CN112220364B

CN112220364B - Cooking apparatus and system

Info

Publication number: CN112220364B
Application number: CN202010402938.1A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Beijing Jiana Robot Res Inc
Current assignee: Beijing Jiana Robot Res Inc
Priority date: 2019-07-15
Filing date: 2020-05-13
Publication date: 2023-12-05
Anticipated expiration: 2040-05-13
Also published as: CN112220364A

Abstract

The present application first discloses a cooking system comprising a plurality of cooking devices, each cooking device being capable of cooking foodstuff into food. The foodstuff may be cooked with one cooking device to a half-cooked food that may be used as foodstuff for another cooking device. The plurality of cooking devices work together to cook foodstuff into cooked food. The computer may control the cooking system.

Description

Cooking apparatus and system

The present application claims the benefit of priority from the following U.S. patent applications:

U.S. application serial No. 16510982, date of filing 2019, 7, 15, inventor: new year's front need (Zhengxu He)

U.S. application serial No. 16735834, date of filing 2020, 1 month 7 days, inventor: new year's front need (Zhengxu He)

Background

The present application relates to a cooking system for cooking foodstuff into cooked food.

In cooking food, one or more of the following steps need to be performed: (1) Frying or otherwise cooking the first foodstuff with a wok or other cooker; (2) Frying the second foodstuff in hot oil or cooking in hot water; (3) Frying the third foodstuff with hot oil, and boiling in hot water; (4) Pouring the second foodstuff fried in hot oil or the third foodstuff cooked in hot water into the frying pan filled with the first foodstuff; (5) Then, all the foodstuff is stirred and/or mixed in the wok to cook into cooked food; (6) The cooked food is poured into a cooked food container, such as a dish or bowl.

An economical and efficient cooking apparatus or cooking system that can accomplish all (or part) of the above steps is important because it saves labor and costs.

Furthermore, for the same reason, a cost-effective transport system is also important which allows to transport the first, second and third foodstuff to the fryer, the boiler or the wok, respectively.

Automation of the cooking system requires new computer algorithms.

Disclosure of Invention

The cooking system of the present application includes some cooking mechanisms and other mechanisms and/or devices. The present patent application discloses some cooking devices comprising one or more of the following: (1) A first cooker for holding or otherwise placing food or foodstuff to cook the food; (2) an exercise apparatus comprising: a stirring mechanism for moving the first cooker to stir or mix foodstuff in the cooker; and a pouring mechanism for directly or indirectly moving the first cooker to pour the cooked deli into the deli container; (3) A receiving mechanism for placing a cooked food container into which the cooked food in the first cooker can be poured by the pouring mechanism; (4) A second cooker for receiving or otherwise holding food or foodstuff, a movement device for moving said second cooker, said movement device being operable to pour semi-finished food from said second cooker into said first cooker; (5) A liquid container for holding a liquid (e.g., edible oil, water), a heater for heating the liquid in the liquid container, a basket for holding or otherwise holding a solid foodstuff, and a movement apparatus for driving the movement of the basket.

The first cooker may be a wok, a pan, or any other container that may hold or otherwise hold food or foodstuff during cooking. The second cooker may be a wok, a pan, a basket, etc.

Embodiments of the cooking system of the present application may include one or more of the following. The stirring mechanism may comprise a support member and a movement mechanism for driving the cooker in relation to the support member to stir or mix foodstuff in the cooker. The stirring mechanism may include a first shaft, a second shaft, a third shaft, a fourth shaft, and a fifth shaft, wherein the axes of the shafts may be configured to be parallel to each other.

The cooking system may include one or more of the following. The dish pouring mechanism can drive the supporting member of the stirring mechanism to perform pivoting motion so as to pour out cooked food cooked in the cooker, wherein the central axis of rotation of the pivoting motion is horizontal. The dish receiving mechanism may further include: a funnel; a rotatable turntable for holding a cooked food container (e.g., bowl); a cleaning mechanism for cleaning the funnel by spraying water or other cleaning liquid over the area to be cleaned.

The cooking system may further comprise a pouring mechanism that can pour foodstuff into the first cooker, the first basket, or the basket. The cooking system may further include: a receiving mechanism for receiving cooked food from said first cooker; a transfer mechanism for moving the cooked food container containing the cooked food to a location where a person can end up.

Embodiments of the cooking system may include one or more of the following. A pouring mechanism may include (1) a gripping mechanism including a first support member, a gripping member, and a movement mechanism operable to drive a controllable rotational movement of the gripping member relative to the first support member to grip or release a container; (2) a second support member; (3) And a movement mechanism which can drive the first support member to perform rotary movement relative to the second support member.

The cooking system may also include a computer that may be used to control the mechanisms and devices described above.

Drawings

FIG. 1 is an isometric view of a computer system.

Fig. 2 is an isometric view of a cooking apparatus including a cooker and a stirring mechanism.

Fig. 3 is an isometric view of the stirring mechanism.

Fig. 4 is an isometric view of a cooking apparatus including the cooking apparatus shown in fig. 2 and a pouring mechanism.

Fig. 5 is an isometric view of a serving mechanism.

Fig. 6A-6B are isometric views showing the relative positions of the cooking apparatus shown in fig. 4 and the serving mechanism shown in fig. 5.

Fig. 7A is an isometric view of a fluid delivery mechanism. Fig. 7B is an isometric view of a cap mechanism including the liquid delivery mechanism. Fig. 7C-7D are isometric views illustrating the relative positions of the cooking apparatus and the lid mechanism shown in fig. 4.

Fig. 8A-8B are isometric views of a cooker cleaning mechanism. Fig. 8C-8D are isometric views showing the relative positions of the cooker cleaning mechanism and the cooking apparatus shown in fig. 4.

Fig. 9A is an isometric view of a pouring mechanism.

Fig. 9B-9E are isometric views of a transport system part component. Fig. 9F is an isometric view of the transport system. Fig. 9G is an isometric view showing the relative positions of the transport system and the pouring mechanism shown in fig. 9A.

Fig. 10 is an isometric view illustrating the relative positions of the cooking apparatus shown in fig. 4, the pouring mechanism shown in fig. 9A, and the transport system shown in fig. 9F.

Fig. 11A is an isometric view of a cooking apparatus. Fig. 11B is an isometric view of another cooking apparatus.

Fig. 12 is an isometric view of a cooking apparatus.

Fig. 13A-13B are isometric views of a cooking apparatus including the cooking apparatus of fig. 11A and the cooking apparatus of fig. 12.

Fig. 14 is an isometric view of a cooking system including a transport system, a basket, a cooker, and a deli container. FIG. 15A is an isometric view of the cooking system showing the pouring of foodstuff from one of the cartridges on the transport system into the basket; fig. 15B is an isometric view illustrating the action of pouring foodstuff. Fig. 16A is an isometric view of the cooking system showing pouring of semi-finished food in a basket into a cooker. Fig. 16B is an isometric view illustrating the action of pouring a semi-finished food item. Fig. 17 is an isometric view of the cooking system showing pouring of cooked food from the cooker into a cooked food container.

Fig. 18 is a flowchart illustrating the workflow of the computer system of the cooking system of fig. 14 prior to cooking food.

Fig. 19 is a flowchart illustrating the workflow of the computer system of the cooking system of fig. 14 during cooking of food.

Fig. 20 is a plan view illustrating the relative positions of various mechanisms and devices in the cooking system shown in fig. 14.

Fig. 21 is an isometric view of a storage mechanism that may store a cartridge.

Fig. 22 is an isometric view of a cartridge loading mechanism.

Fig. 23A-23D are isometric views showing the relative positions of the storage mechanism shown in fig. 21, the cartridge loading mechanism shown in fig. 22, and the transport system shown in fig. 9F.

Fig. 24 is an isometric view of a cooking system including two cookware and two stirring mechanisms. Fig. 25 is an isometric view showing pouring of semi-finished food from one cooker into another cooker.

Fig. 26 is a flowchart illustrating the workflow of the computer system of the cooking system of fig. 24 prior to cooking food.

Fig. 27 is a flowchart illustrating the workflow of the computer system of the cooking system of fig. 24 during cooking of food.

Fig. 28 is a plan view illustrating the relative positions of various mechanisms and devices in the cooking system shown in fig. 24.

Fig. 29 is an isometric view of a cooking system including a transport system, two baskets, a cooker and a deli container. FIG. 30A is an isometric view of the cooking system showing pouring foodstuff from a cartridge on the transport system into a basket; fig. 30B is an isometric view illustrating the action of pouring foodstuff. FIG. 30C is an isometric view of the cooking system showing the pouring of foodstuff from one cartridge on the conveyor system into another basket; fig. 30D is an isometric view illustrating the action of pouring foodstuff.

Fig. 31A is an isometric view of the cooking system of fig. 29, showing pouring of semi-finished food in a basket into the cookware. Fig. 31B is an isometric view illustrating the action of pouring a semi-finished food item. Fig. 31C is an isometric view of the cooking system showing pouring of semi-finished food in another basket into the cooker. Fig. 31D is an isometric view illustrating the action of pouring the semi-finished food item.

Fig. 32 is an isometric view of the cooking system of fig. 29, showing pouring of cooked food from the cooker into a deli container.

Fig. 33 is a flowchart illustrating the workflow of the computer system of the cooking system of fig. 29 prior to cooking food.

Fig. 34 is a flowchart illustrating the workflow of the computer system of the cooking system of fig. 29 during cooking of food.

Fig. 35 is a schematic view of the cooking system shown in fig. 29.

Fig. 36 is an isometric view of the cooking system of fig. 29.

Fig. 37A-37B are isometric views of a cooking apparatus including the cooking apparatus of fig. 11B and the cooking apparatus of fig. 12. FIG. 38A is an isometric view of the cooking system showing pouring foodstuff from a cartridge on the transport system into a basket; fig. 38B is an isometric view illustrating the action of pouring foodstuff. Fig. 39A is an isometric view of the cooking system showing pouring of semi-finished food in a basket into a cooker. Fig. 39B is an isometric view illustrating the action of pouring the semi-finished food.

Fig. 40 is an isometric view of the cooking system showing pouring of cooked food from the cooker into a deli container.

Fig. 41 is a plan view showing the relative positions of various mechanisms and devices in the cooking system shown in fig. 38A.

Fig. 42 is an isometric view of a cooking system showing pouring of semi-finished food in a basket into a cooker.

Fig. 43 is a flowchart illustrating the workflow of the computer system of the cooking system shown in fig. 42 prior to cooking food.

Fig. 44 is a flowchart illustrating the workflow of the computer system of the cooking system shown in fig. 42 during cooking of food.

Detailed Description

For the purposes of this patent application, a rotary mechanism comprises two relatively movable objects and a connection that allows relative movement between the two objects to be limited to rotary movement; wherein the rotational movement is about a central axis. The central axis is referred to as the axis of the rotation mechanism. In many applications, the two relatively movable objects may be a shaft and a bearing housing, and the connection may include one or more bearings and accessories. In some applications, the central axis is relatively fixed to the relatively movable object. Any of the relatively movable objects may be rigidly connected to one (or some) of the components of the mechanism or system described below.

For the purposes of this patent application, a computer system refers to any system or apparatus that includes one or more computers. The computer system may or may not include a database. The computer system may or may not include a network. A computer system may or may not include shared storage. The computer system may include software. A single computer including software may be considered a computer system.

The individual components of our cooking apparatus and cooking system will be described in detail below.

As shown in FIG. 1, the computer system 99 includes a computer 992 and its input/output ports 991. Through the input/output port 991, the computer system 99 may be connected with other electrical or electronic components including motors, induction cooktops, sensors, and the like. The connection of the computer 992 to the electrical or electronic components may include wired, wireless devices, controllers, drivers, and/or circuit boards.

Notably, the computer system 99 also includes additional computers, computer networks, databases, computer programs, wireless communication ports, and/or other electrical and electronic components.

The connection of the computer system 99 to an electrical or electronic component may include connection of a computer of the computer system to the component. Thus, if the component is connected to the computer of the computer system 99, the component is connected to the computer system 99.

As shown in fig. 2 to 3, the cooking apparatus 101 includes: a cooker 11; a heat insulating member 12; an induction cooker 16; and a temperature sensor (not shown). The cooker 11 may be a wok. When cooker 11 is in or near an upright position, cooker 11 may contain or otherwise hold food or foodstuff during cooking. The bottom of the cooker 11 includes ferromagnetic metal (or other ferromagnetic material). The heat insulating member 12 and the temperature sensor are fixedly connected to the cooker 11 through a connection 111. The temperature sensor may detect a surface temperature of the cooker. The temperature sensor is connected to the computer system 99 by a cable so that the computer system 99 can read or estimate the surface temperature of the cooker 11. The induction cooker 16 may heat the ferromagnetic metal of the cooker 11, and the induction cooker 16 may be fixedly connected with the connection member 141 (although the connection is not shown in the drawing). Alternatively, induction cooker 16 may be fixedly coupled to rigid coupling 149 via coupling 19, as shown in FIG. 6A.

