WO2008144824A1 - Distributeur automatique d'aliments - Google Patents

Distributeur automatique d'aliments Download PDF

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Publication number
WO2008144824A1
WO2008144824A1 PCT/AU2008/000759 AU2008000759W WO2008144824A1 WO 2008144824 A1 WO2008144824 A1 WO 2008144824A1 AU 2008000759 W AU2008000759 W AU 2008000759W WO 2008144824 A1 WO2008144824 A1 WO 2008144824A1
Authority
WO
WIPO (PCT)
Prior art keywords
cooking
machine
food
basket
robotic arm
Prior art date
Application number
PCT/AU2008/000759
Other languages
English (en)
Inventor
Rodney Christopher Turner
Original Assignee
Hot Fresh Fries Pty Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from AU2007903004A external-priority patent/AU2007903004A0/en
Application filed by Hot Fresh Fries Pty Ltd filed Critical Hot Fresh Fries Pty Ltd
Publication of WO2008144824A1 publication Critical patent/WO2008144824A1/fr

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Classifications

    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F9/00—Details other than those peculiar to special kinds or types of apparatus
    • G07F9/10—Casings or parts thereof, e.g. with means for heating or cooling
    • G07F9/105—Heating or cooling means, for temperature and humidity control, for the conditioning of articles and their storage
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F13/00—Coin-freed apparatus for controlling dispensing or fluids, semiliquids or granular material from reservoirs
    • G07F13/10—Coin-freed apparatus for controlling dispensing or fluids, semiliquids or granular material from reservoirs with associated dispensing of containers, e.g. cups or other articles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
    • A47J37/00—Baking; Roasting; Grilling; Frying
    • A47J37/12—Deep fat fryers, e.g. for frying fish or chips
    • A47J37/1228—Automatic machines for frying and dispensing metered amounts of food

