Apparatus and Method for Automated Food Preparation

Abstract

The invention relates to an apparatus for automated food preparation comprising at least one preparation vessel which is substantially rotationally symmetrical about an axis of rotation and is adapted to receive at least one foodstuff, and at least one mixing device which is adapted to mix the contents of the preparation vessel, wherein the preparation vessel comprises a coupling element extending substantially along the axis of rotation, the coupling element being adapted to cooperate with a complementary coupling element of the mixing means so that the preparation vessel is received in the mixing means and can be caused to rotate about the axis of rotation of the preparation vessel, and an associated method.

Claims

1. Apparatus (2) for automated food preparation, the apparatus comprising: at least one preparation vessel (14) which is substantially rotationally symmetrical about an axis of rotation (R) and is designed to receive at least one foodstuff; at least one mixing device (16) which is designed to mix the contents of the preparation vessel (14); wherein the preparation vessel (14) comprises a coupling element (46) extending substantially along the axis of rotation (R), wherein the coupling element (46) is adapted to cooperate with a complementary coupling element (48) of the mixing device (16) so that the preparation vessel (14) is received in the mixing device (16) and can be set in rotation about the axis of rotation (R) of the preparation vessel (14).

2. Apparatus (2) according to claim 1, wherein the inner wall of the preparation vessel (14) has exactly one, two or more rib(s) or fin(s) or scoop channel(s), which in particular extend(s) radially inwards in regions.

3. Apparatus (2) according to claim 1 further comprising: at least one first manipulator (20) adapted to handle the at least one preparation vessel (14).

4. Apparatus (2) according to claim 3, wherein the manipulator (20) comprises an end effector at the distal end member, the end effector being adapted to grip the preparation vessel.

5. Apparatus (2) according to claim 3 wherein the preparation vessel (14) comprises a handling element (50) which is in particular different from the coupling element (46), wherein the handling element (50) can be gripped by an end effector of the first manipulator (20).

6. Apparatus (2) according to claim 3 wherein the end effector can come into frictional and/or positive engagement with the handling element (50) and in particular can lock with the handling element (50).

7. Apparatus (2) according to claim 1 wherein the apparatus comprises at least one heating device (18) adapted to heat the contents of the preparation vessel (14).

8. Apparatus (2) according to claim 7, wherein the heating device (18) can heat the preparation vessel by means of induction.

9. Apparatus (2) according to claim 8, wherein induction coils of the heating device (18) are thereby wound substantially circularly or elongatedly, and the induction coil geometry is preferably designed to correspond to the wall shape of the preparation vessel.

10. Apparatus (2) according to claim 1 further comprising: at least one transfer station (24) in which the contents of the preparation vessel (14) are transferred to a serving vessel (32).

11. Apparatus (2) according to claim 1 further comprising: at least one manipulator (22) adapted to handle the at least one serving vessel (32).

12. Apparatus (2) according to claim 11, wherein the manipulator (22) adapted to handle the at least one serving vessel (32) is a second manipulator (22) different from the first manipulator (20) adapted to handle the at least one preparation vessel (14).

13. Apparatus (2) according to claim 1 further comprising: at least one dispensing station (24) in which the serving vessel (32) is dispensed from the device (2).

14. Apparatus (2) according to claim 1 further comprising: at least one temperature control device which keeps the interior of the device (2) or parts thereof at a predetermined temperature, at least in certain areas.

15. Apparatus (2) according to claim 1 further comprising: at least one hygiene device (30), which cleans the interior of the device (2) or parts thereof at least in areas.

16. (canceled)

17. (canceled)

18. Apparatus (2) according to claim 1 further comprising: at least one control device (34) which controls at least one of the components in order to carry out the preparation.

19. Apparatus (2) according to claim 1 further comprising: at least one communication device, which is designed to connect the control device (34) communicatively with a user or a higher-level controller.

20. Apparatus (2) according to claim 1 further comprising at least one storage container (10, 10a) adapted to store a food product.