Cooking apparatus 101 further comprises stirring mechanism 102, wherein stirring mechanism 102 comprises: a first rotation mechanism including relatively movable objects 133 and 134; a second rotation mechanism comprising relatively movable objects 135 and 136; a third rotation mechanism comprising relatively movable objects 123 and 124; a fourth rotation mechanism comprising relatively movable objects 125 and 126; a fifth rotation mechanism including objects 121 and 122 that are relatively movable. All the above axes of the rotation mechanisms are parallel to each other, and the distance between the axis of the first rotation mechanism and the axis of the second rotation mechanism is equal to the distance between the axis of the third rotation mechanism and the axis of the fourth rotation mechanism. The objects 122, 124, 125, 134 and 135 are shafts and the objects 121, 123, 126, 133 and 136 are bearing blocks.

The agitation mechanism 102 also includes rigid connectors 141, 142, 143, 145, and 149. The connecting member 141 rigidly connects the objects 133 and 121; the connecting member 142 rigidly connects the objects 122 and 123; the connector 143 rigidly connects the section objects 124 and 125; the connection 145 rigidly connects the objects 134 and 135; the connector 149 rigidly connects the objects 136 and 126.

The stirring mechanism 102 further includes timing pulleys 151 and 152 and a timing belt 153. The timing pulley 151 is fixedly connected to the object 125 and the axis of the timing pulley 151 coincides with the axis of the fourth rotation mechanism, which includes the relatively movable objects 125 and 126. The timing pulley 152 is fixedly connected to the object 135, the axis of the timing pulley 152 coincides with the axis of the second rotation mechanism including the relatively movable objects 135 and 136, and the timing pulleys 151 and 152 have the same radius. The timing belt 153 connects the timing pulleys 151 and 152 so that the timing pulleys 151 and 152 can rotate synchronously. Further, a common plane containing axes of the first and second rotation mechanisms is parallel to a common plane containing axes of the third and fourth rotation mechanisms. Thus, the objects 124 and 134 may rotate in synchronization.

The stirring mechanism 102 further includes: a driving device 161; which may drive the relatively movable object 135 in a rotational movement with respect to the relatively movable object 136 in the second rotation mechanism. The base member of the drive 161 is rigidly connected to the rigid connector 149 by a connector 162. The drive means 161 is connected to the computer system 99 by means of a cable so that the computer system 99 can control the start time and the speed of movement of said drive means.

The distance between the axis of the first rotary mechanism and the axis of the second rotary mechanism is referred to as the eccentricity of the stirring mechanism 102.

The rigid connection 149 may be referred to as a support member of the agitation mechanism 102. When the driving means 161 drives the object 135 in a rotational movement with respect to the object 136 (or with respect to the support member 149), the rigid link 141 (and the parts 133 and 121) are in a non-rotating circular movement. Each point of the rigid connection 141 (or of the object 133 or 121) moves in a circular motion with respect to the support member 149 and the trajectory of said point is a circle with a radius equal to the eccentricity of the stirring mechanism, said circle lying on a plane perpendicular to the axis of the rotation mechanism.

It should be noted that the connection between the object 123 and the rigid connection 141 comprises said fifth rotation mechanism (which comprises the relatively movable objects 121 and 122) and the connection 142. The connection may also be replaced by a rigid connection. When the rotation of the objects 125 and 135 cannot be completely synchronized due to manufacturing or assembly errors, the fifth rotation mechanism in the connection functions to eliminate tension and pulling force to the stirring mechanism caused by the errors.

It should be noted that the driving device 161 may include: a motor comprising a shaft and a base member; a fixed connection which fixedly connects the object 135 with the shaft of the motor; wherein the axis of the shaft of the motor coincides with the axis of the second rotation mechanism. The connector 162 may be a fixed connection between the base member of the motor and the support member 149.

In cooking apparatus 101, food or foodstuff may be contained or otherwise placed while cooker 11 is in or near an upright position.

As shown in fig. 4, the cooking apparatus 103 comprises a cooking apparatus 101 and a pouring mechanism 170, said pouring mechanism 170 comprising a shaft 171, a driving device 172, rigid connectors 173 and 174. The axis of the shaft 171 is horizontal. The connector 173 rigidly connects the shaft 171 and the support member 149. The drive 172 includes a base member that is rigidly connected to the ground by a rigid connection 174. The drive device 172 is connected to the shaft 171 such that the drive device 172 can reciprocate the shaft 171 about the axis of the shaft 171 between two extreme positions.

Because the shaft 171 of the pouring mechanism 170 is fixedly connected to the support member 149 of the stirring mechanism 102, the drive 172 of the pouring mechanism 170 can drive the support member 149 in a reciprocating rotational motion. When the support member 149 is in a first extreme position in the reciprocating rotational motion, the axis of the first rotational mechanism (including the relatively movable objects 133 and 134) is vertical and the cooker 11 is in an upright position. When the support member 149 is in the second extreme position in the reciprocating rotational motion, the cooker 11 is rotated by a fixed angle to pour the cooked food in the cooker 11. The angle between the first and second extreme positions is typically between 90 and 180 degrees.

It should be noted that the pouring mechanism 170 may be replaced by a moving mechanism that can directly move the cooker 11.

It should be noted that the cooking apparatus 103 includes: a stirring mechanism 102, said stirring mechanism 102 being capable of driving the movement of the cooker 11 to stir or mix foodstuff contained or otherwise placed in the cooker 11; a pouring mechanism 170 comprising a driving device 172, a shaft 171 and connectors 173 and 174, said pouring mechanism 170 being capable of driving the stirring mechanism 102 and the cooker 11 to move to pour the cooked food in the cooker 11.

As shown in fig. 5, the dish receiving mechanism 104 includes: a funnel 181; a bracket 183; a rotation mechanism comprising relatively movable objects 185 and 186, wherein the object 185 is a shaft and the axis of the rotation mechanism is the axis of the shaft 185; rigid connectors 184 and 189; a driving device 188. Funnel 181 may be fixedly attached to the ground (although the attachment is not shown in the figures). A cooked food container 182 may be placed on the carrier 183, and the cooked food container 182 may hold or otherwise hold cooked food. The drive device 188 includes a base member that is connected to the ground by a rigid connection 189. The drive device 188 can drive the shaft 185 in a reciprocating rotational motion about the axis of the shaft 185. The axis of the shaft 185 is vertical, and the bracket 183 and the deli container 182 are rotatable about the (vertical) axis of the shaft 185. Rigid connection 184 rigidly connects bracket 183, waste 187 and shaft 185. The drive means 188 can drive the carriage 183 and the waste 187 in a reciprocating rotational movement between two extreme positions. Because the rotational movement about the vertical axis is always a planar movement, the cooked food container 182 and the waste pipe 187 placed on the bracket 183 can be planar moved together with the bracket 183. When the carriage 183 is in the first limit position of the reciprocating movement, the cooked food container 182 on the carriage 183 is positioned right under the hopper 181 to receive the cooked food poured into the hopper from above. When the carriage 183 is in the second extreme position in reciprocation, the waste 187 is located directly below the hopper 181 so that waste water poured into the hopper can be discharged from the waste.

As shown in fig. 6A-6B, when the support member 149 of the cooking apparatus 101 of the cooking apparatus 103 moves from the first limit position to the second limit position, the cooked food in the cooker 11 can be poured into the cooked food container 182 on the bracket 183 through the hopper 181 (as shown in fig. 6B); during this process, the bracket 183 in the serving mechanism 104 is in the first extreme position. When the supporting member 149 of the cooking apparatus 101 of the cooking apparatus 103 moves from the first limit position to the second limit position, the waste water in the cooker 11 may be poured into the waste water pipe 187 through the hopper 181; during this process, the bracket 183 in the serving mechanism 104 is in the second extreme position.

As shown in fig. 7A, the liquid transport mechanism 201 includes: a plurality of liquid pipes 211; a plurality of hoses 210; a plurality of flow meters 219; a plurality of liquid conduits 220; a plurality of liquid conduits 213; a plurality of hydraulic pumps 212; a plurality of electronic scales 216; a plurality of liquid containers 214; connectors 217 and 218. The hose is also a liquid conduit. (the outlet of the pipe 211 is above the cooker so that the liquid flowing in the pipe can flow into the cooker.) each liquid container 214 holds a type of liquid, such as edible oil, vinegar or water. Each liquid pipe 211 is connected to the hose 210 by a connector. Each flow meter 219 is adapted to connect a pair of corresponding conduits 220 and 210. Each pump 212 is adapted to connect a pair of corresponding conduits 220 and 213; the pipes 213 are inserted into the respective liquid containers 214 so that the pump can draw liquid from the liquid containers and the flow meter can measure the flow rate of the respective pipes. Each container 214 is placed on an electronic scale 216 such that the electronic scale 216 can weigh the corresponding container 214. Each electronic scale is connected with the ground through a connecting piece. Each pump 212, each flow meter 219, and each electronic scale 216 are coupled to a computer system 99 that allows the computer system to control the start time, speed, and flow rate at which liquid is drawn from the corresponding liquid container. The connector 217 is rigidly connected to the tube 211 to increase the rigidity or stability of the tube. The electronic scale 216 may be an electronic balance.

As shown in fig. 7B, the cover mechanism 203 includes: a retainer ring member 261; a shaft 264; a driving device 266; support members 262 and 263. The support member 262 is used to rigidly connect the shaft 264 and the baffle member 261. The drive means 266 comprises a base member which is rigidly connected to the ground by a support member 263. The drive 266 can drive the shaft 264 for reciprocating rotational movement about the axis of the shaft 264 between two extreme positions. The axis of shaft 264 is horizontal. Because the shaft 264 is rigidly connected to the support member 262, the drive means 266 can drive the support member 262 and the baffle member 261 (relative to the ground) in a reciprocating rotational movement between two extreme positions. The drive 266 is connected to a computer system 99 via a cable such that the computer system 99 can control the start time and speed of movement of the drive 266.

The cap mechanism 203 comprises a liquid delivery mechanism 201, wherein a connector 217 of the liquid delivery mechanism 201 is rigidly connected to a collar member 261; wherein the connector 218 of the liquid delivery mechanism 201 is fixedly connected to the support member 263.

Fig. 7C-7D show the relative positions of the cover mechanism 203 and the cooker 11 of the cooking apparatus 103 described above. When the support member 262 (in the reciprocating rotational motion driven by the driving means 266) is in the first extreme position and the cooker 11 is in the upright position, the open end of the conduit 211 is located above the cooker 11 (as shown in fig. 7C) so that liquid can flow into the cooker 11. When the support member 262 is in the first extreme position and the cooker 11 is in the upright position, the liquid delivery mechanism 201 of the lid mechanism 203 can deliver multiple types of liquid foodstuff into the cooker 11 of the cooking apparatus 103. When the support member 262 is rotated to the second extreme position, the parts 261, 217, and 211 are all rotated a fixed angle in a direction away from the cooker 11. The angle of rotation between the first extreme position and the second extreme position may be about 90 degrees, but this is not a hard requirement.

As shown in fig. 8A-8B, the cooker cleaning mechanism 202 includes: a plurality of blades 221; a plate 222; a cover 223; a seal 237; a rotation mechanism comprising relatively movable objects 224 and 225, wherein the object 224 is a shaft, the axis of the rotation mechanism coinciding with the axis of the shaft 224; and a drive 226. The drive device 226 can drive the shaft 224 in a rotational movement about the axis of the shaft 224. Plate 222 is used to rigidly connect blade 221 and shaft 224. Thus, the drive 226 may drive the blades 221 in rotational motion about the axis of the shaft 224. The seal 237 is designed in the shape of a ring, which is attached to the cover 223, wherein the axis of the seal 237 coincides with the axis of the cover 223. The drive unit 226 is connected to the computer system wires 99 by cables so that the computer system 99 can control the start time and speed of movement of the drive unit 226.

Cooker cleaning mechanism 202 further includes: a support member 231, a shaft 235; a driving device 234; rigid connection 236. The axis of the shaft 235 is horizontal. The support member 231 is used to rigidly connect the shaft 235 and the relatively movable object 225. The drive 234 includes a base member that is coupled to the ground by a rigid coupling 236. The drive means 234 can drive the shaft 235 in a reciprocating rotational movement about the axis of the shaft 235 between two extreme positions. The axis of shaft 235 is horizontal and perpendicular to the axis of shaft 224. Because the shaft 235 is rigidly connected to the support member 231, the drive device 234 can drive the support member 231 (relative to the ground) for reciprocating rotational movement between two extreme positions. The drive 234 is connected to the computer system 99 by a cable so that the computer system 99 can control the start time and speed of movement of the drive 234.