Definitions

  • the present invention relates to a vending machine which is particularly useful for storing individual servings of an uncooked food item and automatically cooking and serving same when desired.
  • the food item is preferably potato chips (French fries) but the vending machine can also be used for cooking and serving other cooked items such as chicken pieces, spring rolls and the like.
  • Vending machines for serving hot potato chips have been proposed in the past. These include machines which cooked chips by microwave or frying. Such prior machines however have not provided cooked chips with a good quality or are time consuming to service and clean.
  • the present invention provides a machine for cooking or heating food, the machine comprising: a storage means for storing food; a cooking means for cooking or heating food; and a robotic arm for obtaining food from the storage means, transferring the food to the cooking means for cooking or heating, and retrieving the cooked/heated food from the cooking means.
  • the storage means is preferably a freezer or refrigerator cold storage means having a body with an opening, the body defining an internal space for receiving the food therein.
  • the internal space preferably includes a plurality of spaced brackets for receiving
  • the cold storage means preferably includes a door for selectively opening and closing the cold storage means opening, the door being attached to the body such that the door can be moved away from the opening in a parallel manner such that the robotic arm can be disposed between the door and the body in use.
  • the door preferably includes a hinge connection with the body which allows the door to be swung open.
  • the cooking means is preferably a deep oil fryer which includes a cooking oil tank and a cooking basket for receiving the food, the fryer having a basket drive assembly for moving the cooking basket between an upper receiving position at which it is positioned to receive food, and a lower cooking position at which the cooking basket is lowered into oil in the tank for cooking or heating the food in use, the basket drive assembly adapted to tip the cooking basket for transferring the cooked or heated food out of the cooking basket.
  • the cooking means preferably includes an entry funnel for guiding food into the basket and an exit funnel for guiding cooked or heated food out of the basket.
  • the basket drive assembly preferably includes a carriage, a rack along which the carriage is movable and selectively lockable, and a motor mount pivotably attached to the carriage, the carriage having a pinion engaging the rack, the motor mount having a motor engaging the pinion and an arm holding the cooking basket, wherein the motor can be activated to rotate the pinion to move the carriage upwards and downwards along the rack, and the carriage can be locked to the rack such that when the motor engages the pinion, the motor mount pivots around the pinion along with the arm holding the basket for tipping the cooking basket.
  • the basket is preferably removable from the motor mount.
  • the cooking means preferably includes an extraction duct which is operably connected to an extraction fan with a filter medium placed therebetween for extraction of cooking smoke.
  • the robotic arm is preferably movable horizontally and vertically within the machine.
  • the robotic arm is preferably movable along a horizontal rail via a horizontal drive motor, the horizontal rail together with the arm being movable vertically by a vertical drive belt driven by a vertical drive motor.
  • the vertical drive belt is preferably a toothed belt having its two free ends attached to a link block, the link block having a profile matching the teeth of the belt for locking same therein and completing the belt loop.
  • a counterweight assembly is preferably attached to the link block, the counterweight assembly including a cable attached to the link block and extending vertically upwards to a first pulley, horizontally to a second pulley and then vertically downward to a counterweight having a weight substantially equal to the horizontal rail/robotic arm assembly.
  • the robotic arm preferably includes a carriage movable along the horizontal rail, and at least one member pivotally attached to the carriage, the member having an actuatable claw for grabbing a food serving.
  • the at least one member preferably includes a first member having its first end pivotally connected to the carriage at a first pivot point, a second member having an end thereof pivotally connected to a second end of the first member at a second pivot point and a third member having an end thereof pivotally connected to a second end of the second member at a third pivot point, wherein the claw is attached to the third member.
  • the carriage preferably includes a motor operably connected to the first member for varying the angular position of the first member relative to the carriage about the first pivot point, the angular position of the first member relative to the carriage being determined by a position sensor coupled therebetween.
  • the first member preferably includes a motor operably connected to the second member for varying the angular position of the second member relative to the first member about the second pivot point, the angular position of the second member relative to the first member being determined by a position sensor coupled therebetween.
  • the second member preferably includes a motor operably connected to the third member for varying the angular position of the third member relative to the second member about the third pivot point, the angular position of the third member relative to the second member being determined by a position sensor coupled therebetween.
  • the claw is preferably attached to the third member via a hinge which allows the claw to pivot relative to the third member.
  • the claw preferably includes a fixed claw member and a moveable claw member which is moveable via a motor.
  • the fixed claw member preferably includes first and second upright arms for extending along opposite sides of a box, the first upright arm includes a first claw pin, the second upright arm includes at least one aperture therein, the moveable claw member includes a second claw pin which when in the retracted position is generally outside of the internal surfaces of the fixed claw member and in the engagement position the claw pin passes through the aperture to engage the box in use.