21. Apparatus (2) according to claim 1 further comprising at least one dispensing device (12) adapted to dispense foodstuff from one of the storage containers (10, 10a).

22. Apparatus (2) according to claim 1 further comprising at least one heating controller which is designed to control or regulate the at least one heating device (18).

23. Apparatus (2) according to claim 1 further comprising at least one sensor connected to an associated heating controller to measure a temperature of the associated preparation vessel (14) so that the associated heating device (18) can be controlled.

24. A method of automatically preparing food using an apparatus according to claim 1 the method comprising at least one of the following method steps: gripping a handling element (50) of the preparation vessel by an end effector of a first manipulator; positioning the preparation vessel by means of the first manipulator according to a selected recipe successively at at least two dispensing devices, the dispensing devices filling the necessary foodstuff into the preparation vessel according to the recipe; positioning the preparation vessel by means of the first manipulator on the mixing device or a heating device, wherein the coupling element (46) of the preparation vessel cooperates with the complementary coupling element (48) of the mixing device (16) so that the preparation vessel (14) is received in the mixing device (16) and can be set in rotation about the axis of rotation (R) of the preparation vessel (14); mixing the contents of the preparation vessel by means of the mixing device and/or heating the contents of the preparation vessel by means of the heating device according to the selected recipe.

25. Method according to claim 24, comprising at least one of the further steps: transferring the preparation vessel by means of the first manipulator to a transfer station; providing a serving vessel, preferably by separating it from a stack of serving vessels; transferring the contents of the preparation vessel into the provided serving vessel, wherein during the providing and/or the transferring a second manipulator handles the serving vessel; positioning the serving vessel by means of the second manipulator in accordance with the recipe sequentially on at least one selected dispensing device; filling of at least one food product by means of the dispensing device; removing the serving vessel to or into a dispensing station to be made available for dispensing to the user; identify the user and release the serving station in which the dish assigned to the user is located in the serving vessel; clean the preparation vessel for further use; receipt of an order to prepare a meal in the control device; selection of a recipe assigned to the dish by the control device; and selection of a preparation vessel assigned to the dish by the control device.

26.-50. (canceled)

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0090] Preferred embodiments are shown in more detail in the figures. Identical elements are provided with the same reference signs in the figures. It in shown in:

[0091] FIG. 1 a perspective view of an apparatus according to the invention for automated food preparation;

[0092] FIG. 2 a front view of the embodiment shown in FIG. 1;

[0093] FIG. 3 another front view of the embodiment shown in FIG. 1 with the wall open;

[0094] FIG. 4 a side view of the embodiment shown in FIG. 1 with the wall open;

[0095] FIG. 5 another side view of the embodiment shown in FIG. 1 with the wall open;

[0096] FIG. 6 a top view of the embodiment shown in FIG. 1 with the wall open;

[0097] FIG. 7 a front view of an embodiment without technical elements;

[0098] FIG. 8 a side view of the embodiment shown in FIG. 7;

[0099] FIG. 9 another side view of the embodiment shown in FIG. 7;

[0100] FIG. 10 a top view of the embodiment shown in FIG. 1;

[0101] FIG. 11 a view of a preparation vessel according to the invention;

[0102] FIG. 12 a view of a heating and mixing device;

[0103] FIG. 13 a perspective view of a separating device for serving vessels;

[0104] FIG. 14 a side view of the separating device from FIG. 13.

DETAILED DESCRIPTION

[0105] FIGS. 1 to 6 show various perspectives of a preferred embodiment of the apparatus for the automated preparation of foodstuffs, whereby in part the wall enclosing the device is not shown.

[0106] The apparatus 2 shown in FIGS. 1 to 6 for automated food preparation has the following elements: at least one control device 4, at least one communication device 6, at least one storage container 10, at least one dispensing device 12, at least one preparation vessel 14, at least one mixing device 16, at least one heating device 18, a first manipulator 20, a second manipulator 22, at least one transfer station 24, at least one dispensing station 26, at least one temperature control device 28, at least one hygiene device 30.

