KR20220145609A - Frying device and frying method using collaborative robot - Google Patents

Abstract

The present invention provides a frying device using a collaborative robot, comprising: a hand robot unit that grips a basket and performs processes; a fryer unit having an oil tank in which oil is accommodated and frying work is performed; and a holder unit provided with a space in which at least one or more baskets are mounted. The hand robot unit comprises: a body part having a plurality of multi-joint arms; a gripper part installed at an end of the body part and capable of gripping the basket; and a processor part generating a work control command for the body part and the gripper part by using multi-threads. The frying device using a collaborative robot compares and determines status and priority of a plurality of frying works and performs a relatively high-priority work first.

Description

Frying device and frying method using collaborative robot

The present invention relates to a frying apparatus and a frying method using a cooperative robot, and more particularly, to a frying apparatus and a frying method using a cooperative robot that can select and perform a plurality of frying process operations sequentially or simultaneously.

A Collaborative Robot (COBOT) is a robot that works with humans, mainly designed to interact with humans in production sites. If industrial robots used in production sites were used in a work space separated from humans as a replacement for humans in the past, collaborative robots complement humans and work together with humans to increase work efficiency.

Recently, robot-related technology development for non-face-to-face service has been actively developed. In particular, interest in the introduction of collaborative robots is growing in the restaurant industry where robots can perform simple, repetitive, and dangerous tasks and humans can focus on services. .

The cooking process of food is similar to the manufacturing process in a factory. When only a simple method is input into the manufacturing process of a factory, like a factory in which a series of tasks is repeatedly performed by a robot, cooking can also be repeatedly performed if only a cooking method can be input. Therefore, it is possible to enable the robot to perform tasks such as transporting, putting, and whisking prepared food ingredients according to a predetermined cooking method.

However, in recent years, it is required to apply advanced collaborative robot technology that can be directly applied to the restaurant industry beyond the simple repetitive tasks described above.

For example, a cooperative robot may be input to a cooking system for fried foods such as chicken to perform frying. This can contribute to the mass production of food such as chicken because it is possible to work in the same space as a person with safety functions such as collision detection and deceleration mode.

However, if the cooperative robot used in the frying process is configured and performed through the teaching of the existing general robot, it is difficult to perform many tasks at the same time because another task cannot be performed until one task is completed.

Accordingly, the present invention provides a frying apparatus and a frying method using a cooperative robot of a multi-threading method. The present invention is a technology developed through the Seoul Industry Promotion Agency 2020 technology commercialization support project (TB201468) "Commercialization of low-cost module-type frying (frying) automation template devices based on cooperative robots for small business owners".

Republic of Korea Patent Publication No. 10-1648135 (Registered on Aug. 8, 2016)

An object of the present invention is to provide a frying apparatus and a frying method using a cooperative robot that uses a multi-thread to compare and determine the status and priority of a plurality of frying tasks to perform a relatively high-priority task first. is to provide

A frying apparatus using a cooperative robot according to an embodiment of the present invention includes: a hand robot unit for performing a process by gripping a basket; a frying unit having an oil tank in which oil is accommodated and the frying operation is performed; and a cradle provided with a space on which at least one or more baskets are mounted. The hand robot unit may include a body unit having a plurality of articulated arms; a gripper part installed at an end of the body part and capable of gripping the basket; and a processor unit generating a job control command for the body unit and the gripper unit using a multi-thread.

In an embodiment, the processor unit may include: a first thread for determining a priority between a plurality of tasks to determine a task having the highest priority; a second thread for checking state information of the body part and the gripper part; and a third thread for receiving command information generated in a user interface may be used.

In an embodiment, the first thread may classify and set a plurality of tasks into first to third priority tasks in an order of high priority.

In one embodiment, the processor unit, the input operation of putting the basket into the oil tank of the fryer; a frying operation in which the food to be fried is brought into contact with oil to fry; Shaking operation to shake the basket put into the oil tank; withdrawing the basket from the oil tank; deoiling operation to separate the oil remaining in the drawn basket; And it may be to generate a job control command, including a holding operation of transferring the basket to the original position of the rough bed.

In an embodiment, the first thread may be to set the withdrawal operation, the oil deoiling operation, and the deferred operation as a first priority operation.

In an embodiment, the first thread may set the input task as a second priority task.

In one embodiment, the processor unit may be to generate a job control command for the input operation after sequentially checking whether the basket is mounted on the holder and whether there is an oil tank usable in the fryer have.