  • the machine is preferably a vending machine having a cabinet within which is disposed the storage means, the cooking means and the robotic arm, wherein upon receiving a customer request, the machine actuates the robotic arm for cooking/heating the food via the cooking means and for delivering the cooked/heated food to a serving hatch of the vending machine.
  • the serving hatch preferably includes a frame disposed at the front of the vending machine cabinet, the frame including a rear flap pivotable via a hinge, a bottom panel and a serving front door, the rear flap including a return at its distal edge which is perpendicular to the rear flap.
  • the bottom panel preferably can be opened for discarding items within the hatch serving when desired.
  • Each food serving is preferably in a box, wherein in use the robotic arm grabs a box of food, tips the box contents into the cooking means, rotates the box back into an upright position and then positions the empty box to receive the cooked or heated food from the cooking means.
  • the machine preferably includes a sachet tower installed in a door of the vending machine for storing and dispensing sachet of spices/sauce as desired.
  • the vending machine cabinet preferably includes a door lockable by a door lock, wherein a moving portion of the door lock activates a door safety switch when the door lock is unlocked, the safety switch sending a signal to stop any movement of the robotic arm.
  • the cooking means in another embodiment is a conventional oven, grill and/or microwave oven.
  • the present invention in another aspect provides a method of cooking or heating food in a vending machine, the vending machine including a storage means, a cooking means and a robotic arm, the method comprising:
  • the present invention in another aspect provides a method of cooking food in a vending machine, the vending machine including a freezer, a fryer and a robotic arm, the method comprising: moving the robotic arm to obtain a box of uncooked food from the freezer; moving the robotic arm to tip the box such that its food contents fall into a cooking basket of the fryer; lowering the cooking basket into cooking oil in the fryer for the food items to be cooked; moving the arm to rotate the empty box back to its upright position; moving the cooking basket to transfer the cooked food items into the empty box; moving the arm to move the box filled with cooked food to a serving hatch of the vending machine.
  • Figure 1 is a schematic side cross-sectional view of a vending machine according to a preferred embodiment of the present invention
  • Figure 2 is a schematic front cross-sectional view of the vending machine of Figure 1 ;
  • Figure 3 is a schematic top cross-sectional view of the vending machine of Figure 1 ;
  • Figures 4a to 14 sequentially show the steps in the operation of the machine, where Figures 4a to 7a are schematic front views and Figures 4b to 7b are corresponding respective schematic top views, and Figures 8 to 14 are schematic top views;
  • Figures 15 to 18 sequentially show the steps in the tipping of a box carrying chips into the fryer of the machine using the robotic arm and a tip bracket;
  • Figure 19 shows the robotic arm holding a box and the tip bracket
  • Figures 20 to 23 sequentially show the steps in the rotating of an empty box back to its upright position using the robotic arm and the tip bracket;
  • Figure 24 shows the basket drive assembly
  • FIGS 25 to 27 sequentially show the steps in the cooking of the chips in the basket and emptying of the basket using the basket drive assembly
  • Figures 28 and 29 are front and top views respectively of the robotic arm
  • Figure 30 shows the serving hatch
  • Figure 31 shows the serving hatch of Figure 30 ready to receive a box filled with cooked chips
  • Figure 32 shows the serving hatch of Figure 30 when discarding an uncollected serving
  • Figures 33 to 35 schematically show a sachet tower for the vending machine
  • Figure 36 shows a motherboard module for the vending machine
  • Figures 37 and 38 are front and top views respectively of a modified version of the robotic arm
  • Figure 39 is an enlarged view of the claw assembly of Figure 37;
  • Figure 40 shows an enlarged view of the interaction between the claw assembly and a modified version of the brackets
  • Figure 41 shows a modification of the vertical drive for the robotic arm including a counterweight assembly
  • Figure 42 is an enlarged view of the link block for the counterweight assembly of Figure 41 ;
  • Figure 43 is an enlarged view of the upper portion of figure 41 showing the park bracket and park limit switch for the robotic arm;
  • Figure 44 is an enlarged view showing a safety switch for the vending machine door
  • Figure 45 shows the latch for the door of Figure 44 disengaged
  • Figure 46 shows a modified version of the basket drive assembly having a removable basket
  • Figure 47 shows the removable basket of figure 46
  • Figure 48 shows the rack and carriage for the basket drive assembly
  • Figures 49 to 51 sequentially shows the modified steps of delivering the box filled with chips to the serving hatch.
  • the vending machine 10 includes a cabinet 12 within which is disposed a freezer 22 holding a number of boxes 28 filled with uncooked chips, a deep fryer 25 having a cooking basket 34, and a robotic arm 30.
  • the general operation of the vending machine 10 includes the robotic arm 30 obtaining a box 28 of uncooked potato chips from the freezer 22.
  • the arm 30 then tips the box 28 such that its chips contents fall into the cooking basket 34.
  • the cooking basket 34 is then lowered in cooking oil in the deep fryer 25 for the chips to be cooked.
  • the arm 30 then rotates the box 28 back to its upright position and the basket 34 transfers the cooked chips back into the empty box 28.
  • the arm 30 then moves the box 28 filled with cooked chips to a serving hatch 80 for collection by a customer. Details regarding the individual parts of the vending machine 10 will now be described.
  • the freezer 22 includes a body 20 having an opening 21 , a door 23 for closing the opening 21 , and a number of spaced paired complementary C-shaped brackets 24 within the body 20.
