move smoothly so that no vibration or noise occurs during the movement process.

[0347] Such control can increase the safety of the cook's work and help maintain a clean and efficient cooking environment. At the same time, additional effects can be obtained by preventing the multi-joint robot (300) and the gripper unit (400) from operating unnecessarily when not needed, thereby reducing energy consumption.

[0348] Meanwhile, when the control unit receives an input to add ingredients according to a recipe, it can recognize that an automatic mode is selected among multiple modes, and can control the movement of the multi-joint robot (300) and the gripper unit (400) in conjunction with continuously controlling the temperature of the first pot (P1) to cook food through deep-frying in the first pot (P1).

[0349] Specifically, the control unit embedded in the robot base (200) drives the power device to operate the multi-joint robot (300), causing the gripper unit (400) to move toward the first tray trolley member (610a). In this case, the control unit can automatically control the movement of the multi-joint robot (300) according to the type of food to be targeted. However, the present disclosure is not limited thereto, and the user may control the movement of the multi-joint robot (300) by using a controller placed on the robot base (200) or by using a remote controller. When the multi-joint robot (300) is operated, the multi-joint robot (300) moves multiple joints, and the gripper unit (400) can grasp the first frying basket (510a) contained in the first tray trolley member (610a).

[0350] More specifically, the control unit can control the movement of the gripper unit (400) and the multi-joint robot to move the gripper unit (400) to the first tray trolley member (610a) fixed at the first designated position and to grip the first frying basket (510a) containing cooking ingredients present in the first tray trolley member (610a). Additionally, the control unit can control the movement of the gripper unit (400) and the multi-joint robot (300) so that the multi-joint robot places the first frying basket (510a) into the first pot while the gripper unit (400) is gripping the first frying basket (510a). That is, the gripper unit (400) can place the first frying basket (510a) whole into the first pot (P1) so that the cooking ingredients for deep-frying are fried while contained in the first frying basket (510a).

[0351] As described above, a rounded portion (511a; see FIG. 4) is formed at the bottom of the basket mesh (511), so that the multi-joint robot (300) can place the first frying basket (510a) deep inside the pot (P) to fry the ingredients.

[0352] The control unit can control the movement of the gripper unit (400) and the multi-joint robot (300) so that when a preset time has elapsed from the time the first frying basket (510a) is inserted into the first pot (P1), the first frying basket (510a) is removed from the first pot (P1) and placed back on the first tray trolley member (610a) fixed at the first designated position.

[0353] According to some embodiments of the present disclosure, the control unit may control the gripper unit (400) and the multi-joint robot (300) to perform the task of gripping the first frying basket (510a) and shaking the first frying basket (510a) before discharging the first frying basket (510a) from the first pot (P1). This may involve shaking the first frying basket (510a) up and down to remove oil remaining on the fried ingredients.

[0354] After controlling the movement of the gripper unit (400) and the multi-joint robot (300) to place the first frying basket (510) back onto the first tray trolley member (610a), the control unit can control the gripper unit (400) and the multi-joint robot (300) to grip the second frying basket (510b) and perform the same operation.

[0355] The cook can release the locking member (650) and push the second tray trolley member (610b) to discharge the ingredients that have been fried and complete the large-capacity frying cooking operation.

[0356] Meanwhile, according to some embodiments of the present disclosure, the control unit can control the movement of the multi-joint robot (300) and the gripper unit (400) to control the second pot (P2) so that a cook can cook food in the second pot (P2) separately from cooking food in the first pot (P1).

[0357] Specifically, when a cook selects a recipe related to food to be cooked in the second pot (P2), the control unit can control the second pot (P2) according to the selected recipe. For example, if the cook selects a first recipe for cooking soup, the control unit can recognize information regarding the water temperature and amount of water recorded in the first recipe stored in the storage unit. The control unit can control the automatic water supply unit of the second pot (P2) so that a preset amount of water is supplied to the second pot (P2) according to the first recipe stored in the storage unit. In addition, the control unit can recognize the temperature of the water supplied to the second pot (P2) through the temperature check sensor of the second pot (P2), and if it recognizes that the temperature of the water in the second pot has reached a preset temperature, it can control the output unit to output a preset notification. In this case, the cook can recognize that the temperature of the water in the second pot (P2) has reached the preset temperature and perform subsequent tasks such as putting ingredients into the second pot (P2).

