GRILL MODULE

Provided is a grill module for cooking an object to be cooked. The grill module includes a lower plate grill on which a flat object to be cooked is placed, an upper plate grill facing the lower plate grill to cook the object to be cooked, and a transfer unit to transfer a guide and a spatula for placing the object to be cooked onto the lower plate grill and taking out a completely cooked object.

CROSS-REFERENCE TO RELATED APPLICATION

This application is based on and claims priority under 35 U.S.C. §119 to Korean Patent Application No. 10-2021-0103155, filed on Aug. 5, 2021, and Korean Patent Application No. 10-2021-0130511, filed on Oct. 1, 2021, in the Korean Intellectual Property Office, the disclosures of which are incorporated by reference herein in their entireties.

BACKGROUND

The present disclosure relates to a grill module for cooking an object to be cooked, and a patty grill module for cooking a patty in an automatic hamburger production system.

2. Description of the Related Art

The decrease in labor force due to the rise in labor costs, population aging, low birth rates, etc., and avoidance of simple and repetitive work are driving automation for unmanned operation in many industrial fields. Also in the restaurant industry, efforts are being made to solve these issues through automated unmanned apparatuses and systems. The hamburger market has the largest number of restaurants that serve a single dish in the restaurant industry.

Japanese Patent No. 3557591 discloses a hamburger preparing apparatus which is operable in a relatively small kitchen and capable of preparing various types of hamburgers and improving productivity.

SUMMARY

The present disclosure is to provide a grill module for cooking an object to be cooked. The present disclosure is also to provide a patty grill module for cooking a patty in an automatic hamburger production system.

According to an embodiment of the present disclosure, a grill module includes a lower plate grill on which a flat object to be cooked is placed, an upper plate grill facing the lower plate grill to cook the object to be cooked, and a transfer unit to transfer a guide and a spatula for placing the object to be cooked onto the lower plate grill and taking out a completely cooked object.

At least one upper plate grill may be formed, at least one lower plate grill may be formed, and the at least one lower plate grill may be connected to a lifting linear unit.

One upper plate grill may be formed, the at least one lower plate grill may include a first lower grill and a second lower grill, the first lower grill may be connected to a first lifting linear unit, and the second lower grill may be connected to a second lifting linear unit.

The transfer unit may include a first linear unit to move the guide and the spatula in a first direction (x-axis), and a second linear unit mounted on one side of the first linear unit, and the second linear may include a guide linear unit and a spatula linear unit on which the guide and the spatula are mounted to be moved in a second direction, respectively.

The guide may form, with its frame, a space to surround a perimeter of the object to be cooked before or after being placed onto the lower plate grill, and may be mounted on the guide linear unit, and the spatula may form a plate supporting a bottom surface of the object to be cooked, and may be mounted on the spatula linear unit.

The guide and the spatula may be used for semi-automation of receiving, from an external source with intervention of a human user, the object to be cooked, which is not cooked, and taking out the completely cooked object after cooking, the guide may form, with its frame, a space to surround a perimeter of the completely cooked object after being placed onto the lower plate grill, and may be mounted on the guide linear unit, and the spatula may form a plate supporting a bottom surface of the completely cooked object surrounded by the frame of the guide, and may be mounted on the spatula linear unit.

The guide and the spatula may be used for automation of supplying the object to be cooked, which is not cooked, by itself and taking out the completely cooked object after cooking. The guide may form, with its frame, a first space and a second space, which are respectively adjacent to opposite edges of an intermediate space, to selectively surround, within the first and second spaces, a perimeter of the object to be cooked or the completely cooked object before or after being placed onto the lower plate grill, and may be mounted on the guide linear unit. The spatula may be arranged in the intermediate space, may be formed as a symmetrical plate, which selectively operates in the first space and the second space to support a bottom surface of the object to be cooked or the completely cooked object, and may be mounted on the spatula linear unit.

The grill module may further include a cooking target supply unit configured to store objects to be cooked, which are to be supplied to the lower plate grill, and to discharge, in the sense of supply, one sheet of the objects to be cooked at a time.