  • the C-shaped brackets 24 face each other to form a space for receiving and holding potato chip boxes 28 therebetween.
  • a box 28 can be received between the C-shaped brackets 24 and also above the pair of brackets 24.
  • there are three vertical columns of the brackets 24 and each pair of brackets 24 can receive two boxes 28 between the brackets 24 and another two boxes 28 on top of each pair of brackets 24.
  • the freezer door 23 is attached to the freezer body 20 in a manner such that the door 23 can be moved away from the opening 21 in a parallel manner.
  • a static half of a telescopic slide (not shown) is attached to the body 20, and a rack comprising the dynamic half of the slide is attached to the door 23.
  • the telescopic slides are attached to the top and bottom of the body 20.
  • Respective motorised pinions 29 engage the rack which moves the door 23 in a parallel motion relative to the freezer body 20 to permit access to the interior of the freezer 22 for accessing the boxes 28.
  • the travel of the racks are controlled by limit switches.
  • the ends of the racks attached to the door 23 also include hinges which allow the door 23 to be swung open for filling of the freezer 22.
  • the deep fryer 25 includes a cooking oil tank 32 and a cooking basket 34 located within the cooking tank 32.
  • the cooking basket 34 is movable by a basket drive assembly 36 between an upper receiving position (indicated as 34a in Figure 1 ), at which it is positioned to receive chips from a tank entry funnel 38, and a lower cooking position (indicated as 34b in Figure 1 ), at which the basket is lowered into oil in the tank 32 for cooking of the chips in use.
  • the fryer 25 also includes an extraction duct 40 which is operably connected to an extraction fan 42 with a filter medium 44 placed therebetween for extraction of cooking smoke from the fryer
  • the oil tank 32 includes a basket exit aperture 33 which is adjacent an exit funnel 35 located outside and adjacent the tank 32. After cooking of the chips, the basket 34 is tipped through the aperture 33 for the cooked chips to fall into the exit funnel 35 and into an empty box 28 positioned below the funnel 35 as further described below.
  • the robotic arm 30 is moveable along a horizontal rail 46 via a horizontal drive motor 47.
  • the horizontal rail 46 together with the arm 30 are moveable vertically by a vertical drive belt 48 driven by a vertical drive motor 49.
  • FIGS. 28 and 29 show the robotic arm 30 in further detail.
  • the arm 30 includes a carriage 52 for connection to the horizontal line 46, a first member 56 having its first end pivotally connected to the carriage 52 at a pivot point 57, a second member 62 having an end thereof pivotally connected to a second end of the first member 56 at a pivot point 58 and a third member 68 having an end thereof pivotally connected to a second end of the second member 62 at a pivot point 63.
  • the carriage 52 includes a motor 53 which is connected to a first gear 54a which is coupled to a second gear 54b connected to the first member 56. In this manner, the angular position of the first member 56 relative to the carriage 52 about the pivot point 57 can be varied by the motor 53. The angular position of the first member 56 relative to the carriage 52 is determined via a position sensor 55 coupled therebetween.
  • the first member 56 includes a motor 59 connected to a first gear 60a which engages a second gear 60b connected to the second member 62 and a position sensor 61. This allows the motor 59 to rotate the second member 62 relative to the first member 56 around the pivot point 58 with the relative rotation position between the members 56 and 62 being determined by the position sensor 61.
  • the second member 62 includes a motor 64 which is connected to a toothed pulley 65a.
  • a position sensor 66 is disposed on the second arm 62 and which is connected to a second toothed pulley 65b.
  • a third toothed pulley 65c is connected to the third member 68.
  • a toothed belt 69 rotatably couples the pulleys 65a to 65c such that the motor 64 can rotate the third member 68 relative to the second member 62 with the relative rotation thereof being determined by the position sensor 66.
  • the third member 68 includes a claw assembly 70 for grabbing and holding a box 28.
  • the claw assembly 70 includes a fixed claw member 72 having a claw pin 72a and a moveable claw member 73 having a claw pin 73a which is moveable via a motor 74.
  • the claws 72, 73 are moveable towards and away from each other for the pins 72a and 73a engaging and releasing a box 28 with the box 28 generally resting on the claw member 72.
  • the claw assembly 70 is attached to the third member 68 via a hinge 75 which allows the claw 70 to pivot relative to the third member 68 as further explained below.
  • Figures 4a and 4b show the machine 10 in its parked position with the freezer door 23 closed and the robotic arm 30 parked at the top of the vending machine cabinet 12.
  • the cooking basket 34 is also in its upper receiving position within the oil tank 32.
  • the machine 10 performs its steps in the retrieving, cooking and serving of chips.
  • the freezer door 23 is moved to its open position by the door pinions 29.
  • the freezer door 23 is then spaced from the opening 21 which will allow the robotic arm 30 to move therebetween as shown in Figure 5b.
  • the freezer door 23 is not shown for illustration purposes.
  • the robotic arm 30 descends into the freezer 22 via the vertical drive belt 48 to the next available box 28.
  • the claw 70 of the robotic arm 30 is moved to be below the box 28, lifting the box 28 and closing its claw members 72 and 73 to grip the box 28.
  • the second member 62 of the robotic arm 30 is pivoted relative to the first member 56 to extend the claw 70 into the freezer 22.
  • the first member 56 is pivoted relative to the carriage 52 such that the claw 70 extends further into the freezer 22.
  • Figures 7a and 7b shows the next step of the robotic arm 30 straightening for moving out of the freezer body 20.
  • the robotic arm 30 now carries a box 28 filled with chips via its claw 70.
  • the arm 30 positions the box 28 over the right hand side of the fryer entry funnel 38 by rotating the first member 56 relative to the carriage 52.
  • Figure 9 shows the arm 30 moved along the horizontal rail 46 towards the left to tip the box 28 over the entry funnel 38, which is shown in further detail in Figures 15 to 19.