[0358] In the present disclosure, the second pot (P2) is described as being limited to performing soup and stew cooking, but it is not limited thereto, and various types of food cooking, such as deep-frying and stir-frying, can be performed in the second pot (P2).

[0359] Meanwhile, according to some embodiments of the present disclosure, a stirrer may be coupled to the second pot (P2). In this case, the control unit may control the movement of at least one of the gripper unit and the multi-joint robot in conjunction with controlling the operation of the stirrer coupled to the second pot (P2), the temperature of the second pot (P2), and the amount of water supplied to the second pot (P2).

[0360] FIG. 16 is a diagram illustrating the cooking of soup or stir-frying in the first pot (P1).

[0361]

[0362] *331 Referring to Figure 16, a cook can select a recipe stored in a storage unit to activate the cooking robot system (100). In this case, the cook can prepare ingredients for soup or stir-fry cooking and place them in a basket (632). Then, the cook can place the basket (632) into the tray trolley member (630) and move the tray trolley member (630) into the cooking facility. A detailed description of the tray trolley member (630) is omitted as it has been described above with reference to Figure 12.

[0363] After moving the tray trolley member (630) to a designated position, the cook can fix the tray trolley member (630) using the locking member (650). The tray trolley member (630) must be fixed to a designated position so that the multi-joint robot (300) can stably grasp the basket (632).

[0364] Specifically, a locking base (660) may be installed on the floor (ground) of the cooking facility. A locking operating part (670) may be provided on the tray trolley member (630). The cook may move the tray trolley member (630) to the location where the locking base (660) is installed, and then allow the locking beam (672) of the locking operating part (670) to be inserted into the locking base (660). In this case, the tray trolley member (630) may be fixed in a designated position.

[0365] More specifically, referring to FIGS. 13 and 14, the cook grasps the locking handle (674) and rotates it so that the locking handle (674) moves in the vertical direction (Z) to a position corresponding to the handle hole (673).

[0366] Subsequently, when the user grasps the locking handle (674) and moves it downward along the handle hole (673), the locking beam (672) descends along the beam hole (671b) and is inserted into the locking hole (661) of the locking base (660). Accordingly, the tray trolley member (630) can be fixed in a designated position. That is, as disclosed in FIG. 16, the tray trolley member (630) can be fixed in a designated position using the locking member (650).

[0367] The position where the tray trolley member (630) is fixed may be a position appropriately spaced from the third area (R3) so that the multi-joint robot (300) can grip the basket (632) placed on the tray trolley member (630).

[0368] In the present disclosure, the tray trolley member (630) must have a structure that allows it to move via the shelf wheel part (635) when transporting materials or food. However, after transport is completed, it must be fixed so that movement is restricted to reduce the occurrence of accidents and the problem of food or materials spilling.

[0369] In the present disclosure, the tray trolley member (630) must always be fixed in the same position. If the position where the tray trolley member (630) is fixed changes, additional sensors, such as a vision sensor, must be added to the cooking robot system to verify the position of the tray trolley member (630), and in this case, the manufacturing cost of the cooking robot system may increase exponentially. To solve this problem, according to some embodiments of the present invention, the locking base (660) may be installed at a position corresponding to a designated position on the floor of the cooking facility. Thus, the tray trolley member (630) can always be fixed in the same position.

[0370] When preparing soup, water can be filled into the first pot (P1) in a preset amount through an automatic water supply unit. However, this is not limited to this, and a cook can directly add water to the first pot (P1).

[0371] When cooking stir-fry, the cook may add a little oil to the first pot (P1) and the second pot (P2).