The drive device 226 comprises a base member fixedly connected to a support member 231 via a rigid connection 227. The cover 223 is fixedly coupled to the support member 231. Both the vane 221 and the plate 222 are rotationally symmetric about the axis of the shaft 224.

Cooker cleaning mechanism 202 further includes: (rigid) conduits 241, 252 and 254; a hose 245; a pipe connector 242; a connector 243; a hydraulic pump 253; a flow meter 259; a liquid source 255. One end of the pipe 241 is connected to the pipe 245 through a pipe connector 242, and the other end of the pipe 241 is open. A flow meter 259 is used to connect the conduits 245 and 252. A hydraulic pump 253 is used to connect the pipes 252 and 254. The conduit 254 is connected to a liquid source 255. The connector 243 is used to fixedly connect the support member 231 and the pipe 241. The hydraulic pump 253 may draw liquid from the liquid source 255 and flow the liquid from the liquid source to the open end of the pipe 241. The base components of the flow meter 259, the fluid source 255, and the hydraulic pump 253 are all fixedly connected to the ground. The hydraulic pump 253 is connected to the computer system 99 so that the computer system 99 can control the timing and flow rate of the withdrawal of liquid from the liquid source.

Fig. 8C-8D show the relative positions between the cooker cleaning mechanism 202 and the cooker 11 of the cooking apparatus 103 described above. When the support member 231 (in the reciprocating rotational motion driven by the drive means 234) is in the first extreme position, the axis of the rotation mechanism (which includes the relatively movable objects 224 and 225) is vertical and the cooker 11 is in the upright position, the open end of the conduit 241 is located above the cooker 11 (as shown in fig. 8C) so that liquid can flow into the cooker 11. The liquid may be used to clean the cooker 11.

When the cover 223 seals the cooker, the driving means 226 may drive the vane 221 to rotate in one direction to wash the inner surface of the cooker. The liquid may be blocked by plate 222 and the rotating blades may force the liquid to flow toward the axis of shaft 224 and thus toward the center of cooker 11.

When the support member 231 is rotated to the second extreme position, the parts 221, 222, 223, 224, 225, 226 and 227 are all rotated by a fixed angle in a direction away from the cooker. The angle of rotation between the first extreme position and the second extreme position may be about 90 degrees, but this is not a hard requirement.

The liquid source 255 may have hot water or other liquid suitable for cleaning cookware.

As shown in fig. 9A, the pouring mechanism 301 includes: a support member 345; clamping members 341a and 341b; shafts 343a and 343b; drives 344a and 344b. The drive 344a or 344b includes a base member rigidly connected to a support member 345. The clamping member 341a is rigidly connected to the shaft 343a and the driving means 344a is capable of rotational movement of the shaft 343a relative to the support member 345 about the axis of the shaft 343 a. The clamping member 341b is rigidly connected to the shaft 343b and the driving means 344b is capable of rotational movement of the shaft 343b relative to the support member 345 about the axis of the shaft 343 b. Since the clamping member 341a or 341b is rigidly connected to the shaft 343a or 343b, respectively, the driving means 344a or 344b can drive the clamping member 341a or 341b in a rotational movement, respectively. The axes of shafts 343a and 343b are parallel to each other and driving devices 344a and 344b can drive the clamping members 341a and 341b, respectively, to rotate synchronously in opposite directions. In practice, the rotation of the clamping members 341a and 341b may not be synchronized. The clamping member 341a or 341b may be rotated between two extreme positions. When a cartridge is placed in a certain position with respect to the support member 345 and both clamping members 341a and 341b are in the first extreme position, the clamping members 341a and 341b may work together to clamp the cartridge.

The pouring mechanism 301 further includes: a shaft 347; a driving device 348; rigid connection 349. The axis of the shaft 347 is horizontal. The axis of shaft 347 is perpendicular to the axis of shafts 343a and 343 b. The support member 345 is rigidly connected to the shaft 347. The drive 348 includes a base member that is rigidly connected to the ground by a rigid connection 349. The drive means 348 can reciprocate the drive shaft 347 about the axis of the shaft 347 between two extreme positions. The rigid connection 349 will be referred to as a support member of the pouring mechanism 301.

Because the shaft 347 is fixedly coupled to the support member 345, the driving means 348 may drive the support member 345 in a reciprocating rotational movement between two extreme positions. When the support member 345 is in the first extreme position in the reciprocating rotational motion, the axes of the shafts 343a and 343b are vertical. If the holding members 341a and 341b are rotated to the first extreme position with respect to the supporting member 345, with a cartridge filled with foodstuff placed in a certain position with respect to the supporting member 349, the holding members can hold the cartridge. The position of the cartridge relative to the support member 349 will be referred to as the pouring position. The cartridge gripped by the gripping member is then rotated to a second extreme position with the gripping mechanism, and the foodstuff in the cartridge may then be poured into a cooker. In fact, by turning the cartridge over, the entire foodstuff in the cartridge can be poured out. The angle between the first extreme position and the second extreme position in the rotational movement of the support member 345 is typically greater than 90 degrees, but typically no more than 180 degrees. The driving devices 344a, 344b and 348 are connected to the computer system 99 by cables so that the computer system 99 can control the start time of movement of the driving devices, etc.

As shown in fig. 9B-9E, a cart 790 includes: a support member 786 including two bearing seats 787a and 787b fixedly connected to other portions of the support member 786; a computer 904; a target 788 fixedly connected to the support member 786; two drive wheel arrangements 794; two universal wheel assemblies 771. The bearing housing 787a or 787b is connected to the shaft 770 of one of the drive wheel devices 794 through bearings and accessories, and thus, the relative movement between the shaft 770 and the support member 786 is limited to rotational movement centered on the axis of the shaft 770. The connection 774 of the universal wheel device 771 is rigidly connected to the support member 786.

The computer 904 includes a plurality of input ports and a plurality of output ports. The input port of the computer 904 may be connected (via a cable or wireless communication device) to a sensor, which may be an encoder, a pressure sensor, a proximity switch, a micro switch, an infrared sensor, a temperature sensor, etc. The computer 904 may be connected to electrical or electronic devices, which may be various types of motors, ovens, refrigeration mechanisms, and the like. The signals of the sensors may be sent to the computer 904. The computer 904 controls the movement of the electrical or electronic device by sending signals to the electrical or electronic device. Computer 904 may communicate with computer system 99 via a wireless communication device.

As shown in fig. 9B, the driving wheel device 794 includes: a support member 795; a shaft 796 having an axis thereof horizontal; a wheel 796w rigidly connected to and concentric with the axle 796; shafts 770, 797a, 797b, 797c and 797d, wherein the axis of each shaft is vertical; and wheels 798a, 798b, 798c and 798d. The support member 795 includes a pair of bearings 795b and 795c, with the axes of the bearings 795b and 795c being horizontal and coincident. The shaft 770 is rigidly connected to the top 795a of the support member 795. The shaft 796 is connected to the bearing blocks 795b and 795c through bearings and accessories such that relative movement between the shaft 796 and the support member 795 is limited to rotational movement centered on the axis of the shaft 796. Shafts 797a, 797b, 797c and 797d are rigidly connected to (the bottom of) support member 795. Wheels 798a, 798b, 798c and 798d are mounted on shafts 797a, 797b, 797c and 797d, respectively, so that relative movement between each wheel and support member 795 is limited to rotational movement centered on the axis of the respective shaft.

The drive wheel assembly 794 also includes a motor 84E that includes a shaft and a base member. The base member of the motor 84E is fixedly connected to the bearing housing 795 b. The shaft of the motor 84E is fixedly connected to the shaft 796 such that the motor 84E can drive the shaft 796 and the wheels 796w for rotational movement relative to the support member 795 about the axis of the shaft 796. As shown in fig. 9B, motor 84E is connected to computer 904 via cable 86E, and computer 904 can send a signal to motor 84E to control the start time of movement or the speed of movement of motor 84E.

As shown in fig. 9C, the universal wheel device 771 includes: a support member 775; a connecting member 772 including bearing blocks 772a and 772b fixedly connected to other portions of the connecting member 772; a connector 774 comprising a vertical shaft 774a; a shaft 779 whose axis is horizontal; shafts 773a, 778b, 778c, and 778d, the axes of each of which are vertical; and wheels 776, 777a, 777b, 777c, and 777d. The shaft 773a is rigidly connected to the top 775a of the support member 775. The shaft 773a is connected to the bearing housing 772a through bearings and accessories such that relative movement between the support member 775 and the shaft 773a and the bearing housing 772a (or the connection 772) is limited to rotational movement centered on the axis of the shaft 773 a. The shaft 774a of the connection 774 is coupled to the bearing support 772b via bearings and accessories such that relative movement between the connection 774 and the bearing support 772b (or the connection 772) is limited to rotational movement centered on the axis of the shaft 774 a. The shaft 779 is fixedly connected with the support member 775. The wheel 776 is mounted on the shaft 779 such that relative movement between the wheel 776 and the shaft 779 (or the support member 775) is limited to rotational movement centered on the axis of the shaft 779. The shafts 778a, 778b, 778c, and 778d are rigidly connected to (the bottom of) the support member 775. Wheels 777a, 777b, 777c, and 777d are mounted on shafts 797a, 797b, 797c, and 797d, respectively, and thus, relative movement between each wheel and support member 775 is limited to rotational movement centered on the axis of the respective shaft.

The cart 790 further comprises: a plurality of circular trays 785a, 785b, and 785c, wherein each circular tray 785a, 785b, or 785c includes a vertical axis; a rechargeable battery 791 for powering electrical or electronic devices on the cart; a plurality of mounts 789 for fixedly connecting the rechargeable battery 791 to the support member 786; an insulating member 792 made of plastic or other electrically insulating material; charging terminals 793a and 793b connected to a rechargeable battery 791 through electric wires. Charging terminals 793a and 793b and insulating member 792 are fixedly coupled to support member 786. Circular trays 785a, 785b and 785c are fixedly connected to support member 786. Each circular tray 785a, 785b or 785c may be used to house a cartridge 81 of a particular diameter size.

Circular trays 785a, 785b and 785c are also referred to as cartridge trays. It should be noted that the cartridge trays 785a, 785b and 785c in the cart 790 may be replaced with other types of cartridge trays.

The cart 790 further comprises: an L-shaped support member 782 including a vertical plate and a horizontal plate; a magnet 783 fixedly mounted on a vertical plate of the L-shaped support member 782; a connector 781 fixedly connected to the vertical plate of the L-shaped support member 782; two proximity switches 94L and 94G, which are connected to a connector 781 (as shown in fig. 9E). The horizontal plate of the L-shaped support member 782 is fixedly attached to the support member 786. The proximity switches 94L and 94G are connected to the computer 904 via cables 96L and 96G, respectively, so that the computer 904 can receive signals from the proximity switches 94L and 94G. Each circular tray 785a on the cart 790 may house a cartridge 81 that is limited by the circular tray as the cart moves. Similarly, each cartridge tray 785b of the cart 790 may house one cartridge 81b. Wherein the cartridge 81b is similar to the cartridge 81 except for the size.

The cart 790 may include an electromagnet controlled by the computer 904. The computer 904 may monitor the charge of the rechargeable battery 791. Only when the rechargeable battery is insufficient, the computer 904 turns on the electromagnet; otherwise the computer 904 will always turn off the electromagnet. The electromagnetic signal may be sensed by a rail mounted sensor coupled to the computer system 99. The computer system may then automatically control the cart 790 to move and reach a charging station, thereby charging the rechargeable battery of the cart.

It should be noted that the trolley 790 may move on a pair of curved rails having a width between them that is slightly less than the width of a pair of straight rails.

As shown in fig. 9F, the transport system 302 includes a track including a plurality of pairs of rails 331 and a plurality of carts 790. Each rail of the transport system 302 is rigidly connected to the ground by a rigid connection. The cart 790 and the cartridge tray 785a on the cart will move along the rail 331. The cartridge is placed on a cartridge tray 785a of the cart 790, and the cart 790 may transport the cartridge along a track. The computer 904 is connected to the computer system 99 via a wireless device so that the computer system 99 can control the movement time and movement speed of the cart 790. It should be noted that the trolley may comprise other components to keep the trolley on the track.

As shown in fig. 9G, after a trolley 790 of the transport system 302 transports a vertically placed magazine 81 to the pouring position of the pouring mechanism 301, the support member 345 of the pouring mechanism 301 is rotated to a first limit position with respect to the support member 349, during which the clamping members 341a and 341b remain in their second limit positions. The clamping members 341a and 341b of the pouring mechanism 301 are then rotated to their first extreme positions to clamp the cartridge 81.