In an embodiment, the first thread may set the shaking task as a third priority task.

In one embodiment, the processor unit generates a control command to stop the work performed when the occurrence of a collision of the hand robot unit is recognized, and performs the job in the stopped state when a job recovery command signal is input It may be to generate a control command.

A frying method using a cooperative robot according to another embodiment of the present invention comprises: a first step of receiving a work start signal of the frying process; a second step of confirming the state of the cooperative robot or the state of performing the frying process; a third step of comparing and judging priorities between frying process operations; a fourth step of performing a high-priority task; and a fifth step of checking the remaining jobs, wherein in the fifth step of checking the remaining jobs, if the remaining jobs are checked, the second to fourth steps are repeatedly performed, and the remaining jobs are not confirmed. Otherwise, it may be the end of the frying process.

Other specific details of the invention are included in the detailed description and drawings.

According to the embodiments of the present invention, there are at least the following effects.

The cooperative robot can sequentially select and simultaneously perform multiple frying process tasks through state management of tasks using multi-threads.

As a result, unlike the case where the existing teaching-type cooperative robot that can be used only in limited situations is applied, the task composition reflecting the menu features and real-time task status are identified and task control is performed based on this, so that It can ensure smooth performance and increase productivity.

The technical effects of the present invention as described above are not limited to the above-mentioned effects, and other technical effects not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a perspective view of a frying apparatus using a cooperative robot according to an embodiment of the present invention.
2 is a perspective view of a frying apparatus using a cooperative robot according to another embodiment of the present invention.
Figure 3 is a perspective view showing the hand robot in the frying apparatus of Figure 1 separated.
Figure 4 is a perspective view showing the fryer in the frying apparatus of Figure 1 separated.
Figure 5 is a perspective view showing a separate holder in the fryer of Figure 1;
6 is a block diagram conceptually illustrating control command generation using multi-threads of the processor unit according to an embodiment of the present invention.
7 is a block diagram conceptually illustrating a process control process based on priority between tasks using multi-threading of the processor unit according to an embodiment of the present invention.
8 is a block diagram conceptually illustrating an operation and/or generation of a control command templated by a processor unit according to an embodiment of the present invention.
9 is a diagram illustrating an area of a screen displaying a user interface according to an embodiment of the present invention.
10 is a flowchart illustrating a frying method using a cooperative robot according to an embodiment of the present invention in chronological order.

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the technical field to which the present invention pertains It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout.

In addition, the embodiments described herein will be described with reference to cross-sectional and/or schematic diagrams that are ideal illustrative views of the present invention. Accordingly, the shape of the illustrative drawing may be modified due to manufacturing technology and/or tolerance. In addition, in each of the drawings shown in the present invention, each component may be enlarged or reduced to some extent in consideration of convenience of description. Hereinafter, specific embodiments according to the present invention will be described with reference to the drawings.

Fig. 1 is a perspective view of a frying apparatus using a cooperative robot according to an embodiment of the present invention, and Fig. 2 is a perspective view of a frying apparatus using a cooperative robot according to another embodiment of the present invention, respectively.

As shown, a frying apparatus using a cooperative robot according to an embodiment of the present invention includes: a hand robot unit 10 for holding a basket 1 to perform a frying operation; a fryer unit 20 provided with an oil tank 21 for frying the cooking object accommodated in the basket 1 with oil; and a cradle 30 on which one or more baskets 1 in a state before or after the input of the frying process are mounted as a configuration constituting the basic structure of the present invention.

At this time, the hand robot unit 10 according to the present invention compares the status and priority of a plurality of frying tasks using a multi-thread, rather than implementing the task through the robot teaching method (teaching method). It is characterized in that it is determined, and a task having a relatively high priority is performed first.

As shown in FIG. 1 , in one embodiment, the fryer unit 20 and the holder unit 30 may be sequentially disposed one by one for one hand robot unit 10 , as shown in FIG. 2 . Similarly, in another embodiment, a pair of fryers 20 and a pair of cradles 30 may be symmetrically disposed in both lateral directions with respect to one hand robot unit 10 .

The arrangement of FIGS. 1 and 2 is merely an example of the present invention, and in addition, various arrangements may be applied as another embodiment.

Each of the baskets 1 applied to the present invention is hollow so that the food to be fried can be accommodated therein, and a receiving space with an open upper portion is formed. In this case, the bottom surface and/or the inner wall surface of the accommodation space may be formed in the form of a perforated plate through which oil can freely flow in or out toward the inside and outside. That is, the oil is freely introduced into the inside so that it comes into contact with the food to be fried, but after the frying operation is finished, the oil that has been introduced is formed to naturally escape to the outside.