[0372] When a cook inputs that soup or stir-fry cooking is to be performed in the first pot (P1), the control unit can control the first pot (P1) so that the temperature of the first pot (P1) becomes the temperature for soup or stir-fry cooking. Specifically, the control unit can transmit a control signal to the first pot (P1) via wired communication or wireless communication to control the first pot (P1) so that the temperature of the first pot (P1) becomes the temperature for soup or stir-fry cooking. However, the present disclosure is not limited thereto.

[0373] The control unit can check through a temperature checking sensor whether the temperature of the water in the first pot (P1) has reached the temperature for soup cooking or whether the temperature of the oil has reached the temperature for stir-fry cooking. When the control unit recognizes that the temperature of the water in the first pot (P1) has reached the temperature for soup cooking or that the temperature of the oil in the first pot (P1) has reached the temperature for stir-fry cooking, it can control the output unit to output a pre-set notification. In this case, the cook can decide whether to cook in the first pot (P1) through the gripper unit (400) and the multi-joint robot (300) or to cook directly in the first pot (P1). That is, a pre-set notification can be output so that the cook can select which mode to perform cooking among a plurality of modes (automatic mode and manual mode).

[0374] When the control unit recognizes that the cook has selected a manual mode among multiple modes, it controls the temperature of the first pot (P1) and may not control the movement of the multi-joint robot (300) and the gripper unit (400). In this case, the cook can directly cook food by cooking soup or stir-frying in the first pot (P1).

[0375] Meanwhile, so that the cook can cook food directly in the first pot (P1) by cooking soup or stir-frying, the multi-joint robot (300) and the gripper unit (400) can be moved or fixed to a position that does not interfere with the cook's cooking.

[0376] Specifically, the control unit can control the movement of the multi-joint robot (300) and the gripper unit (400) so that the multi-joint robot (300) and the gripper unit (400) do not encroach upon the cooking area of ​​the cook. To this end, the multi-joint robot (300) can retreat to the outer edge of the cooking space or move to a specific waiting position. Meanwhile, the multi-joint robot (300) can move to occupy the minimum space by folding or unfolding its arms and joints.

[0377] In the case of the gripper unit (400), it can be securely fixed at a specific point. Additionally, it can be designed to adjust the operating speed or move smoothly so that no vibration or noise occurs during the movement process.

[0378] Such control can increase the safety of the cook's work and help maintain a clean and efficient cooking environment. At the same time, additional effects can be obtained by preventing the multi-joint robot (300) and the gripper unit (400) from operating unnecessarily when not needed, thereby reducing energy consumption.

[0379] Meanwhile, when the control unit receives an input to add ingredients according to a recipe, it can recognize that an automatic mode is selected among multiple modes, and can control the movement of the multi-joint robot (300) and the gripper unit (400) in conjunction with continuously controlling the temperature of the first pot (P1) to cook food by cooking soup or stir-frying in the first pot (P1).

[0380] Specifically, the control unit embedded in the robot base (200) drives the power device to operate the multi-joint robot (300) so that the gripper unit (400) moves toward the tray trolley member (630). In this case, the control unit can automatically control the movement of the multi-joint robot (300) according to the type of food to be targeted. However, the present disclosure is not limited thereto, and the user may control the movement of the multi-joint robot (300) by using a controller placed on the robot base (200) or by using a remote controller. When the multi-joint robot (300) is operated, the multi-joint robot (300) moves multiple joints and the gripper unit (400) can grasp the basket (632) contained in the tray trolley member (630).

[0381] More specifically, the control unit can control the movement of the gripper unit (400) and the multi-joint robot to move the gripper unit (400) to a tray trolley member (630) fixed at a designated position and to grip a basket (632) containing cooking ingredients present in the tray trolley member (630). Additionally, the control unit can control the movement of the gripper unit (400) and the multi-joint robot (300) so that the multi-joint robot puts the cooking ingredients contained in the basket (632) into the first pot (P1) while the gripper unit (400) is gripping the basket (632). Furthermore, the control unit can control the movement of the gripper unit and the multi-joint robot to return the basket (632) to its original position on the tray trolley member (630).