The cooking target supply unit may include a cache for accommodating a plurality of objects to be cooked stacked therein, the cache including a discharge port at a lower side thereof, a separation spatula to withdraw one sheet of the plurality of objects to be cooked, while being inserted and withdrawn between the plurality of objects to be cooked through the discharge port, separation bars at both sides of the separation spatula to be in contact with a perimeter of the object to be cooked, and holding members to be folded when inserted and to be unfolded when withdrawn to pull the object to be cooked, with elastic members at front ends of the separation bars.

The object to be cooked may include at least one of bread, a patty, and steak meat.

According to an embodiment of the present disclosure, a patty grill module includes a lower plate grill on which a patty to be cooked is placed, an upper plate grill facing the lower plate grill to cook the patty to be cooked, and a transfer unit to transfer a guide and a spatula for placing the patty to be cooked onto the lower plate grill and taking out a completely cooked patty.

DETAILED DESCRIPTION

Hereinafter, embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings for one of skill in the art to be able to perform the present disclosure without any difficulty. The present disclosure may, however, be embodied in many different forms and should not be construed as being limited to the embodiments of the present disclosure set forth herein. In order to clearly describe the present disclosure, portions that are not relevant to the description of the present disclosure are omitted, and similar reference numerals are assigned to similar elements throughout the present specification.

It should be understood that when an element is referred to as being “connected to” or “coupled to” another element, the element may be directly connected or coupled to the other element or may be connected or coupled to the other element with an intervening element therebetween. It should also be understood that, on the other hand, when an element is “directly connected” or “directly coupled” to another element, there is no intervening element therebetween.

It should be understood that the terms “comprises” and/or “has” used herein specify the presence of stated features, numbers, operations, elements, components, and/or combinations thereof, but do not preclude the presence or addition of one or more other features, numbers, operations, elements, components, and/or combinations thereof. Therefore, when an element is referred to as “including” a component, the element may additionally include other components rather than excluding other components as long as there is no particular opposing recitation.

A grill module according to an embodiment is configured to cook an introduced object to be cooked so as to provide a completely cooked object. The object to be cooked includes at least one of bread, a patty, and steak meat, and includes flat and round food materials. Accordingly, the grill module may be used in cooking various objects to be cooked. For convenience of description, among cooking modules applied to an automatic hamburger production system, a patty grill module for cooking a patty will be described as an example.

FIG.1is a block diagram illustrating an automatic hamburger production system, according to an embodiment of the present disclosure. Referring toFIG.1, the automatic hamburger production system of an embodiment includes an interface unit10, an automatic production management module20, a plurality of cooking modules30, a packaging module40, and an assembler module50.

The interface unit10performs at least one of checking an operation of the system, controlling the system, ordering production, and managing a schedule. The automatic production management module20checks and manages a plurality of modules constituting the system. The cooking modules30transmits data to the automatic production management module20.

The packaging module40supplies a package and receives and packages a finished hamburger having been assembled on the package in the cooking modules30. The assembler module50is controlled by the automatic production management module to move the package and the hamburger being prepared, between the cooking modules20and the packaging module40.

For example, the plurality of cooking modules30include a bun grill module31, a sauce dispenser module32, a patty grill module33, a cheese module34, a filling dispenser module35, and a slicing module36.

FIG.2is a block diagram illustrating a basic configuration of a local module applied toFIG.1. Referring toFIG.2, the plurality of cooking modules30includes a cache41for storing, at a refrigeration, freezing, or room temperature, an amount of ingredients for temporary use, and a local processor42responsible for functions of individual modules, and a sensor43for monitoring the capacity of the cache41or whether the local processor42is normally operating.

In addition, the packaging module40and the assembler module50include sensors43and53for monitoring whether they are normally operating. The sensors43and53are attached to the cooking modules30, the packaging module40, and the assembler module50, to monitor the capacity of the cache41or whether the local processor42is normally operating, and may also be attached to the system to perform real-time monitoring of operations performed by the respective modules or between the modules, and real-time monitoring of error situations.