In addition, a handle portion 1a capable of being gripped by the gripper portion 12 of the hand robot portion 10 is formed on one side of each basket 1, and on the other side thereof, a handle portion that can be fastened to the cradle portion 30 is formed. A ring portion (1b) may be formed.

Hereinafter, it will be described in detail according to the technical configuration of the hand robot unit 10 according to an embodiment of the present invention.

3 is a perspective view showing the hand robot unit 10 in the frying apparatus of FIG. 2 separated.

The hand robot unit 10 according to an embodiment of the present invention includes a body unit 11 having a plurality of articulated arms; a gripper part 12 installed at an end of the body part 11 and capable of gripping the basket 1; and a processor unit 13 that generates a job control command for the body unit 11 and the gripper unit 12 using multi-threads.

The processor unit 13 is software in which an algorithm for generating a job control command for the body unit 11 and the gripper unit 12 is built-in, and is either built into the body unit 11 or combined with the body unit 11 . It may be built in a body part (not shown) of the hand robot unit 10 provided separately.

The body part 11 is a configuration constituting the body of the hand robot part 10, and includes a plurality of articulated arms in order to realize a movement of multiple degrees of freedom. Each joint constituting the body portion 11 is provided with an actuator for rotating and driving the joint, so that various movements or operations such as tilting can be performed.

A common type of collaborative robot used for cooking is usually installed in a way that requires a pedestal with a ground surface for safe use or a construction facility for permanent fixation. However, since this type of use or installation must be accompanied by separate construction, additional problems such as financial expenditure or damage to the building may occur. Moreover, there is a limitation in that frequent movement is impossible for a cooperative robot that performs multiple cooking processes.

Accordingly, the hand robot part 10 according to an embodiment of the present invention supports the body part 11 in a state spaced apart from the ground, and further includes a base part 14 installed to enable position movement. it could be

The base portion 14 is provided with an internal space in which the body portion of the hand robot portion 10 is installed, and the body portion 11 is fixedly installed on the upper portion. More specifically, the housing constituting the base part 14 has an upper surface having a predetermined area on which the body part 11 can be stably installed, and a hand robot part (with a processor part 13) built therein. A hollow space in which the body part of 10) can be installed is provided.

At this time, the space in which the body part of the hand robot part 10 inside the base part 14 is installed is designed to be spaced apart from the bottom and inner wall surfaces of the housing at a predetermined distance. That is, the body portion of the hand robot unit 10 is installed so as not to contact the inner surface of the housing. This is because a commercial kitchen is usually a very narrow space, and moreover, the body part of the hand robot unit 10 can be exposed to a poor external environment such as oil, water, temperature, etc. from the influence of this environment. to protect the body part of

In addition, at least one pair of wheel portions 14a are formed on the lower surface of the base portion 14 . This is to ensure that the installation position of the hand robot unit 10 can be moved without difficulty during operation, and at the same time, a space is formed below to facilitate washing such as cleaning with water.

Preferably, the two pairs of wheel portions 14a are disposed to be symmetrical to each other on the lower surface of the base portion 14, and may be to stably support the base portion 14 from the ground.

One side of the gripper unit 12 is fastened to the end of the body unit 11 and has an operation such as movement and tilting integrally with the body unit 11, while the other side is a basket ( 1) to form a gripping region. That is, it is possible to perform various operation operations such as gripping the handle portion 1a of the basket 1, putting it into the fryer unit 20, withdrawing it, or shaking it.

The processor unit 13 uses multi-threads to simultaneously grasp the state of the hand robot unit 10, the operation state of the frying process performed through the hand robot unit 10, and the commands of the user interface in real time. In response, a work control command is generated for the body 11 and the gripper 12 .

To this end, the processor unit 13 according to an embodiment of the present invention may share an interface with a separate terminal device (not shown) having a display capable of inputting a user's signal. That is, the processor unit 13 shares a screen with the display of a separate terminal device, and can receive a user's command signal through the screen of the display device, and information on the working state of the frying process performed in reverse. It can be provided to be displayed in real time.

The user can input a command signal for performing a desired task through the display screen, and also intuitively receive information such as the state of the hand robot unit 10 and the operation state of the frying factory performed through the hand robot unit 10 . can be recognized as

Process performance control using multi-threads of the processor unit 13 according to an embodiment of the present invention will be described later in detail with reference to FIGS. 6 and 7 .