[0107] As shown in FIGS. 1 through 6, the apparatus 2 may suitably include a plurality of storage containers 10. An associated foodstuff is stored in each of the storage containers. It will be understood that the storage containers may be shaped differently depending on the consistency, shape, size and other characteristics of the foodstuff and may have a different internal volume depending on the need for that foodstuff.

[0108] According to the number of storage containers 10, the apparatus 2 can have a plurality of dispensing devices 12. In particular, exactly one dispensing device 12 is associated with each storage container 10. The dispensing devices 12 are adapted to convey a food product from one of the storage containers 10 into the preparation vessel 14 or the serving vessel 32.

[0109] Storage containers 10 may be provided which store a foodstuff which is later prepared or heated or cooked or fried or roasted in the preparation vessel 14. Different therefrom, storage containers may be provided which contain foodstuff intended to be placed in the serving vessel 32 after the food has been prepared.

[0110] Since the foodstuffs may have different consistencies, for example may be in liquid, solid, pasty, powdery, dry, ground, granular, granular or lumpy form or mixtures, the storage containers 10, 10a may be formed differently. Storage containers 10, 10a may, for example, be formed of, in particular, dimensionally stable or collapsible or compressible plastics, glass or metal, in particular corrosion-free steel. Furthermore, the storage containers 10, 10a can be designed as reusable containers, in particular cleanable or rinsable, or can be designed as disposable containers.

[0111] Dispensing means 12 are adapted to convey food stored in the associated storage container 10, 10a. Dispensing means 12 are therefore adapted to the contents of the associated storage container 10, 10a. Preferably, dispensing means 12 may comprise a peristaltic pump, for example for ketchup, or a screw conveyor, for example for rice or pasta, or a paddle wheel conveyor, for example for nuts, or a pneumatic conveyor, for example for powdered sugar, or a suction conveyor, for example for chocolate chips, or a vibratory conveyor, for example for chopped pistachios.

[0112] The preparation vessel 14, into which the foodstuffs are filled from the storage containers, is designed to be heat-resistant, since the foodstuffs are generally heated. Since heating is preferably performed by an induction heat source 18 as the preferred heating device 18, but may alternatively be performed by a gas flame or an electric resistance heater, the preparation vessel 14 is suitably formed of a metal.

[0113] In the preferred embodiment shown, the preparation vessel 14 has a substantially conical or funnel-shaped shape. The axis of rotation forms a preferred direction. The foodstuffs can be introduced into the preparation vessel 14 along a filling direction E which is oriented parallel to the axis of rotation.

[0114] Likewise, a handling element may extend substantially along the axis of rotation, with which the preparation vessel 14 may be handled. The handling may include at least regionally receiving the handling element in a complementary handling element of the mixing device 16, that is, coupling the preparation vessel 14 and the mixing device. The handling may also comprise gripping the handling element by an end effector of the first manipulator 20. The handling and coupling may also be performed separately, and the handling element of the preparation vessel may only serve to position it by the first manipulator.

[0115] By at least regionally receiving the preparation vessel 14 or its handling element in the mixing device 16, preparation vessel 14 can be moved, in particular in order to stir, shake and/or mix the foodstuffs contained therein by forcing or rotation in such a way that a substantially homogeneous mass or mixture is produced.

[0116] The preferred embodiment shown features an articulated arm robot, which serves as the first manipulator 20. It is understood that other types of robots may also be used, such as SCARA or Delta robots.

[0117] The first manipulator 20 has an end effector at the distal end member that can grip the preparation vessel 14 at the handling element. In particular, the first manipulator 20 may be designed to be disinfectable or food safe, for example, made of a non-corrosive metal or a chemically inert material, for example, stainless steel or a chemically resistant plastic.

[0118] In a method for preparing food carried out with the apparatus, the first manipulator 20 has the task of gripping a preparation vessel 14 and positioning this in succession to at least two selected dispensing devices 12 according to a recipe in such a way that the dispensing devices 12 can fill the necessary food into the preparation vessel 14 according to the recipe. The individual movements necessary for this are controlled or regulated by a manipulator control 34. The movement sequences associated with a recipe may also be stored in the manipulator control 34, or may be transmitted to the manipulator control 34 from another control as required.