  • Figures 15 and 19 show the box 28 prior to tipping of the claw 70 relative to the third member 68.
  • a rotated L-shaped tipping bracket 82 is positioned within the cabinet 12 and movement of the arm 30 towards the left in Figure 15 allows the box 28 to abut against the tipping bracket 82.
  • the tipping bracket 82 includes a horizontal leg 83 and a downward extending right hand leg 84 (see Figure 19). As shown in Figures 16 and 17, further movement of the arm 30 to the left relative to the bracket 82 forces the claw 70 to pivot relative to the third member 68 via the hinge 75 thus tipping the box 28 upside down.
  • the box 28 includes a lid 27 which is flipped open when the box 28 is tipped, the lid 27 engaging the entry funnel 38 for guiding the potato chip contents of the box 28 into the fryer entry funnel 38 and into the basket 34 as shown in Figure 17.
  • the weight of the contents of the box 28 when upside down opens the lid 27 and allows the contents to fall into basket 34.
  • the cooking basket 34 is then lowered into the oil tank 32 for a predetermined cooking time via the basket drive assembly 36.
  • the oil tank 32 is filled with cooking oil to a desired level which is heated as required. Further details of the basket drive assembly 36 are described below.
  • Figures 20 to 23 show the sequential use of the bracket 82 for rotating the inverted empty box 28 back into its upright position.
  • the arm 30 positions the inverted box 28 to the right side and slightly above the tip bracket 82.
  • the arm 30 then moves sideways to the left such that the box 28 engages the bracket 82 and the claw assembly 70 rotates relative to the third member 68, as shown in Figure 21.
  • Figures 22 and 23 when the box 28 is over the bracket 82, the arm 30 then descends down the left side of the bracket 82 to bring the claw 70 and the box 28 into their upright position.
  • Figure 10 shows the box 28 back to its upright position.
  • the arm 30 is straightened and moved vertically to the top of the cabinet 12 which allows the freezer door 23 to close as shown in Figure 12.
  • Figure 13 shows the arm 30 moving the empty box 28 under the exit funnel 35 of the fryer 25.
  • the fryer basket 34 is then tipped by the basket drive assembly 36 (as further described below) which empties cooked food into the exit funnel 35 and into the box 28.
  • Figure 14 shows the arm 30 moving upwards and moving the box 28 filled with cooked food to the serving hatch 80 where the rear of the hatch 80 has been opened. Details of the serving hatch 80 are further described below.
  • the claw 70 then releases its grip on the box 28 and the rear of the hatch 80 is swung into its closed position which pushes the box 28 from the claw 70 further into the serving hatch 80.
  • a sachet of sauce/salt is dispensed into hatch 80 and the arm 30 returns to its parked position.
  • the customer can then obtain the box 28 with cooked food and the sachet inside the hatch 80 by raising and lowering the serving hatch front.
  • FIG 24 shows the basket drive assembly 36 in detail which is used for moving the cooking basket 34 between its upper receiving position and its lower cooking position, and for tipping the basket 34 to empty its cooked food contents into the exit funnel 35.
  • the drive assembly 36 includes a rack 90 along which a carriage 92 is movable.
  • the rack also includes upper and lower stops 77 and 78.
  • the carriage 92 includes bearings 93 engaging a smooth side of the rack 90 and a pinion 94 engaging a toothed side of the rack 90.
  • the carriage 92 also includes an up switch 85, a bottom switch 86, a counter-clockwise (CCW) switch 87, a clockwise (CW) switch 88, and upper and lower solenoids 95 and 96.
  • CCW counter-clockwise
  • CW clockwise
  • a motor mount 97 Pivotally attached to the carriage 92 is a motor mount 97 having a motor 98 engaging the pinion 94.
  • the motor mount 97 is selectively lockable in position relative to the carriage 92 via a lock (not shown).
  • Fixedly attached to the motor mount 97 is a bracket and arm 99 (see Figures 25) which holds the cooking basket 34 in a fixed position relative to the motor mount 97.
  • FIGs 25 to 27 show the operation of the drive assembly 36 in use.
  • the basket 34 starts in its upper receiving position as shown in Figure 25 by having the carriage 92 positioned at the upper portion of the rack 90.
  • the motor 98 is activated to rotate counter-clockwise which rotates the pinion 94 along the rack 90 thereby moving the carriage 92 downwards along the rack 90 until the lower stop 78 hits the bottom switch 86 as shown in Figure 26.
  • both of the solenoids 95 and 96 are engaged with the rack 90 which locks the carriage 92 to the rack 90.
  • the lock between the carriage 92 and the motor mount 97 is also released.
  • the motor 98 is rotated relative to the pinion but as the carriage 92 cannot move relative to the rack 90, and the motor mount 97 is no longer locked to the carriage 92, the motor mount 97 rotates around the pinion 94 along with the bracket and arm 99 and basket 34 until the motor mount hits the CW switch 88.
  • the basket 34 has partly exited through the exit aperture 33 and the contents of the basket 34 have been tipped onto the fryer exit funnel 35 and into the empty box 28.
  • the motor 98 then rotates in the other direction to rotate the motor mount 97 and basket 34 back into their upright position.
  • the solenoids 95 and 96 are then released and the motor 98 rotates CCW such that the carriage 92 climbs the rack 90 until the upper stop 77 hits the up switch 85.
  • FIGS 30 to 32 show the serving hatch 80 for the vending machine 10.
  • the serving hatch 80 includes a frame 101 disposed at the front of the vending machine cabinet 12.
  • the frame 101 includes a rear flap 102 pivotable via a hinge 103, a bottom flap 104 pivotable via a hinge 105 and a serving front door 106, which together form a space 108 for receiving a box 28 filled with cooked chips.
  • a drive motor 110 To one side of the frame 101 there is provided a drive motor 110, a closed switch 111 , an open switch 112, rear flap solenoid 113 and a bottom flap solenoid 114.
  • a quadrant 116 is attached to the shaft of the motor 110 and is pivotable by the motor 110.
  • the rear flap 102 includes a bracket 119 with a slot 117 which is permanently engaged by a pin 118 in the quadrant 116.