[0382] According to some embodiments of the present disclosure, cooking ingredients to be fed into the first pot (P1) may be contained in a plurality of baskets and loaded onto a tray trolley member (630). In this case, the control unit may control the movement of the gripper unit and the multi-joint robot to feed the cooking ingredients contained in each of the plurality of baskets loaded onto the tray trolley member (630) into the first pot (P1).

[0383] According to some embodiments of the present disclosure, the control unit may control the movement of the gripper unit (400) and the multi-joint robot (300) to stir the cooking ingredients inside the first pot (P1) by gripping a cooking utensil mounted on a mounting member positioned to be fixed in the fourth area (R4). Here, the fourth area (R4) may be an area that is not interfered with when the multi-joint robot (300) cooks food in the first pot (P1) located in the first area (R1).

[0384] Specifically, the control unit can operate the multi-joint robot (300) and the gripper unit (400) to grasp the cooking device (500) and stir the cooking ingredients inside the first pot (P1). Although not shown in the drawing, the cooking device (500) may be mounted on the mounting unit (550).

[0385] At this time, the cook can select a cooking utensil (500) corresponding to the type of food and hang it on the mounting part (550).

[0386] Alternatively, although not illustrated in the drawing, a plurality of mounting parts (550) may be arranged in the fourth area (R4), and each of the plurality of mounting parts (550) may have a different type of cooking utensil (500) mounted on it.

[0387] For example, a cooking utensil (500) having a mixing plate can be mounted on one mounting part (550), and a cooking utensil (500) having a mesh net can be mounted on the other mounting part (550).

[0388] When cooking soup or stir-fry, if the mounting part (550) is placed, a cooking utensil (500) with a mixing plate can be mounted.

[0389] The control unit operates the multi-joint robot (300) to move the gripper unit (400) toward the mounting unit (550), and operates the gripper unit (400) to grasp the cooking utensil (500) mounted on the mounting unit (550).

[0390] Specifically, the multi-joint robot (300) moves toward the mounting portion (550), and as disclosed in FIG. 8, the gripper unit (400) grasps the ladle base portion (520) of the cooking utensil (500). Then, when the multi-joint robot (300) lifts, the ladle base portion (520) gripped by the gripper unit (400) is lifted together.

[0391] Referring to FIGS. 9 and 10, the hanging block (532) of the cooking utensil (500) is separated from the mounting groove (553) of the mounting part (550) and moves in the direction in which the multi-joint robot (300) moves.

[0392] Afterwards, the joints of the multi-joint robot (300) move to move the cooking utensil (500) toward the first pot (P1) and insert the mixing plate into the first pot (P1). Then, the multi-joint robot (300) moves the cooking utensil (500) within a specific range to mix and stir the ingredients contained in the pot (P).

[0393] As described above, the cooking robot system can cook food by cooking soup or stir-frying using the first pot (P1).

[0394] Meanwhile, according to some embodiments of the present disclosure, the control unit can control the movement of the multi-joint robot (300) and the gripper unit (400) to control the second pot (P2) so that a cook can cook food in the second pot (P2) separately from cooking food in the first pot (P1).

[0395] Specifically, when a cook selects a recipe related to food to be cooked in the second pot (P2), the second pot (P2) can be controlled according to the recipe. For example, if the cook selects a first recipe related to soup and stew, the control unit can recognize information regarding the water temperature and amount of water recorded in the first recipe stored in the storage unit. The control unit can control the automatic water supply unit of the second pot (P2) so that a preset amount of water is supplied to the second pot (P2) according to the first recipe stored in the storage unit. Additionally, the control unit can recognize the temperature of the water supplied to the second pot (P2) through the temperature check sensor of the second pot (P2), and if it recognizes that the temperature of the water in the second pot has reached a preset temperature, it can control the output unit to output a preset notification. In this case, the cook can recognize that the temperature of the water in the second pot (P2) has reached the preset temperature and perform subsequent tasks such as putting ingredients into the second pot (P2).