Fig. 10 shows the relative positions between the cooking device 103, the pouring mechanism 301 and the transport system 302. After the trolley 790 of the transport system 302 transports one of the cartridges 81 filled with foodstuff to the pouring position of the pouring mechanism 301, the supporting member 345 of the pouring mechanism 301 is rotated to the first limit position, and then the holding members 341a and 341b are moved to their first limit positions to hold the cartridge 81. Thereafter, the supporting member 345 together with the clamped cartridge 81 is rotated by the pouring mechanism 301 to the second extreme position to pour foodstuff in the cartridge 81 into the cooker 11 of the cooking apparatus 103. The pouring mechanism 301 can pour almost all of the foodstuff in the cartridge 81 into the cooker 11, except that very small amounts of foodstuff remain stuck on the surface of the cartridge 81, which will be wasted. The support member 345 is then rotated back to the first extreme position, after which the clamping members 341a and 341b are rotated to their second extreme positions to unclamp the empty cartridge and place on one of the cartridge trays 785a of the trolley 790. It should be noted that cart 790 is braked during the above process.

As shown in fig. 11A, the cooking apparatus 401 includes: a basket 41; a vibrator 48; a rotational movement mechanism 410 and a vertical movement mechanism 420. The rotary motion mechanism 410 includes: a shaft 42; a connecting member 43; a driving device 411; a sliding member 413. The vertical movement mechanism 420 includes a driving device 414 and a support member 415. The basket 41 includes a bottom and a plurality of holes at and/or near the bottom. Basket 41 is porous, meaning that when the basket is placed upright in the air, liquid, such as water or oil, contained in the basket can leak out, and basket 41 can contain or otherwise place solid food or foodstuff when placed upright or nearly upright, where the solid food or foodstuff should have a sufficiently large diameter compared to the holes at or near the bottom of the basket. The connection 43 of the rotary motion mechanism 410 is used to fixedly connect the basket 41 and the shaft 42. The base member of the driving device 411 is rigidly connected to the sliding part 413, so that the driving device 411 of the rotary motion mechanism 410 can reciprocate the driving shaft 42 and the basket 41 between two extreme positions with respect to the sliding part 413. Wherein in the first extreme position, the basket is in an upright position. The rotation angle between the two extreme positions may be fixed, typically between 150 degrees and 180 degrees. The vibrator 48 is connected to the connection member 43 through a connection member 47 a. The vibrator 48 may vibrate the connection piece 43 and the basket 41. The support member 415 fixedly connects the base member of the driving device 414 with the ground. The driving means 414 of the vertical movement mechanism 420 may drive the sliding part 413 of the rotary movement mechanism 410 to move up and down between two extreme positions with respect to the support member 415 (or the ground). Both drives 411 and 414 are connected to the computer system 99 so that the computer system can control the start time of movement or the speed of movement of the drives.

It is noted that the sliding part 413 may be regarded as a support member of the rotary motion mechanism 410, and the support member 415 may also be regarded as a support member of the cooking apparatus 401.

In some applications, basket 41 may comprise a metal mesh. In some examples, the rim 41 may be a porous cooker or a porous container.

Basket 41 may be replaced by other forms of porous container.

As shown in fig. 11B, the cooking apparatus 401B is similar in structure to the cooking apparatus 401, wherein the cooking apparatus 401B includes: a basket 41; a vibrator 48b; a rotary motion mechanism 430; a vertical movement mechanism 440 and a rotational movement mechanism 450. The rotary motion mechanism 410 includes: a shaft 42b whose axis is horizontal; a connecting piece 43b; a driving device 411b; a sliding member 413b. The vertical movement mechanism 420 includes a driving device 414b and a support member 415b. The rotational movement 450 includes: a shaft 416, the axis of which is vertical; a driving device 417; and a support member 418. Basket 41 in the upright position may contain or otherwise hold solid food or foodstuff. Basket 41 is porous. The rotary motion mechanism 430 is coupled with the coupling 43b to fixedly couple the basket 41 and the shaft 42b. The base member of the driving means 411b is rigidly connected to the sliding part 413b. Accordingly, the rotation movement mechanism 430 driving device 411b may rotate the shaft 42b and the basket 41 between two extreme positions about the axis of the shaft 42b with respect to the sliding member 413b. In the first extreme position, the basket is in an upright position. The vibrator 48b is connected to the connection member 43b through the connection member 47 b. The vibrator 48b may vibrate the connection 47b and the basket 41. The driving means 414b of the vertical movement mechanism 440 can drive the sliding part 413b of the rotary movement mechanism 430 to move linearly between two extreme positions with respect to the support member 415b. In the first extreme position, basket 41 is in a lower position. The support member 415b of the vertical movement mechanism 440 is fixedly coupled to the shaft 416 of the rotational movement mechanism 450. The base member of the drive 417 is fixedly connected to the ground by a support member 418. The drive means 417 of the rotary motion mechanism 450 can rotate the drive shaft 416 and the support member 415b of the vertical motion mechanism 440 relative to the support member 418 about the axis of the shaft 416 between two extreme positions. The angle between the first limit position and the second limit position is typically about 180 degrees, but this is not a strict requirement.

It is noted that the sliding part 413b may be regarded as a support member of the rotation movement mechanism 430, and the support member 418 may be regarded as a support member of the cooking apparatus 401 b.

The actuators 411b, 414b and 417 are all connected to the computer system 99 so that the computer system can control the start time of movement or the speed of movement of the drive means.

As shown in fig. 12, the cooking apparatus 402 includes: a liquid container 45; a heat insulating member 46; a temperature sensor 47; an electromagnetic oven 421; a connecting member 423; and a connector 422. The heat insulating member 46 is installed outside the liquid container 45. The connection 423 is used to connect the insulating member (and the liquid container 45) to the ground. Connector 422 is used to connect induction cooker 421 to the ground. Induction cooker 421 is coupled to computer system 99. The temperature sensor 47 may monitor the temperature of the liquid in the liquid container 45. The temperature sensor 47 is connected to a computer system 99. The liquid container 45 is used to hold a cooking liquid, such as oil or water. The bottom of the liquid container 45 comprises ferromagnetic metal. The electromagnetic oven 421 is used to heat a ferromagnetic portion of the liquid container 45 to heat the liquid in the liquid container 45.

Cooking apparatus 402 further comprises: a pair of liquid pipes 211c and 211d; a pair of liquid pipes 229c and 229d; 213c and 213d of a pair of liquid pipes; a pair of flow meters 219c and 219d; a pair of hydraulic pumps 212c and 212d; a pair of liquid containers 214c and 214d. One end of the pipe 211c or 211d is inserted into the liquid contained in the liquid container 45 of the cooking apparatus 402. The liquid container 214c or 214d may be used to hold a liquid, such as edible oil or water. The container 214c is used to hold fresh liquid; the container 214d is used to hold waste liquid to be disposed of (if waste liquid is waste water, it can also be poured directly into a sink). A temperature sensor 47 is mounted on the liquid container 45. The hydraulic pump 212c (or 212 d) is used to connect a pair of corresponding pipes 229c and 213c (or pipes 229d and 213 d), and the end of the pipe 213c (or 213 d) is inserted into the liquid contained in the liquid container 214c (or 214 d). Each flow meter 219c (or 219 d) is adapted to connect a pair of corresponding conduits 229c and 221c (or 229d and 221 d), with conduit 211c (or 211 d) being inserted into liquid container 45. Hydraulic pump 212c is used to draw fresh liquid from liquid reservoir 214c and into liquid reservoir 45. The hydraulic pump 212d is used to draw (used) liquid from the liquid container 45 and flow it into the liquid container 214d. The flow meters 219c and 219d can measure the flow rate of the liquid flowing into the liquid container 45 and the flow rate of the liquid drawn out of the liquid container 45, respectively. The hydraulic pumps 212c and 211d and the flow meters 219c and 219d are connected to the computer system 99 so that the computer system can control the start times and flow rates of the hydraulic pumps to withdraw fluid from the respective fluid containers.

As shown in fig. 13A-13B, the cooking apparatus 403 includes a cooking apparatus 401 and a cooking apparatus 402. When the basket 41 of the cooking apparatus 401 is rotated to the first limit position with respect to the sliding member 413, and the sliding member 413 is moved to the first limit position (i.e., a lower end position) with respect to the supporting member 415, the basket 41 is partially immersed in the liquid, as shown in fig. 13B. When the basket 41 of the cooking apparatus 401 is rotated to a first limit position with respect to the sliding member 413, and when the sliding member 413 is moved to a second limit position (i.e., an upper end position) with respect to the supporting member 415, the basket 41 is lifted upward from the liquid container 45. The basket 41 may stay at this position for a period of time during which the vibrator 48 may generate minute vibration on the basket 41 to drop the hot liquid adhered to the basket 41 into the liquid container 45, as shown in fig. 13A. The driving device 411 may then rotate the basket 41 to pour the cooked food or semi-finished food in the basket 41 (as shown in fig. 16B below).

It should be noted that the cooking apparatus 403 includes a movement mechanism including a driving device 414, a sliding member 413, and a connection between the driving device 414 and the sliding member 413 and the basket 41, which can drive the basket 41 to move to allow the basket 41 to be partially immersed in the liquid of the liquid container 45 or to be lifted up out of the liquid container 45; a pouring mechanism comprising a driving means 411, a shaft 42 and a connection between the driving means 411 and the shaft 42 and a driving means 414, which can drive the basket 41 to move so as to pour the semi-finished food in the basket 41.

In some embodiments, as shown in fig. 14-19, a cooking system 901 (left to right) includes: a dish receiving mechanism 104; a cooker cleaning mechanism 202; a cover mechanism 203; a cooking device 103; a first dumping mechanism 301; a transport system 302; a cooking device 403; a second pouring mechanism 301b; and a computer system 99. The lid mechanism 203 may allow liquid foodstuff to flow into the cooker 11 (as shown in fig. 7C). The first pouring mechanism 301 is placed beside the cooking device 103 in order to pour foodstuff in the cartridge into the cooker 11 of the cooking device 103 (as shown in fig. 10). The second pouring mechanism 301b is a replica of the pouring mechanism 301, including the same part number, but placed beside the cooking device 403. The part number in the pouring mechanism 301b is identical to the corresponding part number in the pouring mechanism 301. As shown in fig. 15A-15B, the holding member of the pouring mechanism 301B may hold one of the cartridges 81 containing foodstuff and then rotate the cartridge to pour the foodstuff in the cartridge 81 into the basket 41 of the cooking apparatus 401. During this time, the basket 41 is in a first limit position with respect to the sliding part 413, and the sliding part 413 is in a second limit position with respect to the support member 415 (or with respect to the ground). Then, the sliding member 413 is moved downward to the first limit position so that the basket 41 filled with foodstuff can be immersed in the hot liquid in the liquid container 45 of the cooking apparatus 403. The foodstuff in basket 41 is cooked in the hot liquid to produce a semi-finished food. Then, the sliding member 413 moves upward to the second limit position, and the basket 41 is lifted upward and away from the liquid container 45. The basket 41 is lifted to the second limit position and stays for a while, during which the vibrator 48 may generate a minute vibration on the basket 41 to drop the hot liquid adhered to the basket 41 and the semi-finished food into the liquid container 45. Then, as shown in fig. 16A to 16B, when the sliding member 413 is held at the second limit position and the basket 41 is rotated from the first limit position to the second limit position with respect to the sliding member 413, the semi-finished food in the basket 41 is poured into the cooker 11. The semi-finished food is then cooked in the cooker 11 of the cooking apparatus 103 together with other ingredients, some or all of which may be poured into the cooker 11 by the first pouring mechanism 301 from a magazine on a carrier of the transport system 302 (as shown in fig. 10). As shown in fig. 17 (also shown in fig. 6B), after the foods and foodstuffs in the cooker 11 are cooked into cooked foods, the cooked foods may be poured into a cooked food container 182 through a hopper 181. Then, the cooker cleaning mechanism 202 may clean the cooker 11 (also shown in fig. 8C-8D).

The cooking device 103 in the cooking system 901 may be referred to as a first cooking device. The first cooking device 103 comprises a first movement device comprising a stirring mechanism 102, called first movement mechanism, and a pouring mechanism 170, called second movement mechanism. The stirring mechanism 102 may be used to move the cooker 11 of the first cooking apparatus 103 during cooking of the deli to stir or mix the food or foodstuff in the cooker 11 of the first cooking apparatus 103. The pouring mechanism 170 may rotate the support member 149 (of the stirring mechanism 102) to flip the cooker 11 to pour the cooked food from the cooker 11 into the cooked food container 182 placed in the receiving mechanism 104.

The cooking device 403 in the cooking system 901 is referred to as a second cooking device. The second cooking apparatus 403 includes a second moving apparatus including: a rotation movement mechanism 410 called a third movement mechanism and a vertical movement mechanism 420 called a fourth movement mechanism that can linearly move the moving member 413 and the basket 41 in the vertical direction. When the fourth movement mechanism moves the member 413 and basket 41 to the second limit position, the third movement mechanism may flip basket 41 to pour the semi-finished food from basket 41 of cooking apparatus 403 into cooker 11 of cooking apparatus 103.