The hand robot unit 10 according to an embodiment of the present invention may further include a sensor device unit 15 (not shown) that acquires an information value on the driving state of the body unit 11 . More specifically, the sensor device unit 15 may sense the respective state values for a plurality of joint axes constituting the body unit 11 .

The sensor device unit 15 can acquire state values such as real-time movement, position, and inclination of the body unit 11 , and at the same time use the acquired state value as a medium for determining whether a collision has occurred in the hand robot unit 10 . It can be used as a variable.

More specifically, the state value obtained by the sensor device unit 15 is transmitted to the processor unit 13 . The processor unit 13 may have a built-in algorithm for recognizing that a collision has occurred in the hand robot unit 10 performing a task when the received state value exceeds or falls below a preset collision detection boundary value. .

This is to prevent a bigger accident in advance by allowing the hand robot unit 10 to detect in advance an accident such as a collision that occurs in the process of performing the complex frying process and take action.

4 is a perspective view showing the fryer unit 20 in the fryer of FIG. 1 separated, and FIG. 5 is a perspective view of the fryer unit 30 in the fryer of FIG. 1 separated from each other.

As shown, the fryer 20 has an open top, and an oil tank 21 is provided as a frying space 21 that can accommodate frying oil by forming a hollow inner space. The basket 1 in a state accommodating the food to be fried is put into the frying space 21 , and then the received frying oil is heated. Accordingly, the frying oil of the preset temperature range is in contact with the food is fried operation is performed.

On the other hand, it is preferable that the fryer unit 20 is installed so as to be located within a work execution area in which the body unit 11 and the gripper unit 12 of the hand robot unit 10 can move. If necessary, it may be installed in plurality. For example, as shown in FIG. 2 , the pair of fryers 20 may be installed symmetrically with respect to the hand robot unit 10 .

The fryer 20 may further include a support bar 22 supporting the handle portion 1a of the basket 1 on one side of the outer side of the frying space 21 . For example, the support rod 22 is extended to have a predetermined length along the outer line of the frying space 21, and one or more predetermined groove portions 22a are formed so that the handle portion 1a of the basket 1 part can be supported. it may be When a plurality of groove portions 22a are formed, it is appropriate that each groove portion 22a is formed at a predetermined distance so that the respective baskets 1 put into the frying space 21 do not overlap each other.

On the other hand, the sensor device unit 15 of the hand robot unit 10 according to an embodiment of the present invention determines whether the handle portion 1a of the basket 1 is present in the groove portion 22a of the support rod 22 . may be sensing. At this time, when the sensor device recognizes the handle portion 1a of the basket 1 in the groove portion 22a of the support rod 22, the processor portion 13 is a frying space 21 in the region formed by the groove portion 22a. It can be recognized that the frying operation is taking place.

In addition, the fryer 20 may further include a display unit 23 having a screen capable of displaying information and/or inputting a signal. For example, the display unit 23 may be installed in the form of a display built into one side on the outer surface of the fryer unit 20 .

The display unit 23 may include an area for displaying status information on the frying space 21 of the fryer 20 on the screen. That is, information such as the amount of oil in the frying space 21, the temperature of the oil, whether the basket 1 is inserted, and the frying time is displayed on the screen so that the user can recognize the current frying operation. .

In addition, the display unit 23 may include an area on the screen in which the user can input a signal for controlling the state of the fryer unit 20 in the frying space 21 . That is, the user may input a signal to set or adjust the temperature of the frying oil, the frying time, etc. to the fryer unit 20 .

Meanwhile, the display unit 23 according to an embodiment of the present invention may share an interface with the processor unit 13 of the hand robot unit 10 . That is, information displayed through the display unit 23 and/or an input signal may be shared with the processor unit 13 .

Like the fryer unit 20 described above, the cradle unit 30 according to an embodiment of the present invention is installed to be located within the work execution area of the hand robot unit 10, and may be installed in plurality if necessary. In addition, it is preferable that the holder part 30 is designed so that the handle part 1a of the basket 1 can be positioned in the direction facing the gripper part 12 of the hand robot part 10 .

The holder 30 provides a space in which a plurality of baskets 1 can be mounted. The cradle part 30 according to an embodiment of the present invention may include a support plate part 32 and a support part 31 .