[0119] After the foodstuff has been filled into the preparation vessel 14, it is moved to the mixing device 16 and/or heating device 18 by the first manipulator 20 and deposited there. The mixing device 16 and/or heating device 18 can receive the preparation vessel with a complementary holding device for this purpose. The time during which the foodstuffs are mixed and/or heated in the preparation vessel 14 may be about 1 minute to about 5 minutes, preferably about 3 minutes. In the meantime, the first manipulator may handle another preparation vessel 14. Therefore, the apparatus 2 preferably includes a plurality of preparation vessels and mixing devices 16 and/or heating devices 18. Preferably, 2 to 10, more preferably 4 to 8, in particular 6 preparation vessels 14 may be provided for simultaneous use.

[0120] After mixing and/or heating the food, in a further step of the method, the preparation vessel may be moved by means of the first manipulator 20 to a transfer station 24 to transfer the contents of the preparation vessel 14 to the serving vessel 32. The transfer may in particular be located in an area of the transfer station 24 which is both in the working area of the first manipulator 20 and in a working area of the second manipulator 22 which is adapted to handle the serving vessel 32.

[0121] In a further step of the method, the second manipulator 22 can grip the serving vessel 32 and position it successively on at least one selected dispensing device 12 in accordance with the recipe in such a way that the dispensing device 12 can fill the necessary food, for example a topping, into the serving vessel 32 in accordance with the recipe. The individual movements necessary for this are controlled or regulated by the manipulator control 34 or a further manipulator control. The movement sequences of the second manipulator 22 associated with the recipe may also be stored in the manipulator control 34 or the further manipulator control, or may be transmitted to the manipulator control 34 or the further manipulator control by another control as required.

[0122] The apparatus 2 shown in FIGS. 1 to 6 further comprises a dispensing station 26, in which the serving vessel 32 is relocated in a further step to be made available for dispensing to the user. The dispensing station 26 may include a plurality of dispensing compartments 36, such that advantageously a plurality of prepared meals may be provided for pick-up by a plurality of users simultaneously. Advantageously, each dispensing compartment 36 is configured such that only one dish can be provided into the dispensing compartment 36 by the second manipulator 22 or the dispensing compartment 36 can be opened in the direction of the user for removal of the food. Advantageously, this prevents the user from reaching through into the device 2.

[0123] While serving vessels 32 are discharged from the apparatus 2 as disposable or reusable tableware, the preparation vessel 14 remains in the apparatus 2 for further use. For this purpose, the preparation vessel 14 must first be cleaned in a further step. For this purpose, at least one hygiene device 30 is provided, which is designed as a rinsing device. This is designed to rinse the at least one preparation vessel 14 with cold and/or hot water after use. In particular, the water can be sprayed into the preparation vessel 14 with pressure in order to remove the food residues present there. Alternatively or additionally, a cleaning brush may be provided which mechanically cleans the preparation vessel 14. Particularly preferably, the preparation vessel 14 can finally be dried with warm or hot air in order to be immediately ready for use again.

[0124] FIGS. 7 to 10 show various views of an embodiment. The apparatus 2 is at least partially enclosed or limited by a wall 38. A window 40 may be provided to allow a user to see into the apparatus 2 so that the user can follow the process of preparation. Preferably, a counter 42 may be provided on which the user can place things.

[0125] The dimensions of the apparatus 2 defined by the wall 38 are preferably smaller than those of a 20-foot standard container, so that transport is possible in a simple manner. Further preferably, the apparatus 2 can be disassembled into modules for transport or installation at the place of operation. For this purpose, separation points 44 can be provided at which the wall 38 or the apparatus 2 can be separated and reassembled.