The computer system 99 is connected to mechanisms and devices 161, 16, 13, 172, 188, 212, 226, 234, 253, 344a, 344b, 348, 323, 411, 414, 47, 421, 212c, and 212 d. The computer system 99 is also coupled to the transport system 302 to control movement of the cart 790 on the transport system 302.

In the cooking system 901, the cooking apparatus 103 is placed in the vicinity of the following mechanisms and devices: a dish receiving mechanism 104; a cooker cleaning mechanism 202; a cover mechanism 203; a cooking device 403; a pouring mechanism 301, which is placed beside the transport system 302. The cooking device 403 is placed in the vicinity of the second pouring mechanism 301b and the cooking device 103. The computer system 99 includes a memory. The computer system may store various data in the memory of the computer system.

As shown in fig. 18, the computer system 99 will perform the following tasks before the cooking system 901 operates.

In step 711, the computer system 99 stores (in the memory of the computer system) a program for receiving or transmitting signals from or to the drive means of the cooking system 901, the induction cooker, the temperature sensor and the pump.

At step 712, a database is built in the computer system 99.

In step 713, the cooking device, the serving mechanism, the liquid delivery mechanism, the pouring mechanism, the cooker cleaning mechanism, and the transport system are each assigned a unique ID. The computer system 99 stores the IDs of these devices and institutions in a database.

At step 714, the computer system 99 stores structural information for each cart in the transport system 302, including the type of cartridge that may be placed on the tray of the cart.

In step 715, the computer system 99 stores a program for controlling the transport system 302. The program may be used to control the cart so that the cart may move and may stop at a predetermined time at a position near a cooking apparatus of the cooking system 901 where a cartridge on a tray of the cart is in a dumping position relative to the cooking apparatus.

At step 716, the computer system 99 stores a list of foods on which the foods can be cooked by the cooking system 901.

Step 717, for each food item on the list of food items described in step 716, the computer system 99 stores a cooking program that is used to control the drives, induction cookers, pumps, and equipment in the cooking system 901.

Step 718, for each food item on the list of food items in step 716, the computer system 99 stores the number and type of food items needed for the food item, the relative time each food item was poured, and the ID of each food item was poured into the corresponding cooking device; wherein the relative time is related to the time of the program corresponding to the food in step 717. The foodstuff in the cartridge will be poured into the basket or cooker of the corresponding cooking device.

As shown in fig. 19, during operation of the cooking system 901, the computer system 99 will perform the following tasks in a programmed manner.

In step 721, the computer system 99 accepts the food order. The customer may place an order through the computer system 99 or send the order to the computer system 99 through a computer.

In step 722, for the food order in step 721, the computer system 99 looks for information on the type and quantity of foodstuff required to cook the food order. The information has been stored by the computer system 99 in step 718.

In step 723, the computer system 99 positions a cartridge containing the foodstuff described in step 722. The foodstuff may be poured into the cartridge from some larger container. The foodstuff may also have been loaded in the cartridge and the location of the cartridge has been stored in the memory of the computer system 99.

In step 724, the computer system 99 schedules the cooking system 901 to cook the ordered food items. The schedule includes the time to run the program corresponding to the ordered food in step 717. The arrangement also includes the time for pouring foodstuff from each cartridge into a corresponding basket or cooker in the cooking system 901 based on the information stored by the computer system 99 in step 718.

At step 725, the computer system 99 controls the transport system 302 to move and stop each of the cartridges described in step 722 in accordance with the arrangement of step 724.

Step 726, according to the arrangement of step 724, the computer system 99 runs the program corresponding to the ordered food in step 717 to receive or send signals to the driving means, induction cooker, temperature sensor and pump in the cooking system 901. After all steps are performed, the cooking process of the food is completed, which comprises pouring the cooked deli into a deli container.

It should be noted that the three-dimensional positioning of the mechanisms and devices in the cooking system 901 may be accomplished in a variety of ways. For example, the serving mechanism 104, cooker cleaning mechanism 202, pouring mechanism 301, and cooking device 403 may be placed on the west side, south side, north side, and east side of the cooker 11 of the cooking device 103, respectively; the cover mechanism 203 may be placed on the southeast side of the cooker 11. The second pouring mechanism 301b may be placed on the north side of the cooking device 403. As shown in fig. 20.

As shown in fig. 21, the storage mechanism 501 includes: a plurality of cartridge trays 511; and a support member 512; wherein each cartridge tray 511 may be used to house one or more cartridges 81. Each cartridge tray 511 is fixedly connected to a support member 512. The support member 512 is rigidly connected to the ground by a rigid connection 513. The storage mechanism 501 also includes a refrigeration mechanism 514, and the refrigeration mechanism 514 can refrigerate the feed cassette 81 to keep the foodstuff in the cassette fresh. The refrigeration mechanism 514 is fixedly connected to the ground by a rigid connection 515.

As shown in fig. 22, the cartridge loading mechanism 502 includes: clamping members 521a and 521b; a shaft 531a rigidly connected to the clamping member 521 a; a shaft 531b rigidly connected to the clamping member 521 b. A drive means 530a for driving the shaft 531a in a rotational movement about a vertical axis (coinciding with the axis of the shaft 531 a), wherein the drive means 530a is connected to the computer system 99 by means of a cable, wherein the computer system 99 can control the drive means 530a; a drive means 530b for driving the shaft 531b in a rotational movement about a vertical axis (coinciding with the axis of the shaft 531 b), wherein the drive means 530b is connected to the computer system 99 by means of a cable, wherein the computer system 99 can control the drive means 530b. The (base members of the) drive means 530a and 530b are rigidly connected to the slide 522. The driving means 530a and 530b may drive the clamping members 521a and 521b, respectively, in an unsynchronized rotational movement. The clamping members 521a and 521b can be rotated between two extreme positions. In the first extreme position, the clamping members 521a and 521b may work together to clamp the cartridge in a defined position with respect to the slide member 522. At the second extreme position, the clamping members 521a and 521b can unclamp the clamped cartridge.

The cartridge loading mechanism 502 further includes a vertical movement mechanism 523 that can drive the slide member 522 to reciprocate linearly between an upper limit position and a lower limit position in a vertical direction of movement. The vertical movement mechanism 523 is connected to the computer system 99, wherein the computer system 99 can control the movement of the slide 522. The cartridge loading mechanism 502 further includes: a horizontal movement mechanism 535; a connection 533; and a sliding member 534. The horizontal movement mechanism 535 may drive the sliding member 534 to move linearly horizontally, wherein the sliding member 534 is rigidly connected to the vertical movement mechanism 523 via the connection 533, such that the horizontal movement mechanism 535 may drive the vertical movement mechanism 523 to move linearly horizontally. The horizontal movement mechanism 535 is coupled to a computer system 99, and the computer system 99 can control the movement of the slide member 534. The cartridge loading mechanism 502 further includes: a shaft 525 rigidly connected to (the base member of) the horizontal movement mechanism 535 by a rigid connection 524, wherein the axis of the shaft 525 is vertical; a drive 528 for driving the shaft 525 in a rotational motion about the axis of the shaft 525; a rigid connection 529y for connecting (the base member of) the drive 528 to the ground. The drive device 528 can drive the shaft 525 and (the base member of) the horizontal movement mechanism 535 in a reciprocating rotational movement about the axis of the shaft 525 between two extreme positions. It should be noted that the rigid connection 529y may be referred to as a support member of the cartridge loading mechanism 502.

Fig. 23A-23D illustrate the relative positions of the storage mechanism 501, cartridge loading mechanism 502, and transport system 302. The cart 790 of the transport system 302 may be moved to a determined position relative to the support member 529y of the cartridge loading mechanism 502. In a condition in which the cartridge containing foodstuff is placed vertically in a determined position with respect to the support member 529, the gripping members 521a and 521b may grip the cartridge when the shaft 525 (or the horizontal movement mechanism 535) is in a first extreme position of the reciprocating rotational movement driven by the driving means 528, and when the sliding part 522 is in a lower position in the vertical linear sliding movement driven by the vertical movement mechanism 523, and when the horizontal movement mechanism 535 drives the sliding part 534 to slide to a specific position, are rotated to their first extreme positions with respect to the sliding part 522 (as shown in fig. 23A). Then, in a state where the cartridge is clamped by the clamping members 521a and 521B, the slide member 522 is vertically slid to the upper limit position (as shown in fig. 23B). The drive 528 may then rotate the shaft 525 and the vertical movement mechanism 523 to the second limit position (as shown in fig. 23C) with the cartridge clamped by the clamping members 521a and 521 b. The slide 522 is then slid vertically to a lower limit position and the drives 530a and 530b drive the clamping members 521a and 521b, respectively, to a second limit position to release the cartridge on one of the cartridge trays 785a of the cart 790 (as shown in fig. 23D). The computer system 99 may control the start time and speed of movement of the drive 528, the horizontal movement mechanism 535, and the vertical movement mechanism 523. It should be noted that in the above process, the cart 790 is in a stopped state.

In some embodiments, as shown in fig. 24-25, cooking system 902 (left to right) includes: a dish receiving mechanism 104; a first cover mechanism 203; a first cooker cleaning mechanism 202; a first cooking device 103; a first dumping mechanism 301; a transport system 302; a second cooker cleaning mechanism 202b; a second cooking device 103b; a second cover mechanism 203b; a second pouring mechanism 301d; a storage mechanism 501; a cartridge loading mechanism 502; and a computer system 99.

The first cooking device 103 comprises a stirring mechanism 102, called first movement mechanism, and a pouring mechanism 170, called second movement mechanism; wherein the stirring mechanism 102 can be used to move the cooker 11 of the first cooking apparatus 103 during cooking of cooked food to stir or mix food or foodstuff in the cooker 11 of the first cooking apparatus 103; wherein the pouring mechanism 170 may rotate the support member 149 of the stirring mechanism 102 to flip the cooker 11 to pour the cooked food from the cooker 11 into the food container 182 placed on the receiving mechanism 104.

The second cooking device 103b is a replica of the cooking device 103. The part number in cooking apparatus 103b is the same as the corresponding part number in cooking apparatus 103 b. Accordingly, the second cooking apparatus 103b includes a cooker 11 called a second cooker and one second moving apparatus. The second exercise apparatus includes: a stirring mechanism 102 called a third movement mechanism, the stirring mechanism 102 being capable of moving the second cooker 11 during cooking so as to stir and mix food or foodstuff in the cooker 11; and a pouring mechanism 170, referred to as a fourth movement mechanism, said pouring mechanism 170 being capable of flipping the support frame 149 of the stirring mechanism 102 and the second cooker 11 to pour semi-finished food from the second cooker 11 into the first cooker 11 of the first cooking device 103.

The cartridge loading mechanism 502 may load the foodstuff-containing cartridges 81 from the storage mechanism 501 onto the cart 790 in the transport system 302. The cart 790 may be moved to a position adjacent to the cooking apparatus such that a corresponding pouring mechanism of the cooking apparatus may grip the cartridge of the cart 790. The time at which the cart 790 arrives at the location is controlled by the computer system 99.

The first cover mechanism 203 may allow liquid foodstuff to flow into the cooker 11 (as also shown in fig. 7C). The second lid mechanism 203b is a replica of the lid mechanism 203, but is placed beside the second cooking device 103b in order to flow liquid foodstuff into the cookware 11 of the cooking device 103 b. The part number in the cover mechanism 203b is the same as the corresponding part number in the cover mechanism 203. The first pouring mechanism 301 is placed beside the cooking device 103 in order to pour foodstuff in a cartridge on one tray of the transport system 302 into the cooker 11 (also shown in fig. 10). The second pouring mechanism 301d is a replica of the pouring mechanism 301, but is placed beside the cooking device 103 b. The part number of the pouring mechanism 301d is the same as the part number of the pouring mechanism 301. Similar to the pouring mechanism 301 (also shown in fig. 10), the pouring mechanism 301d can pour foodstuff in a cartridge on a tray of the transport system 302 into the cooker 11 of the cooking apparatus 103 b.

The foodstuff poured into the cooker 11 of the cooking apparatus 103b is then cooked to produce a semi-finished food. Then, when the cooker 11 of the cooking apparatus 103b is rotated from the first limit position to the second limit position with respect to the support member 149 of the cooking apparatus 103b, the semi-finished food in the cooker 11 of the cooking apparatus 103b may be poured into the cooker 11 of the cooking apparatus 103 (as shown in fig. 25). The semi-finished food may then be further cooked with other ingredients, which are poured out of the magazine on the tray of the transport system 302 by the first pouring mechanism 301. After food is cooked in the cooker 11 of the cooking apparatus 103, the cooked food is poured into the deli container 182 on the serving mechanism 104 (also shown in fig. 6B).

The cooker cleaning mechanism 202 is placed beside the cooking apparatus 103 and can clean the cooker 11 of the cooking apparatus 103 (also shown in fig. 8C-8D). The second cooker cleaning mechanism 202b is a replica of the cooker cleaning mechanism 202 and can clean the cooker 11 of the cooking apparatus 103 b.