Sensor data collected by the sensors43and53may be transmitted to the automatic production management module20in real time to perform corrective actions through feedback, or may be accumulated to be used for big data-based artificial intelligence learning. In this case, signals includes at least one of video, digital image, infrared, weight, and temperature signals, and the sensors43and53include at least one of a camera sensor, an audio sensor, an ultrasonic sensor, an infrared sensor, a gravity sensor, a weight sensor, and a temperature sensor.

In a flowchart of ingredients when the plurality of cooking modules30are operating, the ingredients stored in the cache41are transferred to the local processor42through a cache-to-local processor movement, then a cooking operation is performed by the local processor42, the resulting products are transferred to the assembler module50through a local processor-to-assembler module movement to be assembled, and then the assembled product is moved to the next module.

The automatic hamburger production system ofFIG.1is an example of a configuration that operates as a fully automatic production system using all of the modules. Although not illustrated, the automatic hamburger production system may operate as a partially automatic production system by selectively combining one or more modules according to needs of a user.

For convenience of description, the automatic hamburger production system will be described as a fully automatic production system. First, the interface unit10, the automatic production management module20, the plurality of cooking modules30, the packaging module40, and the assembler module50will be described in detail.

The interface unit10is an interface through which the user may check and control the operation of the system, and performs operations of ordering production, initiating and terminating the system, managing a schedule, and checking a system error element.

For example, the interface unit10is a digital device having a function of accessing and then communicating with the automatic production management module20, and includes at least one of a smart phone, a tablet, a smart watch, a smart band, a smart glass, a desktop computer, a monitor, a notebook computer, a workstation, a personal digital assistant (PDA), a web pad, a mobile phone, and a human-machine interface (HMI). That is, a device capable of allowing the user to check a digital output and input information thereto may be adopted as the interface unit10.

FIG.3is a block diagram illustrating the automatic production management module20applied toFIG.1. Referring toFIGS.1and3, the automatic production management module20includes a scheduler unit21, a data management unit22, and a communication unit23.

The automatic production management module20is a digital device having a function of communicating with each module, and may include at least one of a smart phone, a tablet, a smart watch, a smart band, smart glasses, a desktop computer, a monitor, a notebook computer, a workstation, a PDA, and a programmable logic controller (PLC). A digital device including a memory unit and a microprocessor mounted therein and thus having computing capability may be adopted as the automatic production management module20.

The scheduler unit21checks the modules connected to the system and controls the operation order of the modules according to a production process determined by a scheduling algorithm. The scheduler unit21may primarily identify the number and states of modules connected to the system. Here, the state includes whether the module is usable, whether an error occurred, whether to the module is cleaned, and the version of the module.

Based on the primarily identified states and number of the modules, the scheduler unit21determines a module operation order schedule for producing hamburgers according to types and numbers of hamburger orders input from the interface unit10, and controls each module through the communication unit23. Here, the module operation order schedule is determined according to a preset scheduling algorithm.

The scheduler unit21may maximally maintain the freshness in cooking by using a reverse scheduling algorithm that estimates a previous module cooking start time inversely calculated from a next module cooking completion time such that a period of time during which the ingredients having been cooked in each module stand by for the ingredient to be completely cooked in the next module is minimized.

The scheduling algorithm includes a built-in scheduling algorithm and a scheduling algorithm which is determined by the user. An example of the built-in scheduling algorithm may be an algorithm that maximizes the per-hour production of hamburgers. In this case, the built-in scheduling algorithm may be updated from a central server through the communication unit23.

The data management unit22signal-processes and manages outputs of the sensors43and53in each module and transmits the resulting data to the scheduler unit21. The outputs of the sensors43and53include all signals involved in a hamburger production process, such as whether an error occurred, video, digital images, infrared signals, weight, temperature, etc. The data management unit22may transmit and receive collected data to and from the central server through the communication unit23.

The data management unit22may perform a function of training ingredient management and module control models based on data regarding an input of the interface unit10. An estimation model according to an embodiment may be implemented by using an artificial neural network such as a convolutional neural network (CNN) and a recurrent neural network (RNN). In addition, descriptions provided herein is merely an embodiment of the present disclosure, and a technique that may be used to implement and train the estimation model may be variously modified within the scope of achieving the object.