The support plate part 32 forms a surface capable of supporting the basket 1, and is installed at least one or more positions spaced up and down along the height direction of the support part 31 .

At this time, the support plate part 32 according to an embodiment of the present invention may be installed to be detachable as well as coupled from the support part 31 . That is, the user can install and use the necessary number of the support plate parts 32 in the support part 31 in consideration of various circumstances, such as the quantity of the frying process to which the present invention is applied, the work speed, and the like.

The support part 31 is formed to extend along the vertical direction (height direction) from the ground in a configuration constituting the frame of the cradle part 30 . At least one support plate part 32 is installed to form a plane in the horizontal direction at positions spaced apart from the support part 31 along the height direction, and has a support structure for stable support at the lower part.

On the other hand, a fastening rod 31a to which the ring part 1b of the basket 1 can be fastened is formed on one surface of the support part 31 . Although not shown, as another embodiment, a fastening protrusion to which the ring part 1b of the basket 1 part can be fastened may be formed on one surface of the support part 31 .

At this time, the holder part 30 according to an embodiment of the present invention is fastened to the support part 31 so that one side of the bottom surface of the basket 1 is in a state away from the support plate part 32, the fastening rod 31a ) or a fastening protrusion may be installed. In other words, the lower surface of the basket 1 may be designed to be mounted in an inclined state at a predetermined angle from the support plate 32 .

The basket 1 is mounted at an angle with the flat surface of the support plate 32 at an angle, so that the gripper unit 12 of the hand robot unit 10 is easily installed at the time of input to the frying process. The handle portion 1a of (1) can be provided to be gripped and at the same time, after the frying process is performed, the oil remaining in the basket 1 can be separated and discharged.

6 is a block diagram conceptually illustrating the generation of a control command using multi-threads of the processor unit 13 according to an embodiment of the present invention, and FIG. 7 is a multi-threading of the processor unit 13 according to an embodiment of the present invention. Each of the block diagrams conceptually illustrates a process control process based on priorities between tasks using threads is shown.

The process operation performed by the fryer according to an embodiment of the present invention through the hand robot unit 10 is performed by a control command generated by the processor unit 13 . Specifically, the process operation performed by the fryer according to the present invention is an input operation of putting the basket 1 mounted on the holder 30 into the frying space 21 of the fryer unit 20, the inside of the basket 1 The frying operation of frying the food contained in the oil in contact with the oil, the shaking operation of shaking the basket 1 put into the frying space 21, and the frying space 21 of the frying unit 20 after the frying process is completed ), a deoiling operation of separating the oil remaining in the withdrawn basket (1), and a mounting operation of mounting the basket (1) to the original position of the cradle part.

A user inputs a job start or selection signal through a display of a user interface (UI). Recognizing the input signal, the hand robot unit 10 tilts or moves the body unit 11 so that the gripper unit 12 approaches the preset cradle unit 30 located in the work execution area.

At this time, at least one or more baskets 1 are disposed in the holder 30 in a state in which the food to be fried is accommodated therein, and the gripper 12 grips the handle 1a of the basket 1 . and transported toward the fryer 20 . The transferred basket 1 is a frying space 21 of the fryer 20 in a state in which the handle portion 1a is spanned to one side of the groove portion 22a of the support rod 22 installed on the outside of the fryer unit 20. is put in The wall or bottom surface of the basket 1 is formed in the form of a perforated plate, and oil flows into the inner accommodation space to contact the food to be fried. Thereafter, the food to be fried is fried by high temperature oil for a preset time.

On the other hand, if the basket 1 is not hung on the holder 30 or there is no frying space 21 that can work because the fryer 20 has already fried another basket 1, the processor unit (13) stops the performance of the basket (1) input operation as above. Thereafter, when the basket 1 is mounted on the holder 30 or the frying space 21 that can work is created in the fryer 20 , a control command is generated to perform the basket 1 input operation again.

While the basket 1 is accommodated in the fryer unit 20 and the frying operation is performed, the hand robot unit 10 grips the handle portion 1a of the basket 1 and shakes it repeatedly within a certain range. carry out This is to prevent food from sticking to the basket 1 during the frying process, and to cook evenly in contact with oil.

The control command for the shaking operation of the processor unit 13 may be arbitrarily adjusted by the user through the user interface. That is, the user may arbitrarily input a signal for starting the shaking operation through the user interface, or input or adjust a signal for setting the time or shaking range of the shaking operation, and on the other hand, a signal for omitting the shaking operation may be input. Accordingly, the user can make arbitrary adjustments such as starting, adjusting, or omitting the shaking operation during the frying operation.