The computer system 99 is connected to the devices, mechanisms and apparatuses 161, 16, 13, 172, 188, 212, 226, 234, 253, 344a, 344b, 348, 323, 501 and 502. The computer system 99 is also coupled to the transport system 302 to control movement of the cart 790 on the transport system 302.

In cooking system 902, cooking device 103 needs to be placed in proximity to the following mechanisms and devices: a dish receiving mechanism 104; a first cooker cleaning mechanism 202; a cover mechanism 203; a pouring mechanism 301 placed beside the transport system 302; a second cooking apparatus 103b. The second cooking device 103b is placed in the vicinity of the following mechanism: a first cooking device 103; a second cooker cleaning mechanism 202b; a second cover mechanism 203b; and a second pouring mechanism 301d.

It should be noted that in cooking system 902, second cooking device 103b may be replaced by a different cooking device than first cooking device 103. For example, the second cooker of the second cooking apparatus 103b may be replaced by a cooker that is different from the first cooker (of the first cooking apparatus 103).

As shown in FIG. 26, prior to operation of cooking system 902, computer system 99 may perform the following tasks.

In step 731, the computer system 99 stores (in the memory of the computer system) a program that can receive signals from or send signals to the drive, induction cooker, temperature sensor, and pump of the cooking system 902.

At step 732, a database is built in the computer system 99.

In step 733, a unique ID is assigned to each of the cooking device, the serving mechanism, the liquid delivery mechanism, the pouring mechanism, the cooker cleaning mechanism, and the transportation system. The computer system 99 stores the IDs of these devices and institutions in a database.

At step 734, the computer system 99 stores structural information for each cart of the transport system 302 in a database, including the type of cartridge placed on the cart pallet.

At step 735, the computer system 99 stores a program that may be used to control the transport system 302. The program may be used to control the cart so that the cart may move and stop at a predetermined time at a location near a cooking apparatus of cooking system 902 where a cartridge on a tray of the cart is in a dumping position relative to the cooking apparatus.

At step 736, the computer system 99 stores a list of foods on which the foods can be cooked by the cooking system 902.

At step 737, for each food in the list of foods at step 736, the computer system 99 stores a cooking program that can be used to control the drives, induction cookers, pumps, and equipment in the cooking system 902.

Step 738, for each food item in the list of food items in step 736, the computer system 99 stores the type and quantity of food items needed, the relative time each food item was poured, and the ID of each food item was poured into the corresponding cooking device. Wherein the relative time is related to the time of the program corresponding to the food in step 737. The foodstuff in the cartridge will be poured into the basket or cooker of the corresponding cooking device.

As shown in fig. 27, during operation of cooking system 902, computer system 99 may be programmed to perform the following tasks.

In step 741, the computer system 99 accepts the food order. The customer may place an order on the computer system 99 or send the order to the computer system 99 via a computer.

In step 742, for the food order in step 741, the computer system 99 looks for information on the type and quantity of foodstuff needed to cook the food order. The information has been stored by the computer system 99 in step 738.

In step 743, the computer system 99 positions a cartridge containing the foodstuff described in step 742. The foodstuff may be poured into the cartridge from some larger container. The foodstuff may also have been loaded in the cartridge and the location of the cartridge has been stored in the memory of the computer system 99.

In step 744, the computer system 99 schedules the cooking system 902 to cook the ordered food items. The schedule includes the time to run the program corresponding to the ordered food in step 737. The arrangement also includes the time for pouring foodstuff from each cartridge into a corresponding basket or cooker in the cooking system 902 based on the information stored by the computer system 99 in step 738.

At step 745, the computer system 99 controls the transport system 302 to move and stop each of the cartridges described in step 742 in accordance with the arrangement of step 744.

Step 746, the computer system 99 runs the program corresponding to the ordered food item in step 737 to receive or send signals to the drive means, induction cooker, temperature sensor and pump in cooking system 902, according to the arrangement of step 744. After all steps are performed, the cooking process of the food is completed, which comprises pouring the cooked deli into a deli container.

The three-dimensional positioning of the mechanisms and devices in cooking system 902 may be accomplished in a variety of ways. For example, the serving mechanism 104, the cooker cleaning mechanism 202, the pouring mechanism 301, and the second cooking device 103b may be placed on the west side, the south side, the north side, and the east side of the cooker 11 of the cooking device 103, respectively. The cover mechanism 203 may be placed on the southeast side of the cooker 11. The second cooker cleaning mechanism 202b, the second pouring mechanism 301d, and the second lid mechanism 203b may be placed in the southeast of the cooking apparatus 103 as shown in fig. 28.

In some embodiments, as shown in fig. 29-34, the cooking system 903 (left to right) comprises: a dish receiving mechanism 104; a cooker cleaning mechanism 202; a cover mechanism 203; a cooking device 103; a first dumping mechanism 301; a transport system 302; a cooking device 403; a cooking device 403c; a second pouring mechanism 301b; a third dumping mechanism 301c; a storage mechanism 501; a cartridge loading mechanism 502; cooking apparatus 403c is a duplicate of cooking apparatus 403, having the same part number as cooking apparatus 403, except that the liquid in liquid container 45 in cooking apparatus 403c may be different from the liquid in liquid container 45 in cooking apparatus 403. The lid mechanism 203 may allow liquid foodstuff to flow into the cooker 11 (as shown in fig. 7C). The first pouring mechanism 301 is placed beside the cooking device 103 in order to pour foodstuff into the cooker 11 of the cooking device 103 (as shown in fig. 10). The second pouring mechanism 301b is a replica of the pouring mechanism 301, but is placed beside the cooking device 403. The part number in mechanism 301b is the same as the corresponding part number in mechanism 301. The third pouring mechanism 301c is a replica of the pouring mechanism 301, but is placed beside the cooking device 403 c. The part number of the third reject mechanism 301c is the same as the corresponding part number of the reject mechanism 301.

The cartridge loading mechanism 502 may transfer the foodstuff-containing cartridges 81 from the storage mechanism 501 to the cart 790 in the transport system 302. The cart 790 may be moved to a position adjacent to the cooking apparatus such that a corresponding pouring mechanism of the cooking apparatus may grip a cartridge on the cart. The time at which the cart 790 arrives at the location is controlled by the computer system 99.

As shown in fig. 30A-30B, the holding member of the pouring mechanism 301B may be moved to hold the foodstuff-containing cartridge 81, and then the cartridge 81 is rotated to pour the foodstuff in the cartridge 81 into the basket 41 of the cooking apparatus 403. Meanwhile, basket 41 of cooking apparatus 403 is in a first extreme position with respect to sliding member 413 of cooking apparatus 403; the sliding part 413 is in a second extreme position with respect to the support member 415 in the cooking apparatus 403 (or with respect to the ground). Then, the sliding member 413 is moved downward to the first limit position so that the foodstuff in the basket 41, which is cooked in the hot liquid to produce the semi-finished food, can be immersed into the hot liquid in the liquid container 45 of the cooking apparatus 403. Then, the sliding member 413 moves upward to the second limit position, and lifts the basket 41 to be away from the liquid container 45. The basket 41 is placed at this position for a period of time during which the vibrator 48 may generate minute vibrations on the basket 41 to drop the hot liquid adhered to the basket 41 and the semi-finished food into the liquid container 45. Then, as shown in fig. 31A to 31B, when the sliding member 413 is held at the second limit position and the basket 41 is rotated from the first limit position to the second limit position with respect to the sliding member 413, the semi-finished food in the basket 41 may be poured into the cooker 11 of the cooking apparatus 103.

Similarly, as shown in fig. 30C-30D, the clamping means of the pouring mechanism 301C may be moved to clamp the foodstuff-containing cartridge 81, and then rotate the cartridge to pour the foodstuff in the cartridge 81 into the basket 41 of the cooking apparatus 403C. Meanwhile, basket 41 of cooking apparatus 403c is in the first limit position with respect to sliding member 413 of cooking apparatus 403 c; the sliding part 413 is in a second extreme position with respect to the support member 415 in the cooking apparatus 403c (or with respect to the ground). Then, the sliding member 413 is moved downward to the first limit position so that the foodstuff in the basket can be immersed in the hot liquid in the liquid container 45 of the cooking apparatus 403, and the foodstuff in the basket 41 is cooked in the hot liquid to produce the semi-finished food. Then, the sliding member 413 moves upward to the second limit position, and lifts the basket 41 so as to be away from the liquid container 45. The basket 41 is placed at this position for a period of time during which the vibrator 48 may generate minute vibration on the basket 41 to drop the hot liquid adhered to the basket 41 and the semi-finished food into the liquid container 45. Then, as shown in fig. 31C to 31D, when the sliding member 413 is held at the second limit position and the basket 41 is rotated from the first limit position to the second limit position with respect to the sliding member 413, the semi-finished food in the basket 41 may be poured into the cooker 11 of the cooking apparatus 103.

The semi-finished food product poured from the cooking devices 403 and 403c may then be further cooked in the cooking device 103 together with other ingredients, a portion of which is poured from the magazine on the tray of the transport system 302 by the first pouring mechanism 301 (also shown in fig. 10). The cooked food is then poured into the deli container 182 through the hopper 181 after being cooked in the cooker 11 as shown in fig. 32 (also shown in fig. 6B).

The cooker cleaning mechanism 202 is placed beside the cooking apparatus 103 and can be used to clean the cooker 11 (see also fig. 8C-8D).

The computer system 99 is connected to mechanisms and devices 161, 16, 13, 172, 188, 212, 226, 234, 253, 344a, 344b, 348, 323, 411, 414, 47, 421, 212c, 212d, 501; the computer system 99 is also coupled to the transport system 302 to control movement of the cart on the transport system 302.

In the cooking system 903, the cooking device 103 is placed next to the following mechanisms and means: a dish receiving mechanism 104; a cooker cleaning mechanism 202; a cover mechanism 203; a cooking device 403; a pouring mechanism 301 placed beside the transport system 302; and a cooking device 403c. The cooking device 403 is placed beside the second pouring mechanism 301b and the cooking device 103. The cooking device 403c is placed beside the third pouring mechanism 301c and the cooking device 103.

The computer system 99 includes a memory. The computer system 99 may store various data in the memory of the computer system.

As shown in FIG. 33, prior to the operation of the cooking system 903, the computer system 99 may perform the following tasks.

Step 751, computer system 99 (in the memory of the computer system) stores a program that can be used to receive signals from or send signals to the drive means of cooking system 903, induction cookware, temperature sensors, and pumps.

In step 752, a database is built in the computer system 99.

In step 753, a unique ID is assigned to each of the cooking device, the serving mechanism, the liquid delivery mechanism, the pouring mechanism, the cooker cleaning mechanism, and the transport system. The computer system 99 stores the IDs of these devices and institutions in a database.

In step 754, the computer system 99 stores in a database the structural information of each cart on the transport system 302, including the type of cartridge placed on the cart pallet.

At step 755, the computer system 99 stores a program that can be used to control the transport system 302. The program may be used to control the cart so that the cart can move and stop at a predetermined time at a position near a cooking device of the cooking system 903 where a cartridge in a tray on the cart is in a dumping position relative to the cooking device.

In step 756, the computer system 99 stores a list of foods on which the foods can be cooked by the cooking system 903.

Step 757, for each food item in the list of food items in step 756, the computer system 99 stores a cooking program that may be used to control the drives, induction cookers, pumps and equipment in the cooking system 903.

In step 758, for each food in the list of foods in step 756, the computer system 99 stores the type and quantity of foodstuff desired, the relative time of each foodstuff pour, and the ID of the corresponding cooking device into which each foodstuff was poured. Wherein the relative time is related to the time of the program corresponding to the food in step 757. The foodstuff contained in the cartridge will be poured into the basket or cooker of the corresponding cooking device.

As shown in fig. 34, during operation of the cooking system 903, the computer system 99 may perform the following tasks in a programmed manner.

At step 761, the computer system 99 accepts the food order. The customer may place an order on the computer system 99 or send the order to the computer system 99 via a computer.

In step 762, for the ordered food item in step 761, the computer system 99 looks for information on the type and quantity of foodstuff needed to cook the ordered food item. The information has been stored by the computer system 99 in step 758.

In step 763, the computer system 99 positions a cartridge containing the foodstuff described in step 762. The foodstuff may be poured into the cartridge from some larger container. The foodstuff may also have been loaded in the cartridge and the location of the cartridge has been stored in the memory of the computer system 99.

In step 764, the computer system 99 schedules the cooking system 903 to cook the ordered food item. The schedule includes the time to run the program corresponding to the ordered food in step 757. The arrangement also includes the time at which the foodstuff in each cartridge is poured into a corresponding basket or cooker in the cooking system 903 based on the information stored by the computer system 99 in step 758.