The communication unit23is configured as a communication network that connects the interface unit10, the automatic production management module20, the plurality of cooking modules30, the packaging module40, the assembler module50, and the central server (not shown) to each other. Here, the central server is a central system installed at a location separate from the system, and may be connected through the Internet or World Wide Web (WWW).

The communication unit23may be configured to perform both wired communication and wireless communication, and may be configured as at least one of a controller area network (CAN), EtherCAT, TCP/IP Modbus, serial Modbus, a local area network (LAN), a metropolitan area network (MAN), and a wide area network (WAN).

For example, the communication network may be the known Internet or WWW. The communication network may also include part of a known wired/wireless data communication network, a known telephone network, or a known wired/wireless television communication network.

The plurality of cooking modules30will be described with reference toFIGS.1and2. The plurality of cooking modules30include the cache41and the local processor42corresponding to respective cooking.

First, the bun grill module31is configured to handle bread, and ingredients handled by the bun grill module31is not limited to bread, but include cooked rice in a certain shape to replace the role of a burger bun, or an ingredient for vertically wrapping fillings of a hamburger.

Buns are stored in the cache41in a frozen state, a refrigerated state, or a room temperature state according to the type and characteristics of the buns, and a cooking time and temperature during cooking may be adjusted by the local processor42. The cache41of the bun grill module31may also be configured to block external air so as to prevent the surface of a bun from drying out.

The bun grill module31may include the sensors43, for example, a pressure sensor or a position sensor, and a control unit51of the assembler module50may appropriately adjust a degree of bun cooking by feeding back an appropriate cooking pressure, time, position, and the like according to the type and state of a bun (e.g., the thickness and temperature of the bun) and monitor the state.

The sensors43of the bun grill module31may further include a state measurement sensor capable of determining the temperature, hardness, color, and degree of cooking of a bun, and accordingly, the cooking temperature and time of the bun can be adjusted.

The control unit51of the assembler module50includes any one of a microcontroller unit (MCU), a field-programmable gate array (FPGA), a digital signal processor (DSP), a smart phone, a tablet, a smart watch, a smart band, a smart glass, a desktop computer, a monitor, a notebook computer, a workstation, a PDA, and a PLC. A digital device having computing capability may be adopted as the control unit51of the assembler module50.

The assembler module50is configured to transfer, to discharge units of the cooking modules30and the packaging module40, ingredients to be sequentially supplied to a packaging paper sheet or box. The control unit51of the assembler module50is configured to control the packaging paper sheet or box containing food ingredients to stand by or move, and communicate with the automatic production management module20.

The control unit51controls the assembler module50based on an input signal of the automatic production management module20, and communicates a state of the assembler module50to the automatic production management module20. Here, the state of the assembler module50may include whether the assembler module50is operable, whether the assembler module50is currently operating, whether an error occurred, and an operation speed.

The sauce dispenser module32is configured to dispense a sauce or dressing ingredients based on a digital input. Ingredients handled by the sauce dispenser module32may include a hamburger sauce, a salad dressing, ice cream syrup, fruit jam, and various edible liquids.

The sauce dispenser module32sprays the sauce based on an input signal of the automatic production management module20. Here, a state of the sauce dispenser module32may include at least one of the amount of the remaining sauce, detection of an object at the automatic dispensing position, whether the sauce dispenser module32is operable, whether the sauce dispenser module32is currently operating, and whether an error occurred.

The patty grill module33includes a heating module for heating beef, pork, chicken, or vegan meat, and a fryer module for frying shrimp, chicken, and potato hash brown. For example, the heating module may include a heating device for cooking a patty, and may include, as a heat source, at least one of an induction range, a heating wire, an electromagnetic wave device, and an infrared device.

The heating module may further include a seasoning module (not shown) for seasoning using salt, pepper, and herbs during cooking according to the type of a patty, and a control unit (not shown) of the fryer module may adjust a seasoning time, type, and amount.

For example, the fryer module may perform an operation of putting a patty into oil and taking the patty out of the oil, may filter out residues from the oil after frying, and may perform an oil replacement operation according to an oil acidity measurement result.