  • the bottom flap 104 is attached to the quadrant 116 by a wire 120.
  • These components 110 to 120 are provided to one side of the frame 101 such that the space 108 is free to receive a box 28.
  • Figure 30 shows the serving hatch 80 with both the rear flap 102 and the bottom flap 104 in the closed position.
  • the robotic arm 30 is about to deliver a box 28 filled with cooked chips to the hatch 80
  • the rear flap solenoid 113 releases the rear flap 102 and the motor 110 runs to rotate the quadrant 116 until a pin 115 of the quadrant 116 hits the open switch 112 which stops the motor 110 as shown in Figure 31.
  • the rear flap 102 is opened to about 90° from the vertical.
  • the arm 30 then moves parallel to the rear flap 102 with the box 28 resting on the bottom flap 104.
  • the claw 70 then releases the box 28 and the hatch motor 110 runs counter-clockwise to close the rear flap 102.
  • the front door 106 is preferably made from transparent material such as Perspex plastics material or glass.
  • the machine 10 also includes a sachet tower 130 as shown in Figures 33 to 35 for storing and dispensing sachets 132 of salt and tomato sauce.
  • the sachet tower 130 is installed in a door of the vending machine 10 and stores sachets 132 in parallel stacks 134.
  • the tower 130 includes a ram 136 mounted on telescopic slides 137. The ram is movable by a motor 138 fitted with a lead screw 140 which engages with a nut 142 attached to the ram 136. Limit switches determine the position of the ram.
  • the ram 136 is moved from left to right which ejects a sachet 132a onto an angled ramp 142 which guides the sachet 132a to the serving hatch 80 as show in Figure 34.
  • the ram 136 is then moved from right to left which allows the remaining sachets 132 in that stack 134a to drop in front of the ram 136.
  • the ram 136 moves further to the left and repeats the above sequence for the next stack 134b as shown in Figure 35.
  • both solenoids 113 and 114 are actuated to release the rear flap 102 and the bottom flap 104.
  • the motor 110 runs clockwise until the quadrant pin 115 hits the open switch 112. This opens both the rear flap 102 and the bottom flap 104 which allows anything left in the hatch space 108 to be dropped into the bin under the hatch 80.
  • the motor 110 is then run counterclockwise until the quadrant pin 115 hits the closed switch 111.
  • Both solenoids 113 and 114 are then actuated to lock both the rear and bottom flaps 102 and 104 closed.
  • the oil in the tank 32 is allowed to cool at which point the oil is drained by a scavenge pump and then refilled with clean oil to a level determined by a switch.
  • the sachet tower can also be refilled.
  • the present invention thus provides a vending machine which stores and cooks food only when desired, in a manner similar to that of a corner shop or restaurant.
  • the customer receives a freshly cooked product.
  • a box containing frozen food can be moved from the freezer and tipped into the fryer and then have the empty box moved by the arm to the exit of the fryer so that it can be refilled with cooked food which can then be moved to the serving hatch.
  • the machine allows the freezer, fryer and serving hatch to be independent and simplified modules which are linked by the actions of the robotic arm.
  • the machine can also be used to serve other cooked items such as spring rolls, chicken pieces and the like.
  • the freezer module can also be replaced by a refrigerator if required.
  • the cooking module can comprise a grill or other cooking means as desired.
  • the cooking means can be a microwave oven for cooking food or only heating pre-cooked food stored in the freezer.
  • the box can also be tipped by using a motor attached to the claw for pivoting the claw. Such a motor would also be used to rotate the box back to its upright position.
  • FIG 36 shows a motherboard module 150 for the vending machine 10.
  • the motherboard module 150 comprises a printed circuit board (PCB) 151 having mounting flanges 152 for mounting to the cabinet 12 or chassis of the vending machine 10 by four screws.
  • the PCB has mounted to it two programmable logic controllers (PLC) 153 and five servo boards 154 for the robotic arm 30, thirteen relays 155 controlled by outputs of the PLC and eight connectors 156 for the various modules within the vending machine 10.
  • the PCB also includes a switch (not shown) to control the 12 volt supply for the robotic arm 30.
  • the motherboard 150 centralises the control means of the vending machine 10 thus reducing the assembly time and improving reliability. This enables the motherboard module 150 and its associated parts to be easily installed as a single unit or replaced by a similar unit if required in a few minutes.
  • Figures 37 to 39 show a modified robotic arm 30a which is substantially similar to the robotic arm 30. Similar parts with the robotic arm 30 will be referred to with similar reference numerals.
  • the main modifications of the robotic arm 30 relate to the rotation and sensor assembly provided between the second member 62 and the third member 68.
  • the second member 62 includes a horizontally mounted motor 64 driving a bevel gear 67a which rotates a bevel gear 67b attached to the third member 68.
  • the gear 67b is attached to a pivot shaft which is connected to a toothed pulley 65a.
  • the position sensor 66 is disposed on the second arm 62 and which is connected to a second toothed pulley 65b.
  • a toothed belt 69 rotatably couples the pulleys 65a and 65b.
  • pivot point 57 comprises a one piece construction incorporating a flange which has three screws fixing formations for attaching the flange to the carriage 52, a shaft extending through the bearings of the first member 56, a further shaft for attachment of the drive gear 54b and a machined hole to drive the position sensor 55.
  • a similar one piece construction is provided for the pivot point 58 between the first and second members 56 and 62.
  • This embodiment also includes a cable guide 148 to prevent a cable assembly 149 of the robotic arm from coming into contact with the gears 54a and 54b.
  • Figure 39 shows a modification of the claw assembly 70.
  • the fixed claw member 72 includes first and second upright arms 161 and 162 for extending along opposite sides of a box 28.