In step 765, the computer system 99 controls the transport system 302 to move and stop each of the cartridges described in step 762 in accordance with the arrangement of step 764.

Step 766, according to the arrangement of step 764, the computer system 99 runs the program corresponding to the ordered food in step 757 to receive or send signals to the drive means, induction cooker, temperature sensor and pump in the cooking system 903. After all steps are performed, the cooking process of the food is completed, which comprises pouring the cooked deli into a deli container.

In some applications, the liquid in the liquid container 45 of the cooking device 403 of the cooking system 903 may be an edible oil, and the liquid in the liquid container 45 of the cooking device 403c may be water.

It should be noted that the three-dimensional positioning of the mechanisms and devices in the cooking system 903 may be accomplished in a variety of ways. For example, the serving mechanism 104, the pouring mechanism 301, the cooking devices 403 and 403c may be placed on the west side, the north side and the east side of the cooker 11 of the cooking device 103, respectively; the cooker cleaning mechanism 202 or the cover mechanism 203 may be placed on the southwest side or the southwest side of the cooker 11 of the cooking apparatus 103, respectively. The pouring mechanism 301b or 301c may be placed on the eastern side of the cooking device 403 or 403c, respectively, as shown in fig. 35.

It should be noted that the transport system 302 in the cooking system described above may include multiple connected subsystems or multiple unconnected subsystems. The transport system may comprise different types of trolleys. Different cartridges may contain different types or amounts of foodstuff; the size or shape of the different cartridges may be different as shown in fig. 35-36.

As shown in fig. 37A-37B, the cooking device 403B includes a cooking device 401B and a cooking device 402. When the basket 41 of the cooking apparatus 401B is rotated to a first limit position with respect to the sliding part 413B, and the sliding part 413B is moved to the first limit position (i.e., a lower limit position) with respect to the supporting member 415B, and the supporting member 415B is rotated to the first limit position (i.e., the position of the basket 41 is located just above the bottom of the supporting member 415B), the basket 41 is partially submerged in the liquid, as shown in fig. 37B. When the basket 41 of the cooking apparatus 401b is rotated to the first limit position with respect to the sliding part 413b, and when the sliding part 413b is moved to the second limit position (i.e., the upper limit position) with respect to the supporting member 415b, and the supporting member 415b is rotated to the first limit position (i.e., the position of the basket 41 is located right above the liquid container 45) with respect to the supporting member 418, the basket 41 is lifted from the liquid container 45, as shown in fig. 37A. The basket 41 may be stopped at the above-described position for a period of time during which the vibrator 48b may generate minute vibration on the basket 41 to drop the liquid adhered to the basket 41 into the liquid container 45. Then, the driving device 417 may rotate the support member 415b and the basket 41 to the second limit position (i.e., the position of the basket 41 is located just above the cooker 11). Then, the driving device 411B may rotate the basket 41 to pour out the cooked food or semi-finished food in the basket 41 (as shown in fig. 39B later).

It should be noted that the cooking apparatus 403b includes: a movement mechanism including a driving device 414b, a sliding member 413b, and a connection between the sliding member 413b and the driving device 411b, which can drive the basket to move to allow the basket to be partially immersed in the liquid container 45 or lifted from the liquid container 45; a movement mechanism comprising a drive 417, a shaft 416 and a connection between the shaft 416 and the drive 414b, which can drive the basket in rotation to allow reciprocating rotational movement of the basket between two positions, one directly above the liquid container 45 and the other directly above the cooker 11; a pouring mechanism (also a moving mechanism) comprising a driving device 411b, a shaft 42b and a connection between the shaft 42b and the basket 41, which can drive the basket 41 to move to pour the semi-finished food in the basket 41.

In some embodiments, as shown in fig. 38A-41, the configuration of the cooking system 901b is the same as the cooking system 901 except that the cooking device 403 is replaced by a cooking device 403b, wherein the cooking system 901b (from left to right) comprises: a dish receiving mechanism 104; a cooker cleaning mechanism 202; a cover mechanism 203; a cooking device 103; a first dumping mechanism 301; a transport system 302; a cooking device 403b; a second pouring mechanism 301b; and a computer system 99. The lid mechanism 203 may allow liquid foodstuff to flow into the cooker 11 (as shown in fig. 7C). The first pouring mechanism 301 is placed beside the cooking device 103 to pour foodstuff into the cookware 11 of the cooking device 103 (as shown in fig. 10). The second pouring mechanism 301b is a replica of the first pouring mechanism 301, having the same part number, but placed beside the cooking device 403 b. The part number in the second blanking mechanism 301b is the same as the corresponding part number in the first blanking mechanism 301.

The cooking device 103 of the cooking system 901b may be referred to as a first cooking device. The first cooking device 103 comprises a stirring mechanism 102, called first movement mechanism, and a pouring mechanism 170, called second movement mechanism; wherein the stirring mechanism 102 can be used to move the cooker 11 of the first cooking apparatus 103 during cooking of cooked food to stir or mix food or foodstuff in the cooker 11 of the first cooking apparatus 103; wherein the pouring mechanism 170 can rotate the support member 149 of the stirring mechanism 102 to flip the cooker 11 of the cooking apparatus 103 to pour the cooked food from the cooker 11 into the cooked food container 182 on the serving mechanism 104.

The cooking device 403b of the cooking system 901b is referred to as a second cooking device. The second cooking apparatus 403b comprises a second movement apparatus comprising a rotary movement mechanism 430 referred to as a third movement mechanism; a vertical movement mechanism 440 called a fourth movement mechanism, and a rotary movement mechanism 450 called a fifth movement mechanism. When the third and fifth movement mechanisms do not move, the fourth movement mechanism may drive the basket 41 to make a straight movement in a vertical direction. When the fourth and fifth moving mechanisms move the support member 413b of the third moving mechanism to an appropriate position, the third moving mechanism may rotate the basket 41 to pour the semi-finished food in the basket 41 into the first cooker 11 of the first cooking apparatus. The fifth movement mechanism may drive the support member 415b of the fourth movement mechanism to a rotational movement about a fixed vertical axis to move the basket 41 between above the liquid container 45 of the cooking apparatus 403b and above the first cooking apparatus 103.

Wherein a third movement mechanism is used to drive basket 41 of cooking apparatus 403b to move linearly in a vertical direction, a fourth movement mechanism is used to flip basket 41 for pouring out the semi-finished food in basket 41, and a fifth movement mechanism is used to drive basket 41 to perform a reciprocating rotational movement about a vertical axis directly above cooker 11 of cooking apparatus 103 and directly above liquid container 45 of cooking apparatus 403 b.

As shown in fig. 38A-38B, the holding member of the second pouring mechanism 301B may be moved to hold the cartridge 81 containing foodstuff, and then the cartridge 81 is rotated to pour foodstuff in the cartridge 81 into the basket 41 of the cooking apparatus 401B. Meanwhile, the basket 41 is at the first limit position with respect to the sliding part 413 b; the sliding part 413b is in a second extreme position with respect to the support member 415 b; and support member 415b is in a first extreme position relative to support member 418 (or relative to the ground). Then, the sliding member 413b moves downward to the first limit position so that the foodstuff in the basket can be immersed in the hot liquid in the liquid container 45 of the cooking apparatus 403 b. The foodstuff in the basket is cooked in a hot liquid to make a semi-finished food. Then, the sliding member 413b moves upward to the second limit position, lifting the basket away from the liquid container 45. The basket is placed at the above-mentioned position for a period of time during which the vibrator 48b may generate minute vibration at the basket 41 to drop the hot liquid adhered to the basket 41 and the semi-finished food into the liquid container 45. Then, as shown in fig. 39A to 39B, when the sliding part 413B is at the second limit position, and the basket 41 is rotated from the first limit position to the second limit position with respect to the sliding part 413B, and the supporting member 415B is rotated to the second limit position, the semi-finished food in the basket 41 may be poured into the cooker 11. The semi-finished food may then be further cooked in the cooking device 103 together with other ingredients, a part of which is poured out of a magazine on a carrier of the transport system 302 by the first pouring mechanism 301 (also shown in fig. 10). After cooked food is cooked in the cooker 11, the cooked food is poured into a cooked food container 182 through the hopper 181 as shown in fig. 40 (also shown in fig. 6B).

The cooker cleaning mechanism 202 is placed beside the cooking apparatus 103 to clean the cooker 11 (also shown in fig. 8B-8C).

The computer system 99 is connected to mechanisms and devices 161, 16, 13, 172, 188, 212, 226, 234, 253, 344a, 344b, 348, 323, 411b, 414b, 417, 47, 421, 212c, and 212 d. The computer system 99 is also coupled to the transport system 302 to control movement of the trolley on the transport system 302.

In the cooking system 901b, the cooking apparatus 103 is placed beside the following mechanisms and devices: a dish receiving mechanism 104; a cooker cleaning mechanism 202; a cover mechanism 203; a cooking device 403b; a pouring mechanism 301 placed beside the transport system 302; and a cooking device 403b. The cooking device 403b is placed beside the second pouring mechanism 301b and the cooking device 103.

The computer system 99 includes a memory. The computer system may store various data in a memory of the computer system.

In some embodiments, as shown in fig. 42, the configuration of cooking system 903b is similar to cooking system 903, wherein cooking system 903b comprises: a dish receiving mechanism 104; a cooker cleaning mechanism 202; a cover mechanism 203; a cooking device 103; a first dumping mechanism 301; a transport system 302; a cooking device 403b; a cooking device 403d; a second pouring mechanism 301b; a third dumping mechanism 301c; a storage mechanism 501; a cartridge loading mechanism 502; and a computer system 99. Cooking apparatus 403d is a replica of cooking apparatus 403b, and cooking apparatus 403d is identical to the other components of cooking apparatus 403b, except that the liquid in liquid reservoir 45 of cooking apparatus 403d and the liquid in liquid reservoir 45 of cooking apparatus 403b may be different. The lid mechanism 203 may allow liquid foodstuff to flow into the cooker 11 (as shown in fig. 7C). The first pouring mechanism 301 is placed beside the cooking device 103 to pour foodstuff into the cookware 11 of the cooking device 103 (as shown in fig. 10). The second pouring mechanism 301b is a replica of the first pouring mechanism 301, but is placed beside the cooking device 403b. The part number in the second blanking mechanism 301b is the same as the corresponding part number in the first blanking mechanism 301. The third pouring mechanism 301c is a replica of the first pouring mechanism 301, but is placed beside the cooking device 403 d. The part number in the third reject mechanism 301c is the same as the corresponding part number in the first reject mechanism 301.

The cartridge loading mechanism 502 may transfer the foodstuff-containing cartridge 81 from the storage mechanism 501 to the cart 790 of the transport system 302. The cart 790 may be moved to a position adjacent the cooking apparatus where a corresponding pouring mechanism of the cooking apparatus may grip a cartridge on the cart 790. The time at which the cart 790 arrives at the location is controlled by the computer system 99.

The holding member of the pouring mechanism 301b may hold the cartridge 81 containing the foodstuff and then flip the cartridge 81 to pour the foodstuff in the cartridge 81 into the basket 41 of the cooking apparatus 403 b. During this operation, basket 41 of cooking apparatus 403b is in a first extreme position with respect to sliding member 413b of cooking apparatus 403 b; the sliding part 413b is in a second extreme position with respect to the support member 415b in the cooking apparatus 403 b; the support member 415b is in a first extreme position relative to the support member 418. Then, the sliding member 413b is moved downward to the first limit position so that the basket 41 filled with foodstuff can be immersed in the hot liquid in the liquid container 45 of the cooking apparatus 403 b. The foodstuff in basket 41 is cooked in the hot liquid to make a semi-finished food. Then, the sliding member 413b moves upward to the second limit position, and lifts the basket 41 away from the liquid container 45. The basket 41 may stay at the above position for a period of time so that the hot liquid adhered to the semi-finished food is dropped into the liquid container 45. Then, when the sliding part 413b is at the second limit position, the support member 415b is rotated to the second limit position, and the basket 41 is rotated from the first limit position to the second limit position with respect to the sliding part 413b, the semi-finished food in the basket 41 may be poured into the cooker 11 of the cooking apparatus 103.

Similarly, the holding member of the pouring mechanism 301c may be moved to hold the food-loaded cartridge 81, and then the cartridge 81 is turned over to pour the food in the cartridge 81 into the basket 41 of the cooking apparatus 403 d. Meanwhile, basket 41 of cooking apparatus 403d is in the first limit position with respect to sliding part 413b of cooking apparatus 403 d; the sliding component 413b is in a second extreme position with respect to the support member 415b of the cooking apparatus 403 d; and support member 415b is in a first extreme position relative to support member 418. Then, the sliding member 413b moves downward to the first limit position so that the basket 41 filled with foodstuff can be immersed in the liquid container 45 of the cooking apparatus 403 d. The foodstuff in basket 41 is cooked in the hot liquid to make a semi-finished food. Then, the sliding member 413b moves up to the second limit position, and lifts the basket 41 to be away from the liquid container 45. The basket 41 may stay at the above-described position for a period of time during which the vibrator 48b may generate minute vibration on the basket 41 to drop the hot liquid adhered to the semi-finished food into the liquid container 45. Then, when the sliding part 413b is at the second limit position, the support member 415b is rotated to the second limit position, and the basket 41 is rotated from the first limit position to the second limit position with respect to the sliding part 413b, the semi-finished food in the basket 41 may be poured into the cooker 11 of the cooking apparatus 103.