Control units applied to the heating module and the fryer module includes at least one of an MCU, an FPGA, a DSP, a smart phone, a tablet, a smart watch, a smart band, a smart glass, a desktop computer, a monitor, a notebook computer, a workstation, a PDA, and PLC. A digital device having computing capability may be adopted as the control unit.

A cache of the patty grill module33may be maintained in a frozen state, a refrigerated state, or a non-room temperature state according to the characteristics of a patty, and may include packaging that blocks inflow and internal circulation of external air for maintaining freshness.

The cheese module34supplies cheese onto a hamburger being assembled, by the assembler module50, on a package paper sheet or box at a discharge unit of the cheese module34. Here, the types of cheese includes at least one of sliced cheese, shredded cheese, and liquid cheese.

The cheese module34may supply, directly to the assembler module50, cheese stored in a cache capable of temporarily storing the cheese at a refrigeration temperature, a freezing temperature, and a room temperature, or may beat the cheese to an appropriate temperature through a local processor such as a hot air blower or an oven and supply the heated cheese to the assembler module50.

The filling dispenser module35supplies, onto the hamburger being assembled on the package paper sheet or box on the discharge unit, fixed amounts of various fillings at a preset speed according to the type of the hamburger. Here, the fillings include onions, lettuce, and pickles.

The filling dispenser module35may supply, directly to the assembler module50, fillings stored in a cache capable of temporarily storing ingredients at a refrigeration temperature, a freezing temperature, and a room temperature, or may supply only the ingredients to the assembler module50while blocking liquid flowing out of the fillings by using a local processor such as a liquid blocker.

The slicing module36slices various fillings and supplies the sliced fillings to the hamburger being assembled, by the assembler module50, on the package paper sheet or box at the discharge unit. Here, the fillings include at least one of onions, tomatoes, pickles, and cheese.

The slicing module36may cut fillings temporarily stored in the cache41capable of maintaining a refrigeration, freezing, or room temperature, into an appropriate thickness through the local processor42including at least one of a straight blade, a rotating blade, and a wire blade, and the cut fillings are supplied to the assembler module50.

FIG.4is a perspective view of a grill, which is a local processor of the patty grill module33, applied toFIG.1, andFIG.5is an exploded perspective view of the grill ofFIG.4. Referring toFIGS.4and5, the patty grill module33includes a lower plate grill331, an upper plate grill332, and a transfer unit335for transferring a guide333and a spatula334.

The lower plate grill331is configured to allow a patty P, which is an object to be cooked, to be placed thereon, and the upper plate grill332is configured to vertically face the lower plate grill331and cook the patty P when in contact with the patty P. The guide333and the spatula334are configured to input the patty P to the lower plate grill331and transfer and take out the cooked patty P, which is a completely cooked object, according to the operation of the transfer unit335.

The upper plate grill332is formed as one unit, and the lower plate grill331includes at least a first lower grill61and a second lower grill62. Although the lower plate grill331includes three lower grills, which are the first and second lower grills61and62, and a third lower grill63, in the present embodiment, more lower grills may be added.

For convenience of description, descriptions will be provided with reference to the first, second, and third lower grills61,62, and63. The first lower grill61is connected to a first lifting linear unit71to be lifted up and down, and the second and third lower grills62and63are respectively connected to second and third lifting linear units72and73to be lifted up and down.

The transfer unit335includes a first linear unit81that moves the guide333and the spatula334in a first direction (x-axis), and a second linear unit82that is mounted on one side of the first linear unit81. The second linear unit82includes a guide linear unit821and a spatula linear unit822, which are respectively mounted with the guide333and the spatula334and move them in a second direction (y-axis).

FIG.6is an exploded perspective view illustrating the upper plate grill332of the grill ofFIG.4. Referring toFIG.6, the upper plate grill332has induction coils IC embedded in a frame F, induction plates PT provided at the lower portion thereof, a cover C covering the upper side of the induction coils IC, and Teflon sheets S respectively at the lower surfaces of the induction plates PT to prevent the patty P from sticking thereto. The set of the induction coil IC and the induction plate PT is provided to correspond to each of the first, second, and third lower grills61,62, and63. The coating layer of the Teflon sheet S may be replaced, and a clip (not shown) may be provided for detaching the Teflon sheet S.