  • the upright arm 161 includes a claw pin 72a and a claw spring 164 for biasing the box 28 away from the claw pin 72a.
  • the second upright arm 162 includes an aperture 163 therein.
  • the moveable claw member 73 includes a claw pin 73a which when in the retracted position is generally outside of the internal surfaces of the fixed claw member 72. When moved to engage the box 28, the claw pin 73a passes through the aperture 163.
  • the moveable claw member 73 is attached to a lead screw 165 of the motor 74 to be moveable by rotation of the motor 74.
  • the claws pins 72a, 73a are moveable towards and away from each other for engaging and releasing the box 28 with the box 28 generally resting on the fixed claw member 72.
  • This embodiment includes a limit switch 166 to stop the motor 74 which is actuated by the movable claw member 73 when in the desired box engaging position.
  • the motor 74 is run in the opposite rotation direction for a predetermined time.
  • the claw spring 164 moves the box 28 away from the claw pins 72a.
  • a micro switch 167 is set into the surface of the fixed claw member 72.
  • the claw assembly 70 is attached to the third member 68 via a hinge 75.
  • Figure 40 shows an enlarged view of the interaction between the modified claw assembly 70 and a modified version of the brackets 24.
  • a taper 168 is incorporated into the front of the claw assembly 70 and the leading edges 169 of the brackets 24 as viewed from above.
  • the second member 62 includes a guide 170 having a taper 171 on its leading edge.
  • Figures 41 to 43 show a modification of the vertical drive for the robotic arm 30.
  • the robotic arm 30 is moveable along a horizontal rail via its carriage 52.
  • the horizontal rail together with the arm 30 are moveable vertically by a vertical drive belt 48 driven by a vertical drive motor 49 and extending around an idler pulley 49a.
  • the drive belt 48 is a toothed belt having its two free ends attached to a link block 172.
  • the link block 172 is a toothed belt having its two free ends attached to a link block 172.
  • 172 is machined to include a profile matching the teeth of the belt 48 for locking same therein and thus completing the belt loop. Assembling the belt 48 in this manner simplifies construction and servicing and negates the need to manufacture a custom made belt with a predetermined length. This drive belt construction can also be used for the horizontal axis.
  • the link block 172 includes a link arm 173 which is attached to and supports the horizontal rail.
  • a counterweight assembly 175 is attached to the link arm 173.
  • the counterweight assembly 175 includes a cable 176 attached to the link arm
  • the counterweight assembly is for substantially avoiding issues of the robotic arm 30 suddenly descending in the event of a power failure and also to dampen the vertical drive of the robotic assembly 30.
  • Figure 43 shows a park bracket 179 having a park limit switch 180 attached to the cabinet 12 of the vending machine 10.
  • the park bracket 179 is a mechanical means of limiting the vertical travel of the robotic arm 30 and the park limit switch 180 (which is actuatable by the link arm 173) provides vertical datum for the software driving the robotic arm 30 for limiting is upward vertical movement.
  • Figures 44 and 45 show a safety switch 181 for the vending machine door 182.
  • the moving portion 185 of the door lock 183 is engaged with the pawl 184 of the cabinet 12.
  • the door lock moving portion 185 has been released from the pawl 184 and activates the door safety switch 181.
  • Activation of the safety switch 181 sends a signal to stop any movement of the robotic arm 30.
  • the cabinet door can then be swung open by which time at least 2 seconds has passed which is enough time for the robotic arm 30 to come to rest.
  • the robotic arm 30 is thus stopped prior to moving the door open, which is different to having the switch 181 between the door 182 and the cabinet 12. In the latter situation, the robotic arm 30 may still be moving when the door 182 is swung open.
  • the present embodiment thus introduces a reliable time delay for switching off the power to the robotic arm should a service engineer or authorized person open the cabinet door with the machine running thus avoiding injury to the person.
  • Figures 46 to 48 show a modified version of the basket drive assembly having a removable basket.
  • the bracket and arm 99 holding the cooking basket 34 is removably attached to the motor mount 97 via screws 99a. This allows the basket 34 to be removed for cleaning in a dishwasher or by other means.
  • FIG. 49 to 51 shows the modified steps of delivering the box 28 filled with chips to the serving hatch 80.
  • the serving hatch 80 includes a frame 101 disposed at the front of the vending machine cabinet 12.
  • the frame 101 includes a rear flap 102 pivotable via a hinge 103, a bottom flap 104 and a serving front door 106.
  • the rear flap 102 includes a return 186 at its distal edge which is perpendicular to the rear flap 102.
  • the rear flap 102 When delivering a box 28 to the hatch 80, the rear flap 102 is held open at 90 degrees to its closing position as shown in Figure 14.
  • the claw assembly 70 When the claw assembly 70 has positioned the box 28 adjacent the hatch 80, the rear flap 102 is pivoted to its closing position and thus the return 186 contacts the side of the box at point 187 as shown in Figure 50 which pushes the box 28 into the hatch 80.
  • the box 28 comes into contact with the a ramp 188 formed in the lower flap 104 which causes the box 28 to elevate enough for the return 186 to pass under the box 28 allowing the rear flap 102 to close fully as shown in Figure 51.
  • a proprietary Uninterrupted Power Supply is used to power the power supply used by the Programmable Logic Controller (PLC) and Robotic arm 30.
  • PLC Programmable Logic Controller
  • the UPS sends a signal to the PLC to detect that mains power has been lost and then allows the machine to finish its current serve.
  • the robotic arm 30 returns to its parked position (known reference position for the PLC). The machine is then shut down in software until the UPS detects mains power has been restored. If the PLC detects that the restored mains power is present for a predefined time it then restarts the machine.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Vending Machines For Individual Products (AREA)