[0126] FIG. 11 shows a view of a preparation vessel 14 according to the invention. The preparation vessel 14 can have a coupling element 46 which extends substantially along the axis of rotation R, in particular in alignment therewith. The coupling element 46 is configured to cooperate with a complementary coupling element 48 of the mixing device (shown in FIG. 12), so that the preparation vessel 14 is received in the mixing device 16 and can be caused to rotate about the axis of rotation R of the preparation vessel 14. Particularly preferably, the coupling element 46 could also serve as a handling element that can be gripped by an end effector of the first manipulator. However, in the embodiment shown, the handling element 50 and the coupling element 46 are different. Advantageously, this allows simultaneous handling of the preparation vessel 14 by the first manipulator and coupling of the preparation vessel 14 to the mixing device 16. This makes it possible in a simple manner for the first manipulator to couple the preparation vessel to the mixing device 16 and, in particular, for the first manipulator not to be released from the handling device 50 of the preparation vessel 14 until it has been coupled to the mixing device 16.

[0127] As shown in FIG. 11, the preparation vessel may be conical or funnel-shaped, the conical wall of the preparation vessel 14 forming an angle α with the axis of rotation which may preferably be about 30 degrees to about 60 degrees. The inner wall of the preparation vessel 14 has precisely one rib or fin or scoop 52. This rib extends in regions radially inwardly, that is, oriented toward the axis of rotation R. Rotation of the preparation vessel 14 about the axis of rotation R causes the contents of the preparation vessel 14 to be mixed by means of the rib 52. The preparation vessel has a handling element 50 which extends substantially along the axis of rotation R. Preferably, the handling element 50 is arranged at a side of the preparation vessel 14 opposite to a filling opening 49, so that a first manipulator (not shown in FIG. 11) with an end effector can grip the handling element 50 without allowing particles or fluids from the end effector to enter the filling opening 49 and thus the dish. The coupling element 46 is configured to couple with a complementary coupling element of a mixing device, such that the mixing device can apply torque to the coupling element 46 to cause the preparation vessel to rotate and rotate axis R. The coupling element may be configured to couple with the complementary coupling element by displacement along an insertion direction K. Preferably, the insertion direction K may be parallel to the axis of rotation R. As shown in the preferred embodiment shown in FIG. 11, the handling element 50 and the coupling element 46 may be different and, in particular, spaced apart from each other along the insertion direction K.

[0128] FIG. 12 shows a view of a heating device 18 with a combined mixing device 16. The mixing device 16 can cause the preparation vessel 14 to rotate about the axis of rotation R to mix the contents of the preparation vessel 14. Preferably, the axis of rotation R of the preparation vessel 14 coupled to the mixing device 16 includes an angle β of about 30 degrees to about 60 degrees with the vertical when mixing occurs. It is understood that the angle β may be variable, in particular may be variable by motor.

[0129] FIG. 12 also shows a heating device 18 which can heat the preparation vessel 14. In the preferred embodiment shown, induction coils 54 are arranged in such a way that only a small gap of less than 10 mm, preferably less than 5 mm, in particular less than 1 mm, remains between the induction coils 54 and the preparation vessel 14. The plurality of induction coils 54 can thereby be arranged in a field or array which is curved or concave, wherein in particular the radius of curvature along an orientation corresponds approximately to the radius of curvature of the preparation vessel 14 which is to be arranged in the region of the induction coils 54.

[0130] FIG. 13 shows a perspective view of a preferred embodiment of a separating device 56 for serving vessels 32, and FIG. 14 shows a side view of the separating device 56 of FIG. 13, and therefore the elements marked with the same reference signs in FIGS. 13 and 14 relate to identical elements. The separating device 56 may be considered as a separate aspect and need not necessarily, however, may preferably cooperate with other elements of the apparatus 2 for automated preparation of foodstuffs described in this application.

[0131] The handling or provision of the serving vessel by the second manipulator can in particular also include a separation of the serving vessel from a stack of serving vessels. For this purpose, the second manipulator may remove a serving vessel from a separating device. The singulation device 56 is configured to hold a stack of serving vessels 32. Holding may be accomplished by a plurality of actuators 58, particularly three or four, by frictional engagement and/or positive engagement. Each of the actuators 58 may be rotatably mounted about an axis of rotation R. The actuators 58 may be substantially cylindrical in shape, and a groove 60 may be formed in the cylinder jacket, which groove 60 is particularly adapted to engage a bulging or thickened rim 33 of the serving vessel.