[0396] In the present disclosure, the second pot (P2) is described as being limited to performing soup and stew cooking, but it is not limited thereto, and various types of food cooking, such as deep-frying and stir-frying, can be performed in the second pot (P2).

[0397] Meanwhile, according to some embodiments of the present disclosure, a stirrer may be coupled to the second pot (P2). In this case, the control unit may control the movement of at least one of the gripper unit and the multi-joint robot in conjunction with controlling the operation of the stirrer coupled to the second pot (P2), the temperature of the second pot (P2), and the amount of water supplied to the second pot (P2).

[0398] According to at least one of the embodiments of the present invention described above, various cooking methods such as frying, stir-frying, and soup can be performed using a single robot, and food can be cooked using a pot without using a multi-joint robot and a gripper unit, which has the advantage of increasing the usability of the cooking robot system.

[0399] In the present disclosure, the cooking robot system is not limited to the configuration and method of the embodiments described above; rather, all or part of each embodiment may be selectively combined to allow for various modifications to be made to the embodiments.

[0400] Meanwhile, although the present disclosure has been described with reference to the attached drawings, this is merely an example and is not limited to specific examples. Various modifications that can be made by those skilled in the art to which the invention pertains are also included within the scope of rights according to the claims. Furthermore, such modifications should not be understood individually from the technical spirit of the present invention.

Claims

1. The first pot; Multi-joint robot; and Control unit; Includes, The above control unit is, When gripping a cooking utensil by controlling the movement of the above-mentioned multi-joint robot, determining whether to rotate the gripper unit coupled to the above-mentioned multi-joint robot according to the type of the above-mentioned cooking utensil, Cooking robot system.

2. In Paragraph 1, The above-mentioned first pot is, It includes an automatic water supply unit for filling the first pot with water, and The above automatic water supply unit is: A water supply unit that draws water from an external water reservoir or aquatic animal source; An electric valve that operates by receiving a control signal from the above-mentioned control unit via wired or wireless communication; and A water supply amount recognition unit that recognizes the amount of water supplied into the interior of the first pot; including, Cooking robot system.

3. In Paragraph 2, The above control unit is, Controlling the automatic water supply unit to supply a preset amount of water to the first pot according to a pre-stored recipe, Cooking robot system.

4. In Paragraph 3, A temperature checking sensor for checking the temperature of the water supplied to the first pot above; Includes more, The above control unit is, Controlling the temperature of the first pot so that the temperature of the water supplied to the first pot becomes a preset temperature according to the pre-stored recipe, and Controlling the output unit to output a preset notification when the temperature of the water supplied to the first pot reaches the preset temperature through the temperature checking sensor, Cooking robot system.

5. In Paragraph 4, The above control unit is, After controlling the output of the above-mentioned preset notification through the above-mentioned output unit, the currently selected mode among a plurality of modes is recognized, and Controlling the movement of the multi-joint robot in conjunction with controlling the first pot according to the type of the currently selected mode to determine whether to cook food in the first pot. Cooking robot system.

6. In Paragraph 5, The above control unit is, When it is recognized that a manual mode is selected among the plurality of modes above, the first pot is controlled, and the movement of the multi-joint robot is not controlled, When it is recognized that an automatic mode is selected among the plurality of modes above, the movement of the multi-joint robot is controlled to cook food in the first pot in conjunction with controlling the first pot, Cooking robot system.

7. In Paragraph 1, A second pot different from the first pot mentioned above; Includes more, The above control unit is, Controlling at least one of the amount of water supplied to the first pot and the temperature of the first pot, separately from controlling at least one of the amount of water supplied to the second pot and the temperature of the second pot, Cooking robot system.

8. In Paragraph 1, The above control unit is, Controlling the amount of water supplied to the first pot and the temperature of the first pot, and controlling the movement of the multi-joint robot Cooking robot system.