Abstract

La présente invention concerne un distributeur automatique (10) qui cuit ou réchauffe des aliments (10), typiquement des frites. Ce distributeur (10) se compose d'un magasin congélateur (22) pour conserver les frites dans des boîtes individuelles, d'une friteuse (25) pour cuire ou réchauffer les frites, et d'un bras robotique (30) pour puiser une grosse portion de frites dans le congélateur (22), les transférer dans la friteuse (25) pour leur cuisson ou leur réchauffage et retirer les frites cuites/réchauffées de la friteuse (25). Le bras robotique (30) sert ensuite les aliments à un guichet de service du distributeur (10).
PCT/AU2008/000759 2007-06-01 2008-05-29 Distributeur automatique d'aliments WO2008144824A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
AU2007903004A AU2007903004A0 (en) 2007-06-01 Vending Machine
AU2007903004 2007-06-01
AU2008901129 2008-03-10
AU2008901129A AU2008901129A0 (en) 2008-03-10 Vending Machine

Publications (1)

Publication Number Publication Date
WO2008144824A1 true WO2008144824A1 (fr) 2008-12-04

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PCT/AU2008/000759 WO2008144824A1 (fr) 2007-06-01 2008-05-29 Distributeur automatique d'aliments

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Country Link
WO (1) WO2008144824A1 (fr)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104041552A (zh) * 2013-03-14 2014-09-17 姜俊凭 油炸及出热食品结构
CN104346873A (zh) * 2013-08-05 2015-02-11 黄自升 冷冻食物自动烹制售卖系统
WO2015018204A1 (fr) * 2013-08-05 2015-02-12 Huang Zisheng Système de cuisson et de vente automatique d'aliments surgelés
EP3324372A1 (fr) * 2016-11-22 2018-05-23 Qualityfry, S.L. Distributeur pour alimenter des friteuses
CN108460923A (zh) * 2018-04-25 2018-08-28 北京七十五度科技有限公司 一种分布式加热的食品加热贩卖机及加热方法
CN108877054A (zh) * 2018-08-14 2018-11-23 深圳市道中创新科技有限公司 果汁机
WO2019184423A1 (fr) * 2018-03-28 2019-10-03 黄自升 Dispositif de distribution de marchandises de système de distribution automatique à chariots de transport
WO2022076558A1 (fr) * 2020-10-06 2022-04-14 Lab2Fab, Llc Système de friture automatisé
WO2022099167A1 (fr) * 2020-11-09 2022-05-12 24/7 Pizza Box, LLC Distributeur automatique et systèmes et procédés d'ouverture

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EP0455477B1 (fr) * 1990-05-04 1994-02-16 Restaurant Technology , Inc. Système de cuisson de nourriture et procédé
EP0406475B1 (fr) * 1989-07-06 1994-03-02 Higashi Hiroshima Golf Shinko K.K. Appareil automatique pour la cuisson et la vente de produits alimentaires
EP0488351B1 (fr) * 1990-11-29 1995-05-10 Higashi Hiroshima Golf Shinko K.K. Système de friture et distributeur automatique d'aliments
US7174830B1 (en) * 2003-06-05 2007-02-13 Dawei Dong Robotic cooking system

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EP0406475B1 (fr) * 1989-07-06 1994-03-02 Higashi Hiroshima Golf Shinko K.K. Appareil automatique pour la cuisson et la vente de produits alimentaires
EP0455477B1 (fr) * 1990-05-04 1994-02-16 Restaurant Technology , Inc. Système de cuisson de nourriture et procédé
EP0488351B1 (fr) * 1990-11-29 1995-05-10 Higashi Hiroshima Golf Shinko K.K. Système de friture et distributeur automatique d'aliments
US7174830B1 (en) * 2003-06-05 2007-02-13 Dawei Dong Robotic cooking system

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104041552A (zh) * 2013-03-14 2014-09-17 姜俊凭 油炸及出热食品结构
US10354479B2 (en) 2013-08-05 2019-07-16 ZiSheng Huang System for automatically cooking and selling frozen food
CN104346873A (zh) * 2013-08-05 2015-02-11 黄自升 冷冻食物自动烹制售卖系统
WO2015018204A1 (fr) * 2013-08-05 2015-02-12 Huang Zisheng Système de cuisson et de vente automatique d'aliments surgelés
US11468727B2 (en) 2013-08-05 2022-10-11 ZiSheng Huang System for automatically cooking and selling frozen food
WO2018095898A1 (fr) * 2016-11-22 2018-05-31 Qualityfry, S.L. Distributeur pour alimenter des machines à frire
EP3324372A1 (fr) * 2016-11-22 2018-05-23 Qualityfry, S.L. Distributeur pour alimenter des friteuses
WO2019184423A1 (fr) * 2018-03-28 2019-10-03 黄自升 Dispositif de distribution de marchandises de système de distribution automatique à chariots de transport
WO2019184424A1 (fr) * 2018-03-28 2019-10-03 黄自升 Procédé de prélèvement de marchandises empilées dans un système de distribution automatique au moyen d'une pince mécanique
CN108460923A (zh) * 2018-04-25 2018-08-28 北京七十五度科技有限公司 一种分布式加热的食品加热贩卖机及加热方法
CN108877054A (zh) * 2018-08-14 2018-11-23 深圳市道中创新科技有限公司 果汁机
CN108877054B (zh) * 2018-08-14 2024-01-05 深圳市道中创新科技有限公司 果汁机
WO2022076558A1 (fr) * 2020-10-06 2022-04-14 Lab2Fab, Llc Système de friture automatisé
CN116322442A (zh) * 2020-10-06 2023-06-23 莱博2法博责任有限公司 自动化油炸系统
US11882964B2 (en) 2020-10-06 2024-01-30 Lab2Fab. LLC Automated frying system
WO2022099167A1 (fr) * 2020-11-09 2022-05-12 24/7 Pizza Box, LLC Distributeur automatique et systèmes et procédés d'ouverture
US11847881B2 (en) 2020-11-09 2023-12-19 24/7 Pizza Box, LLC Vending machine and opening systems and methods

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