FIG.7is an exploded perspective view from the bottom of the lower plate grill331of the grill ofFIG.4,FIG.8is an exploded perspective view from the top of the lower plate grill331of the grill ofFIG.4,FIG.9is a perspective view of an operating state of the spatula334and the guide333manipulating the patty P on the lower plate grill331, according to a first embodiment, andFIG.10is a perspective view of an operating state in which the spatula334passes through a residue scraper3341on the lower plate grill331.

Referring toFIGS.7to10, the lower plate grill331includes four induction coils IC2embedded in a frame F2, and a cover C2covering the lower side of the induction coils IC2, and the four induction coils IC2are connected to each other to uniformly transfer heat to each patty P.

Because the induction coils IC2share one induction circuit, and this affects their inductance values, two of the induction coils IC2are connected in a parallel manner and the other two of the induction coils IC2are connected in a series manner in order to maintain the inductance values. In order to minimize a compensation effect due to interference between the induction coils IC2, the induction coils IC2are connected such that current flows in a clockwise direction in two of the induction coils IC2, and current flows in a counterclockwise direction in the other two of the induction coils IC2(i.e., two induction coils IC2with the same direction are located on a diagonal line).

The lower plate grill331may include an oil hole H in the frame F2and an oil tray T that is inserted into and withdrawn from the frame F2. The oil tray (T) may collect and store residues and oil flowed out from the patty (P) having been cooked, and is separable from the lower plate grill331and thus may be easily separated and washed even in the operation of the patty grill module33.

Referring toFIGS.9and10, the guide333is formed to have a space defined by its frame to surround the perimeter of the patty P before or after being inserted into the lower plate grill331, and is mounted on the guide linear unit821. The spatula334is formed with a plate to support the bottom surface of the patty P surrounded by the frame of the guide333, and is mounted on the spatula linear unit822. The guide333and the spatula334may be replaced with one another depending on the type and state of the ingredients.

The spatula334is configured to move, onto the lower plate grill331, the patty P stored in the cache at a freezing, refrigeration, or room temperature, lift up and move the fully cooked patty P onto a hamburger HBG at a discharge unit E, and clean patty residues and oil through a scraping motion in the lower plate grill331after cooking. The guide333may limit movement of the patty P in a plane direction so as to facilitate moving of the patty P by assisting the operation of the spatula334.

After scraping the surface of the lower plate grill331, the spatula334may pass through a space of the residue scraper3341to remove residues from the spatula334. The residue scraper3341may be formed of a material which may be smoothly in contact with the spatula334while maintaining its shape, i.e., an elastic material such as silicone or rubber.

FIG.11AtoFIG.11Hare perspective views illustrating an order of moving a cooked patty on the lower plate grill331. For convenience of description, descriptions will be provided with reference to the first lower grill61of the lower plate grill331and the first lifting linear unit71connected thereto.FIG.11AtoFIG.11Hillustrate a semi-automatic process in which a person supplies an uncooked object to be cooked and the guide333and the spatula334are used to take out a completely cooked object after cooking.

First, referring toFIG.11A, the guide333and the spatula334approach the first lower grill61by the first and second linear units81and82, the guide linear unit821, and the spatula linear unit822of the transfer unit335. The first lower grill61is positioned higher than the guide333and the spatula334by the first lifting linear unit71.

Referring toFIGS.11A and11B, in the state ofFIG.11A, the first lifting linear unit71descends to lower the height of the first lower grill61to a height appropriate for insertion of the guide333and the spatula334.

Referring toFIG.11B, the guide333is positioned vertically above a patty by the guide linear unit821. Referring toFIGS.11B and11C, the first lifting linear unit71ascends to cause the first lower grill61to ascend to be in contact with the guide333.

Referring toFIGS.11C and11D, in the state ofFIG.11C, the spatula334is inserted between the first lower grill61and the patty by the spatula linear unit822.