When the preset frying operation time elapses after the input operation of the basket 1 has elapsed, it is determined that the frying operation is over, and the hand robot unit 10 takes out the basket 1 accommodated in the frying space 21 . carry out

Thereafter, a deoiling operation is performed to shake off the oil remaining in the withdrawn basket 1 . More specifically, the hand robot unit 10 raises and lowers the drawn basket 1 at a constant speed during the first period and then stops the basket 1 at a predetermined deceleration during the second period. can be brushed off The oil remaining in the basket 1 drawn out in the above manner and the food contained therein may be shaken off and separated.

When the deoiling operation is finished, a mounting operation of mounting the basket 1 back to its original position on the cradle unit 30 is performed. Thereafter, the processor unit 13 determines whether or not the work for the other basket 1 and the like remains. When the presence of the remaining work is confirmed, the frying process is performed on the other basket 1 mounted on the holder 30 again, and if there is no remaining work, the frying process is terminated.

The processor unit 13 according to an embodiment of the present invention is characterized in that at least one or more threads performing different roles are executed. That is, it is configured to enable smooth job management by executing multi-steady, managing and collecting various information at the same time.

More specifically, the first thread is executed to determine the highest priority task by determining the priority between the plurality of tasks, and the second to check the state information of the body unit 11 and the gripper unit 12 . The second thread may be executed, and the third thread may be executed to receive command information generated in the user interface (UI).

The first thread determines priorities among a plurality of jobs constituting the frying process, and performs a process of determining the highest priority job as the next job based on the determined priorities. In this case, the system in which the first thread determines the priority may be preset by a built-in algorithm.

The second thread collects and recognizes information about the state of the hand robot unit 10 . For example, state information such as a change in a boundary value or a sensor value for the sensor device unit 15 separately installed in the hand robot unit 10, a detected sensor value, or whether a collision is detected, is collected and recognized. Since the above state information directly affects the work performance state of the hand robot unit 10, it is detected in real time and an immediate response is made.

The third thread receives state information and input signals of the user interface (US) used by the worker. The received data may be a basis for the first thread to determine a priority among a plurality of tasks. In this case, the user interface through which the user inputs a signal may be shared with a terminal device having a separate display or a screen installed in the hand robot unit 10 or the fryer unit 20 .

Hereinafter, a method of determining priorities by an algorithm built into the first thread according to an embodiment of the present invention will be described. The first thread may set a task having the highest priority among the plurality of tasks as the first priority task, and sequentially setting the higher priority task as the second priority task and the third priority task.

The first thread according to an embodiment of the present invention may be to set the retrieval operation, the oil removal operation, and the deferred operation as the first priority operations. In other words, when compared with other operations, high priority is given to withdrawal operations, deoiling operations, and deferment operations, and the next operation to be performed sequentially is determined.

There are many factors that determine the quality of the frying process, but the most important factor among them is the time during which the frying process takes place. That is, it is most important to make the extraction operation of taking out the basket 1 so that the frying operation does not exceed the predetermined time range (Over). In addition, preventing the food to be fried from sticking to the basket 1 may be an important factor in the quality of the food to be fried. Therefore, the frying apparatus according to the present invention can be set to preferentially perform a first priority operation having a relatively high priority compared to other operations.

The first thread according to an embodiment of the present invention may be to set the input task as the second priority task. That is, it has a lower priority compared to the above-described first priority task, and gives a higher priority to the input task compared to other tasks, so that the next task to be sequentially performed is determined.

In generating the job control command for the input operation, the first thread preemptively determines whether there is a basket 1 mounted on the cradle 30 , and then the frying space 21 of the fryer 20 . determine if it can be used. That is, the first thread generates a control command to perform the putting operation only when it is recognized that the mounted basket 1 exists and the frying space 21 into which the basket 1 can be put exists.

In other words, when it is determined that the basket 1 is not mounted on the cradle 30 , the generation of the job control command for the second priority task is stopped, and the priority comparison between the tasks is performed again. On the other hand, when it is determined that the basket 1 is mounted on the holder 30 , it is sequentially checked whether there is a workable area in the frying space 21 of the fryer 20 .

At this time, when it is determined that there is no workable area because all baskets 1 are put into the frying space 21 of the fryer 20, the generation of the task control command for the second priority task is stopped, and, likewise, priority between tasks Perform the rank comparison again. When it is determined that there is a workable area, a control command for performing the input work is generated.