9. In Paragraph 1, The above gripper unit is, Each of the multiple cooking utensils is detachable to cook multiple different types of food. Cooking robot system.

10. In Paragraph 1, The above cooking utensil is, A ladle base portion coupled to the above-mentioned gripper unit; A ladle part connected to the lower part of the ladle base part; and A detachable part for detaching the above ladle base part and the above ladle part; including, Cooking robot system 11. In Paragraph 10, The above ladle base part is, 1st base; A second base spaced apart from the first base; A side base connecting both ends of the first base and both ends of the second base; and A ladle link rod in which the upper part is connected to the first base and the detachable part is disposed at the lower part; including, Cooking robot system 12. In Paragraph 11, The above ladle base part is, A fitting block connecting the upper part of the first base and the upper part of the second base, with a through fitting hole formed on the central side; Includes more, The second base is positioned such that it slopes toward the first base as it extends from the bottom to the top. Cooking robot system 13. In Paragraph 11, The above ladle section is, A ladle bar having a ladle opening groove formed at the upper end into which the lower part of the ladle link rod is inserted; and A cooking block connected to the lower part of the above ladle bar; including, Cooking robot system 14. In Paragraph 13, The above detachable part is, A detachable hole formed through the upper part of the above ladle bar; and A spring pin positioned to protrude radially from the lower part of the above ladle link rod; Includes, The above spring pin is detachably attached to the above detachable hole, and the above ladle bar and the above ladle link rod are detachably attached, Cooking robot system 15. In Paragraph 14, The above cooking utensil is, A hook portion disposed on the above ladle link rod; Includes more, The above-mentioned hook part is, A hanging plate connected to the above ladle link rod; and A hanging block connected to the lower part of the above hanging plate and protruding in the direction of the above ladle part; including, Cooking robot system 16. In Paragraph 15, The above-mentioned hanging block is in the shape of a triangular prism, and The above-mentioned hook part is, A hanging surface portion formed flatly along the longitudinal direction of the hanging block on one or more of the plurality of corners forming the hanging block; including, Cooking robot system 17. In Paragraph 16, A mounting part that is placed in a cooking facility, to which the above-mentioned hanging part is coupled, and which holds the above-mentioned cooking utensil; Includes more, The above mounting part is, Mounting frame; A mounting connecting bar connected to the above mounting frame at an angle downward; and A mounting block connected to the above mounting connecting bar and having a mounting groove formed therein into which the above hanging block is inserted; including, Cooking robot system 18. In Paragraph 17, The above mounting block and the above mounting groove are in the shape of a triangular prism larger than the above hanging block, and The above mounting part is, A mounting surface portion formed flatly along the longitudinal direction of the mounting groove on one or more corners located at a position corresponding to the hooking surface portion among the plurality of corners forming the mounting block; Includes more, The above hanging surface is inserted into the above mounting surface, the cooking utensil is mounted at a designated position on the mounting surface, the multi-joint robot moves to a designated position, and the gripper unit grasps the ladle base portion. Cooking robot system 19. In Paragraph 18, The above mounting part is, A mounting beam positioned at the lower part of the mounting block in the mounting frame and supporting the side of the ladle bar; Includes more, The above mounting beam includes a first mounting beam and a second mounting beam that spread out in opposite directions. Cooking robot system 20. In Paragraph 1, The above cooking appliance includes a frying basket, and The above frying basket is, A basket mesh for holding cooking ingredients; A rounding portion formed at the lower part of the basket mesh and forming a curved surface in the downward direction; and A basket frame connected to the upper part of the basket net and coupled to the gripper unit; Includes, The basket frame above is, A first bar in the form of a beam bent into a square shape, connected to the basket net and protruding upward; A second bar in the shape of a beam, bent into a square shape and protruding while inclined upward, positioned adjacent to the first bar in the basket mesh; A first lower crossbar connecting across both sides of the first bar; A second lower crossbar connecting across both sides of the second bar; and An upper crossbar connecting the upper part of the first bar and the upper part of the second bar; including, Cooking robot system

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