The semi-finished food items in cooking devices 403b and 403c are then poured out and possibly further cooked by cooking device 103 together with other ingredients, a portion of which is poured out of the magazine on the carrier of transport system 302 by first pouring mechanism 301 (also shown in fig. 10). After cooked food is cooked in the cooker 11, the cooked food is poured into a cooked food container 182 through the hopper 181 as shown in fig. 32 (also shown in fig. 6B).

The cooker cleaning mechanism 202 is placed beside the cooking apparatus 103 and can clean the cooker 11 (as also shown in fig. 8C-8D).

The computer system 99 and mechanisms and devices 161, 16, 13, 172, 188, 212, 226, 234, 253, 344a, 344b, 348, 323, 411b, 414b, 417, 47, 421, 212c, 212d, 501, and 502. The computer system 99 is also coupled to the transport system 302 to control movement of the cart on the transport system 302.

In the cooking system 903b, the cooking device 103 is placed next to the following mechanisms and means: a dish receiving mechanism 104; a cooker cleaning mechanism 202; a cover mechanism 203; a cooking device 403b; a pouring mechanism 301 placed beside the transport system 302; and a cooking device 403d. The cooking device 403b is placed beside the second pouring mechanism 301b and the cooking device 103. The cooking device 403d is placed beside the third pouring mechanism 301c and the cooking device 103.

As shown in fig. 43, prior to the operation of the cooking system 903b, the computer system 99 may perform the following tasks.

In step 851, the computer system 99 (in the memory of the computer system) stores a program that can be used to receive signals from or send signals to the drive means of the cooking system 903, the induction cooker, the temperature sensor and the pump.

Step 852 builds a database in the computer system 99.

In step 853, each of the cooking device, the serving mechanism, the liquid delivery mechanism, the pouring mechanism, the cooker cleaning mechanism, and the transport system is assigned a unique ID. The computer system 99 stores the IDs of these devices and institutions in a database.

At step 854, the computer system 99 stores in a database structural information for each cart on the transport system 302, including the type of cartridge placed on the cart pallet.

In step 855, the computer system 99 stores a program that can be used to control the transport system 302. The program may be used to control the cart so that the cart may move and stop at a predetermined time at a position near a cooking device of cooking system 903b where a cartridge in a tray on the cart is in a dumping position relative to the cooking device.

In step 856, the computer system 99 stores a list of foods that may be cooked by the cooking system 903.

In step 857, for each food in the list of foods in step 856, the computer system 99 stores a cooking program that may be used to control the drives, induction cookers, pumps, and equipment in the cooking system 903 b.

In step 858, for each food item in the list of food items in step 856, the computer system 99 stores the type and quantity of food items needed, the relative time each food item was poured, and the ID of the corresponding cooking device into which each food item was poured. Wherein the relative time is related to the time of the program corresponding to the food in step 857. The foodstuff contained in the cartridge will be poured into the basket or cooker of the corresponding cooking device.

As shown in fig. 44, during operation of the cooking system 903b, the computer system 99 may perform the following tasks in a programmed manner.

At step 861, the computer system 99 accepts the food order. The customer may place an order on the computer system 99 or send the order to the computer system 99 via a computer.

In step 862, for the food order in step 861, the computer system 99 looks for information on the type and quantity of foodstuff needed to cook the food order. The information has been stored by the computer system 99 in step 858.

In step 863, the computer system 99 positions a cartridge containing the foodstuff described in step 862. The foodstuff may be poured into the cartridge from some larger container. The foodstuff may also have been loaded in the cartridge and the location of the cartridge has been stored in the memory of the computer system 99.

In step 864, the computer system 99 schedules the cooking system 903b to cook the ordered food item. The schedule includes a time to run the program corresponding to the ordered food in step 857. The arrangement also includes the time at which the foodstuff in each cartridge is poured into a corresponding basket or cooker in the cooking system 903b based on the information stored by the computer system 99 in step 858.

In step 865, the computer system 99 controls the transport system 302 to move and stop each of the cartridges described in step 862 in accordance with the arrangement of step 864.

Step 866, the computer system 99 runs the program corresponding to the ordered food in step 857 to receive or send signals to the drive, induction cooker, temperature sensor and pump in the cooking system 903b, according to the arrangement of step 864. After all these steps, the cooking process of the food is completed, which comprises pouring the cooked deli into a deli container.

In some applications, the liquid in the liquid container 45 of the cooking device 403b of the cooking system 903b may be an edible oil, and the liquid in the liquid container 45 of the cooking device 403d may be water.

In this application, the driving means may be any means for driving the two parts in relative motion. The drive means may be driven by electricity, oil or other energy sources. The drive means may comprise a motor.

The motor may be an AC or DC motor, a stepper motor, a servo motor, a variable frequency motor, a pneumatic or hydraulic motor, or the like. The motor may also include a speed reducer, an encoder, and/or a proximity sensor.

The drawings in this patent application are schematic representations of relative sizes and relative positions of components, as may not be in agreement with reality.

This document contains many specifics, however, this is a description of specific embodiments and should not be construed as limiting the scope of the invention that is or may be claimed. Some features described in the various embodiments of the present document may be recombined into a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be provided in multiple embodiments separately or in any suitable subcombination. Furthermore, although the functions described above are described and claimed in the context of a single combination, one or more features of a claimed combination can in some cases be excised from the combination, and the claimed combination may be directed to a subcombination or variation of a subcombination.

The rigid component described in this patent application may be any type of solid component that has a degree of rigidity in application; there is no strict or quantitative requirement on the degree of rigidity. It should be noted that in our world there is no perfectly rigid part, as there is always elasticity, thermal deformation and other deformations in any object. The rigid component may include one or more of the following: rods, tubes, beams, plates, frames, building structures, bearing blocks, shafts. The rigid member may be made of a metal (e.g., steel or aluminum or a mixture of metals), an alloy, a relatively hard plastic, wood, or other material, or a combination of different types of materials.

Similarly, a rigid connection between two or more components may be one that is somewhat rigid in application, where there is no strict quantitative requirement for the degree of rigidity. One rigid connection may be a weld between two or more metal components. A rigid connection may be a bolted connection between two or more components; etc. It is apparent that the typical connection between a shaft and a bearing housing via bearings (and accessories) is not a rigid connection, as the shaft can rotate relative to the bearing housing.

The support member described in this patent application may be any type of rigid component or may be a plurality of rigid components rigidly connected to one another. The support member may be movable or fixed relative to the ground. The links described in this patent application may be rigid members of any shape, or may be a plurality of rigid members rigidly connected to one another.

The most common bearings are ball bearings and roller bearings, but the bearings in this patent application may be any type of bearings.

It should be noted that the drawings in this patent application are schematic and not drawn to scale. The distances between the various mechanisms and devices are not drawn to scale. The relative positions of the various mechanisms and devices in the cooking system may be fixed in other various ways.

In the cooking systems 901, 901b, 902, 903, and 903b, the configuration of the pouring mechanisms 301, 301b, 301c, and 301d may be different. The magazine trays 785a of the transport system 302, which are placed beside different pouring mechanisms, can be designed in different sizes. Cartridges 81 on different trays may be of different sizes. Transport system 302 may include two or more subsystems that are not connected to each other, and the configuration of the carts on different subsystems may be different.

In addition, the first and second pouring mechanisms 301 and 301b may be combined into a single mechanism, which may perform its functions through the use of robotic arms and other more complex devices. Our mechanism is the most economical.

The configuration of the first 203 and second 203b cover mechanisms in the cooking system 902 may be different. Alternatively, they may be combined into a single mechanism comprising a movement mechanism that can move the liquid conduit to enable liquid to flow into two different cookware.

It should also be noted that the configuration of the first cooking device 103 and the second cooking device 103b in the cooking system 902 may be different. The size and shape of the cooker 11 may be different for different cooking devices. Also, the configuration of the first cooker cleaning mechanism 202 and the second cooker cleaning mechanism 202b in the cooking system 902 may be different. Only a few examples and implementations have been described herein and appropriate variations, modifications, and enhancements may be made to the described examples and implementations without departing from the spirit of the present invention. For example, the term "cooker" generally refers to a component that places food or foodstuff during cooking.

In the present invention, the cookware may be a wok, basin, pan, basket, bowl, container, plate, rack, net or other member that holds foodstuff during the cooking process. Cooking is also not limited to any particular style, and the cooking modes may include, but are not limited to: frying (including quick frying), steaming, boiling in water, baking, roasting, smoking, microwave, etc.; the cooking apparatus may or may not use a heater.

Similarly, the cooked food container, pod or container may be a bowl, dish, cup, jar, bottle, plate, basket, net, wok, basin or other implement for holding food or foodstuff. A container may be of any geometric shape.

In this patent application, the connection between the computer system and the electrical or electronic component may include a wired and/or wireless connection between the computer system and the electrical or electronic component to allow the computer system to communicate with the electrical or electronic component. The connection between a computer system and a mechanism or device includes wired and/or wireless connection between the computer system and an electrical or electronic component in the mechanism or device; the connection allows the computer to communicate with the electrical or electronic component.

Claims

1. A cooking system for cooking food comprising:

a computer system comprising one or more computers;

a first cooking apparatus, comprising:

a first cooker for receiving or otherwise holding food or foodstuff;

a first movement mechanism that moves the first cooker;

wherein the first movement mechanism can move the first cooker during cooking to stir and mix food or foodstuff in the cooker;

a second movement mechanism which can move the first cooker under the control of the computer system so as to pour the cooked food in the first cooker into a cooked food container;

a second cooking apparatus, comprising:

a second cooker comprising a porous container for holding or otherwise holding food or foodstuff; and

a first liquid container for containing a liquid;

a heater for heating the liquid in the first liquid container;

a second liquid container for containing fresh liquid;

a third liquid container for containing a used liquid;

a conduit for connecting the first liquid container and the second liquid container, and also for connecting the first liquid container and the third liquid container;

A hydraulic pump mounted on the conduit for drawing fresh liquid in the second liquid container into the first liquid container or for drawing used liquid in the first liquid container into the third liquid container;

a second movement device including a third movement mechanism that moves the second cooker;

wherein the second movement device is under control of a computer system movable the second cooker to place food or foodstuff in the second cooker into the liquid of the first liquid container;

the second movement device, under the control of the computer system, can move the second cooker to pour semi-finished food or foodstuff from the second cooker into the first cooker;

a vibrator fixedly connected to the second cooker, the vibrator being capable of generating vibration on the second cooker to drop the liquid adhered to the second cooker into the first liquid container;

a first pouring mechanism that can pour foodstuff into the first cooker.

2. Cooking system according to claim 1, wherein the first pouring means can pour substantially all foodstuff from the cartridge at one time.

3. The cooking system of claim 1 further comprising a second pouring mechanism that can pour foodstuff into the second cooker.

4. The cooking system of claim 1 further comprising a cooker cleaning mechanism operable to clean the first cooker, the computer system operable to control the cooker cleaning mechanism, wherein the cooker cleaning mechanism comprises:

a blade;

and a driving device which can move the blade.

5. The cooking system of claim 1 further comprising a storage mechanism that can store a cartridge containing foodstuff.

6. The cooking system of claim 1, further comprising a transport system that can transport a pod containing foodstuff.

7. The cooking system of claim 6 wherein the transport system comprises a cart that can move a cartridge containing foodstuff.

8. The cooking system of claim 7 wherein the transport system further comprises a cartridge loading mechanism that can load a cartridge containing foodstuff onto the cart.

9. The cooking system of claim 1, further comprising a drive means for moving the container containing the cooked food.

10. The cooking system of claim 1 wherein the first movement mechanism comprises a sub-mechanism that enables relative rotational movement of the two members.

11. The cooking system of claim 1 wherein said first movement mechanism comprises: a first sub-mechanism capable of imparting relative rotational movement to two members of said first movement mechanism; a second sub-mechanism that allows relative rotation of the two members of the first motion mechanism.

12. The cooking system of claim 1 wherein the first movement mechanism comprises a first shaft and a second shaft.

13. The cooking system of claim 12 wherein the first shaft and the second shaft are rigidly connected.

14. The cooking system of claim 1 wherein said porous container is a basket.

15. The cooking system of claim 1 wherein said second motion device further comprises a motion mechanism capable of producing linear motion.