In addition, the first thread according to an embodiment of the present invention may be to set the shaking task as the third priority task. That is, by giving the shaking operation a lower priority than the above-described first priority operation and the second priority operation, it is possible to determine the next operation to be sequentially performed.

Through this, the above-described multiple operations can be performed in a complex manner, and even if the operator does not manually select the menu, if the frying operations are in progress before, in consideration of the priority such as completing the operation or performing a shaking operation, necessary will do the job.

8 is a block diagram conceptually illustrating an operation and/or generation of a control command templated by the processor unit 13 according to an embodiment of the present invention.

The processor unit 13 according to an embodiment of the present invention may be configured to generate a job control command by templates of different types of jobs. For example, the processor unit 13 may perform an operation in which the gripper part grips the handle part 1a of the basket 1 (holding operation), and the gripper part releases the handle part 1a of the basket 1 (release operation). , deoiling operation, shaking operation may be selected as a group and templated.

The operator may combine the above-templated actions and/or actions of the user interface (UI) to cause the hand robot unit 10 to perform a series of different cooking processes. For example, as shown in FIG. 8 , the operator may input a performance signal T ₁ such that a shaking operation is performed between the holding operation and the releasing operation with respect to the templated operation and/or operations T. Alternatively, the performing signal T ₂ may be input so that the oil removal operation is performed between the holding operation and the releasing operation, or the operation signal T ₃ may be input such that the shaking operation and the oil removal operation are sequentially performed.

When a new task is added while the cooking process is performed by the hand robot unit 10 , it is unreasonable to manually modify or teach the control algorithm to perform the new task. Contrary to this, in the present invention, as in the above-described embodiment, by generating a job control command by templating a plurality of different jobs, the process can be modified by teaching only the added job.

Accordingly, the operator can easily adjust the hand robot unit 10 to perform different cooking processes through each operation and/or various combinations of operations.

On the other hand, when recognizing that a collision or other emergency situation occurs in the hand robot unit 10 through the second thread, the processor unit 13 generates a control command for stopping the operation of the hand robot unit 10 . . More specifically, the first thread may generate a control command for stopping the operation of the hand robot unit 10 prior to generating a control command for another operation, or inputting a signal for stopping the operation of the operator through the user interface (UI) In this case, the third thread may generate a control command for stopping the operation of the hand robot unit 10 .

The processor unit 13 according to an embodiment of the present invention may generate a control command to restore the interrupted operation to the hand robot unit 10 . More specifically, the processor unit 13 may check the real-time state of the hand robot unit 10 through the second thread, and recognize the state of the work performed by the hand robot unit 10 through the first thread. have.

As described above, when occurrence of a collision of the hand robot unit 10 is recognized through the second thread, the processor unit 13 generates a work stop control command for the hand robot unit 10 . When the operation is stopped, the operator solves the occurrence situation such as a collision, and restores the hand robot unit 10 to a standby state. Thereafter, the operator inputs a job recovery signal through the user interface, and the processor unit 13 generates a control command for causing the hand robot unit 10 to re-perform the interrupted job.

9 is a diagram illustrating an area H of a screen displaying a user interface according to an embodiment of the present invention.

As shown, the processor unit 13 displays the interrupted work state recognized through the first thread on an area H of the screen representing the user interface. For example, it is possible to display the degree of the frying operation state being performed in different fryers 20 or frying operation area 21, respectively. Alternatively, the user interface may be displayed on the screen (H) so that the degree of work to be performed can be selected separately from the actual work interruption state.

The operator may input a signal for performing restoration of a stopped job through the screen H to the user interface, and accordingly, the processor unit 13 restores the interrupted state as it is or a control command for performing each job in a desired state. create

In the case of collaborative robots, since they work together with humans, there is a high possibility that the work will inevitably be interrupted by a collision or sudden situation during work. In the frying apparatus of the present invention, the hand robot unit 10 is quickly restored to the stopped state for the interrupted work, so that the interrupted work can be performed.

Hereinafter, a frying method using a cooperative robot according to another embodiment of the present invention will be described with reference to FIG. 10 . On the other hand, it should be understood that the above-described various embodiments of the present invention are equally applied to a frying method using a cooperative robot as well as a silk frying apparatus.

10 is a flowchart illustrating a frying method using a cooperative robot according to an embodiment of the present invention in chronological order.