[0132] The groove 60 may form a screw channel or a thread. In other words, the groove 60 has a pitch or is oriented relative to the axis of rotation R at an angle different from 90 degrees. As a result of the rim 33 of the serving vessel 32 engaging the groove 60, the rim 33 can be guided by the groove 60 during rotation of the actuator 58 about the axis of rotation R, and thus the serving vessel 32 can be guided or displaced as a function of the pitch of the groove or screw channel or thread and the speed of rotation. The displacement may be along a displacement direction V parallel to the axis of rotation R towards a discharge opening 62.

[0133] As shown in FIG. 14, the pitch of the groove 60 of the actuator does not have to be constant, but can rather be designed in such a way that the pitch of the groove 60 steadily increases towards the dispensing opening 62. This advantageously achieves that at the beginning of the separating step a higher force can be applied to detach the lowest serving vessel from the stack of serving vessels and the displacement speed towards the dispensing opening 62 increases, provided that the rotation speed remains constant. Further, as shown in FIG. 14, a rim 33 of an associated serving vessel may be disposed or engaged in each turn of the groove 60 or screw thread. Separation is effected by a rotation of the actuator 58 whereby in the upper part, where the serving vessel 32 is still connected to the stack, in particular by static friction, there is less vertical displacement than in the lower part, which is closer to the dispensing opening 62, where the serving vessel 32 is already disengaged from the stack. In other words, when the actuator 58 is rotated uniformly, the rate of displacement increases from top to bottom, while the force transmitted to the edge of the serving vessel 32 decreases from top to bottom. This is advantageous because when the serving vessel 32 is separated along gravity, the force to be applied decreases from the top (to overcome static friction) to the bottom (after release). Since, as shown in FIG. 14, a portion of the stack of serving receptacles 32 is in a nested state and only the lowermost serving receptacle 32 is to be released from the stack, an actuator 58 preferably includes a first region 60a in which the pitch of the groove 60 is constant and a second region 60b in which the pitch of the groove 60 is different from the pitch in the first region 60a, the pitch of the groove 60 preferably increasing or being non-constant in the second region 60b.

[0134] For synchronous rotation or rotation of two or more actuators 58, a (toothed) belt, chain or sprocket 64 may be provided, which mechanically connects the actuators 58 to each other and optionally to a drive 66. In particular, an actuator 58 may be directly connected to the drive 66. Advantageously, synchronous actuation of the actuators 58 can be achieved with only a single drive. In the event that a sprocket 64 (as shown in FIGS. 13 and 14) is provided, the sprocket 64 may include a central opening 65 through which the serving vessels 32 may be displaced along the displacement direction V.

LIST OF REFERENCE SIGNS

[0135] 2 Apparatus [0136] 4 Control device [0137] 6 Communication device [0138] 10 Storage container [0139] 12 Dispensing device [0140] 14 Preparation vessel [0141] 16 Mixing device [0142] 18 Heating device [0143] 20 first manipulator [0144] 22 second manipulator [0145] 24 Transfer station [0146] 26 Output station [0147] 30 Hygiene device [0148] 32 Serving vessel [0149] 33 Rim of the serving vessel 32 [0150] 34 Manipulator control [0151] 36 Output tray [0152] 38 Wall [0153] 40 Window [0154] 42 Counter [0155] 44 Separation points [0156] 46 Coupling element [0157] 48 Complementary coupling element [0158] 49 Filling opening [0159] 50 Handling element [0160] 52 Rib [0161] 54 Induction coils [0162] 56 Separating device [0163] 58 Actuator [0164] 60 Groove [0165] 62 Dispensing opening [0166] 64 Sprocket [0167] 65 Center opening of the sprocket 64 [0168] 66 Drive [0169] K Insertion direction [0170] R Rotation axis [0171] V Direction of displacement