Referring toFIGS.11D and11E, in the state ofFIG.11D, the first lower grill61descends by the first lifting linear unit71, and the height of the first lower grill61is lowered to a height appropriate for withdrawal of the guide333and the spatula334.

Referring toFIGS.11E and11F, in the state ofFIG.11E, the guide333and the spatula334are positioned vertically above a discharge unit of the first lower grill61by the guide linear unit821and the spatula linear unit822.

Referring toFIGS.11F and11G, in the state ofFIG.11F, the spatula334is retracted by the spatula linear unit822, and thus the patty is placed on a hamburger being produced at the discharge unit.

Referring toFIGS.11G and11H, in the state ofFIG.11G, the guide333and the spatula334are retracted by the guide linear unit821and the spatula linear unit822, to prepare for a next process.

FIG.12is a perspective view illustrating a state in which three lower grills61,62, and63independently ascend and descend with respect to one upper plate grill332, and the spatula334and the guide333selectively operate with respect to the lower grills61,62, and63, andFIG.13is a front view illustrating a space through which the spatula334and the guide333move between the upper and lower plate grills332and331in a state in which two lower grills61and62are raised and one lower grill63is lowered inFIG.12.

Referring toFIGS.12and13, the first, second, and third lower grills61,62, and63of the lower plate grill331independently ascend and descend with respect to one upper plate grill332by the first, second, and third lifting linear units71,72, and73. Accordingly, a space is formed between the upper and lower plate grills332and331, and the guide333and the spatula334may move through the space.

Accordingly, the third lower grill63descends while the first and second lower grills61and62ascend to cook patties, and thus the guide333and the spatula334move through the space to perform an operation of inserting and withdrawing a patty with respect to the third lower grill63. Accordingly, in the patty grill module33, a space may be saved, and the numbers of lifting linear units, guide linear units, and spatula linear units may be reduced.

FIG.14is a perspective view illustrating a state in which a spatula634and a guide633manipulating a patty on a lower plate grill are coupled to each other, according to a second embodiment,FIG.15is a perspective view of the spatula634according to the second embodiment illustrated inFIG.14,FIG.16is a perspective view of the guide633according to the second embodiment illustrated inFIG.14, andFIG.17is a perspective view illustrating an operating state of the spatula634and the guide633illustrated inFIG.14.FIGS.14to17illustrate an automated process in which the guide633and the spatula634supply an uncooked object to be cooked and take out a completely cooked object after cooking.

Referring toFIGS.14to17, the guide633that forms, with its frame, a first space51and a second space S2which are respectively adjacent to opposite edges of an intermediate space S3, so as to selectively surround, within the first and second spaces, the perimeter of a patty before or after being inserted into the lower plate grill331, is mounted on a guide linear unit841.

The spatula634is arranged in an intermediate space S3and is formed as a symmetrical plate that selectively operates in the first space51and the second space S2to support the bottom surface of the patty, and is mounted on a spatula linear unit842.

For example, the spatula linear unit842may operate to handle an uncooked patty in the first space51(seeFIG.17) and handle a cooked patty in the second space S2(seeFIG.14). Accordingly, a cooked patty and an uncooked patty are handled by different parts of the guide633and the spatula634, which may resolve sanity concerns.

FIGS.18A and18Bshow, respectively, a front view and a plan view of a state in which a discharge spatula is inserted between patties stacked in a cache851of the patty grill module applied toFIG.1, andFIG.19is a perspective view of the discharge spatula applied to the cache851ofFIGS.18A and18B.

Referring toFIGS.18A,18B and19, the patty grill module33further includes a cooking target supply unit, i.e., a patty supply unit85. Hereinafter, the patty supply unit85will be described. The patty supply unit85is configured to store the patties P, which are objects to be supplied to the lower plate grill331and cooked, and to discharge, in the sense of supply, one patty at a time. For example, the patty supply unit85includes the cache851, a separation spatula852, separation bars853, and holding members854.

The cache851accommodates a plurality of patties P stacked therein, and includes a discharge port8511at the lower end thereof. The separation spatula852is configured to withdraw one patty P while being inserted and withdrawn between the patties P through the discharge port8511.