As shown, a frying method using a cooperative robot according to an embodiment of the present invention includes: a first step (S20) of receiving a work start signal of the frying process; a second step (S30) of confirming the state of the cooperative robot or the state of performing the frying process; a third step (S40) of comparing and judging priorities between the necessary frying process tasks; a fourth step of performing a high-priority task (S50); and a fifth step (S60) of checking the remaining work as a configuration constituting a basic step of the method.

At this time, in the step (S50) of checking the remaining work, if the remaining of the frying process work is confirmed, the operation returns to the step (S30) of checking the status of the cooperative robot or the frying process performed state again and repeats the work. On the other hand, if it is confirmed that there is no remaining of the frying process operation, the operation is not repeated, and the frying operation process is terminated.

According to the above-described various embodiments, in the frying apparatus and frying method according to the present invention, the cooperative robot sequentially selects a plurality of frying process operations through the state management of the operation, while simultaneously performing.

As a result, unlike the case where the existing teaching-type cooperative robot that can be used only in limited situations is applied, the task composition reflecting the menu features and real-time task status are identified and task control is performed based on this, so that It can ensure smooth performance and increase productivity.

Those of ordinary skill in the art to which the present invention pertains will understand that the present invention may be embodied in other specific forms without changing the technical spirit or essential features thereof. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. The scope of the present invention is indicated by the following claims rather than the above detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present invention. do.

1: Basket
1a: handle part
1b: ring part
10: hand robot unit
11: body part
12: gripper part
13: processor unit
14: base part
14a: wheel part
15: sensor device unit
20: donate fry
21: Yujo (tempura space)
22: support bar
22a: home
23: display unit
30: cradle
31: support part
31a: fastening rod
32: support plate part

Claims (10)

A hand robot unit that performs a process by gripping the basket;
a frying unit having an oil tank in which oil is accommodated and the frying operation is performed; and
It includes; a cradle unit provided with a space in which at least one or more baskets are mounted;
The hand robot unit,
a body portion having a plurality of articulated arms;
a gripper part installed at an end of the body part and capable of gripping the basket; and
A frying apparatus using a cooperative robot, characterized in that it comprises a processor unit for generating a work control command for the body unit and the gripper unit using a multi-thread. According to claim 1,
The processor unit,
a first thread for determining a priority among a plurality of tasks to determine a task having the highest priority;
a second thread for checking state information of the body part and the gripper part; and
A frying apparatus using a cooperative robot, characterized in that it uses a multi-thread including a third thread for receiving command information generated on a user interface. 3. The method of claim 2,
The first thread, a frying apparatus using a cooperative robot, characterized in that the plurality of tasks are classified and set into first to third priority tasks in the order of high priority. 4. The method of claim 3,
The processor unit,
an input operation of putting the basket into the oil tank of the fryer;
a frying operation in which the food to be fried is brought into contact with oil to fry;
Shaking operation to shake the basket put into the oil tank;
withdrawing the basket from the oil tank;
deoiling operation to separate the oil remaining in the drawn basket; and
A frying apparatus using a cooperative robot, characterized in that it generates a job control command, including a stationary operation of transferring the basket to the original position of the rough bed. 5. The method of claim 4,
The first thread is a frying apparatus using a cooperative robot, characterized in that the withdrawal operation, the oil removal operation, and the holding operation are set as a first priority operation. 6. The method of claim 5,
The first thread, frying apparatus using a cooperative robot, characterized in that the input operation is set as a second priority operation. 7. The method of claim 6,
The processor unit, after sequentially checking whether the basket is mounted on the holder and whether there is an oil tank usable in the fryer, generates a job control command for the input operation. fryer used. 7. The method of claim 6,
The first thread, characterized in that the shaking operation is set as the third priority operation, frying apparatus using a cooperative robot. 4. The method of claim 3,
The processor unit generates a control command to stop the work performed when the occurrence of a collision of the hand robot unit is recognized, and generates a control command to perform the job in the stopped state when a job recovery command signal is input. A frying device using a collaborative robot, characterized in that. A first step of receiving an operation start signal of the frying process;
a second step of confirming the state of the cooperative robot or the state of performing the frying process;
a third step of comparing and judging priorities between frying process operations;
a fourth step of performing a high-priority task; and
a fifth step of ascertaining the remaining work;
In the fifth step of checking the remaining work, if the remaining work is confirmed, the second to fourth steps are repeatedly performed, and if the remaining work is not confirmed, the frying process is terminated.

Images