The separation bars853are provided at both sides of the separation spatula852to be in contact with a perimeter of the patty P. The holding members854are configured to be folded when inserted and to be unfolded when withdrawn so as to pull the patty P with an elastic member8541provided at the front end of the separation bar853.

Referring back toFIGS.18A and18B, the separation spatula852is inserted into the discharge port8511of the cache851. Here, the separation bars853are moved to the sides of the patty P, the holding members854are moved in a folded state respectively at the front ends of the separation bars853while overcoming elastic force of the elastic members8541, and the separation spatula852is completely inserted between the lowermost and second patties of the stacked patties P. Here, the holding members854are unfolded by elastic restoring force of the elastic members8541to hold the patty P.

FIG.20is diagram illustrating a state of an operation of a discharge spatula starting to pull the patty P, andFIGS.21A and21Bshow, respectively, a front view and a plan view of a state of an operation of the discharge spatula is pulling out the patty P, after the state ofFIG.20. Referring toFIGS.20,21A and21B, in a state in which the holding members854are unfolded to hold the patty P, the separation spatula852is withdrawn from the discharge port8511.

FIGS.22A and22Bshow, respectively, a front view and a plan view of a state of an operation of the discharge spatula dropping the patty P, after the state ofFIGS.21A and21B. Referring toFIGS.22A and22B, in a state in which the holding members854are unfolded to hold the patty P, the separation spatula852is completely withdrawn from the discharge port8511. Here, the separation spatula852mounted on a power transmission unit8521by hinges and torsion springs is rotated by the load of the patty P, and thus the patty P is dropped from the separation spatula852.

FIGS.23A and23Bshow, respectively, a front view and a plan view of a state in which the discharge spatula is inserted between the patties P of the cache851again, after the state ofFIGS.22A and22B. Referring toFIGS.23A and23B, the separation spatula852is inserted back into the discharge port8511of the cache851to be in the state ofFIGS.18A and18Band repeatedly operate.

Referring back toFIG.1, the packaging module40performs an operation of separating package paper sheets or boxes into individual pieces and accurately positioning the individual pieces in the assembler module50. The packaging module40performs a packaging finishing operation such as folding or covering a finished hamburger having been assembled on a package paper sheet or box by the assembler module50, and then discharges the packaged hamburger through the assembler module50, or directly discharges the packaged hamburger.

The assembler module50is a transfer unit for allowing a hamburger to be assembled while being transferred, and the automatic production management module20moves the assembler module50to be sequentially positioned at the plurality of cooking modules30and the discharge unit of the packaging module40according to the order for each type of hamburger. The region within which the assembler module50moves includes the entire region of the automatic production system, and the assembler module50has a speed for satisfying the highest production speed and the lowest delay time.

According to a general assembly order of a hamburger, the assembler module50is moved to the discharge unit of the packaging module40to receive a package paper sheet or box on which a hamburger is assembled, is moved to a module among the cooking modules30according to the order for each type of hamburger, and is moved between the cooking modules30.

Here, the assembler module50may include at least one of a 1-axis robot with respect to X-axis Y-axis and Z-axis, a 2-axis robot, a 3-axis robot, a 4-axis robot such as a Selective Compliance Assembly Robot Arm (SCARA) robot, a 6-axis robot such as a cooperative robot arm, and an N-axis robot, which may be obtained by additionally combining a rotational motion with such multi-axis robots, and end effectors.

As described above, the grill module according to an embodiment of the present disclosure may transfer an object to be cooked and a completely cooked object without damage, by putting the object to be cooked onto a lower plate grill and driving a transfer unit for transferring a guide and a spatula for taking out the completely cooked object.

According to an embodiment, a plurality of lower grills are provided to ascend and descend, and transfer and heating of an object to be cooked are simultaneously performed by using a spatula, and thus required time, spaces, and costs may be reduced.

According to an embodiment, a cooking target supply unit is provided to withdraw and supply one of stack patties, particularly refrigerated or frozen objects to be cooked which are sticking to each other, thus stacked objects to be cooked may be separated from each other, and loss of cold air may be minimized.