WO2017208028A1 - Robot culinaire - Google Patents

Robot culinaire Download PDF

Info

Publication number
WO2017208028A1
WO2017208028A1 PCT/GB2017/051613 GB2017051613W WO2017208028A1 WO 2017208028 A1 WO2017208028 A1 WO 2017208028A1 GB 2017051613 W GB2017051613 W GB 2017051613W WO 2017208028 A1 WO2017208028 A1 WO 2017208028A1
Authority
WO
WIPO (PCT)
Prior art keywords
axis
tool
receptacle
food processing
processing appliance
Prior art date
Application number
PCT/GB2017/051613
Other languages
English (en)
Inventor
Rob FIELDS
Original Assignee
Kenwood Limited
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
Application filed by Kenwood Limited filed Critical Kenwood Limited
Priority to EP17728636.6A priority Critical patent/EP3463634A1/fr
Priority to CN201780029957.0A priority patent/CN109195695B/zh
Publication of WO2017208028A1 publication Critical patent/WO2017208028A1/fr

Links

Classifications

    • 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
    • A47J43/00—Implements for preparing or holding food, not provided for in other groups of this subclass
    • A47J43/04—Machines for domestic use not covered elsewhere, e.g. for grinding, mixing, stirring, kneading, emulsifying, whipping or beating foodstuffs, e.g. power-driven
    • A47J43/07—Parts or details, e.g. mixing tools, whipping tools
    • A47J43/08—Driving mechanisms
    • 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
    • A47J43/00—Implements for preparing or holding food, not provided for in other groups of this subclass
    • A47J43/04—Machines for domestic use not covered elsewhere, e.g. for grinding, mixing, stirring, kneading, emulsifying, whipping or beating foodstuffs, e.g. power-driven
    • A47J43/044—Machines for domestic use not covered elsewhere, e.g. for grinding, mixing, stirring, kneading, emulsifying, whipping or beating foodstuffs, e.g. power-driven with tools driven from the top side
    • 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
    • A47J43/00—Implements for preparing or holding food, not provided for in other groups of this subclass
    • A47J43/04—Machines for domestic use not covered elsewhere, e.g. for grinding, mixing, stirring, kneading, emulsifying, whipping or beating foodstuffs, e.g. power-driven
    • 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
    • A47J43/00—Implements for preparing or holding food, not provided for in other groups of this subclass
    • A47J43/04—Machines for domestic use not covered elsewhere, e.g. for grinding, mixing, stirring, kneading, emulsifying, whipping or beating foodstuffs, e.g. power-driven
    • A47J43/07—Parts or details, e.g. mixing tools, whipping tools
    • A47J43/0705—Parts or details, e.g. mixing tools, whipping tools for machines with tools driven from the upper side
    • 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
    • A47J43/00—Implements for preparing or holding food, not provided for in other groups of this subclass
    • A47J43/04—Machines for domestic use not covered elsewhere, e.g. for grinding, mixing, stirring, kneading, emulsifying, whipping or beating foodstuffs, e.g. power-driven
    • A47J43/07—Parts or details, e.g. mixing tools, whipping tools
    • A47J43/0705—Parts or details, e.g. mixing tools, whipping tools for machines with tools driven from the upper side
    • A47J43/0711—Parts or details, e.g. mixing tools, whipping tools for machines with tools driven from the upper side mixing, whipping or cutting tools
    • 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
    • A47J43/00—Implements for preparing or holding food, not provided for in other groups of this subclass
    • A47J43/04—Machines for domestic use not covered elsewhere, e.g. for grinding, mixing, stirring, kneading, emulsifying, whipping or beating foodstuffs, e.g. power-driven
    • A47J43/07—Parts or details, e.g. mixing tools, whipping tools
    • A47J43/08—Driving mechanisms
    • A47J43/082—Driving mechanisms for machines with tools driven from the upper side
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
    • B01F27/00—Mixers with rotary stirring devices in fixed receptacles; Kneaders
    • B01F27/05—Stirrers
    • B01F27/11—Stirrers characterised by the configuration of the stirrers
    • B01F27/19—Stirrers with two or more mixing elements mounted in sequence on the same axis
    • B01F27/191—Stirrers with two or more mixing elements mounted in sequence on the same axis with similar elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
    • B01F27/00—Mixers with rotary stirring devices in fixed receptacles; Kneaders
    • B01F27/60—Mixers with rotary stirring devices in fixed receptacles; Kneaders with stirrers rotating about a horizontal or inclined axis
    • B01F27/61—Mixers with rotary stirring devices in fixed receptacles; Kneaders with stirrers rotating about a horizontal or inclined axis about an inclined axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
    • B01F27/00—Mixers with rotary stirring devices in fixed receptacles; Kneaders
    • B01F27/80—Mixers with rotary stirring devices in fixed receptacles; Kneaders with stirrers rotating about a substantially vertical axis
    • B01F27/808—Mixers with rotary stirring devices in fixed receptacles; Kneaders with stirrers rotating about a substantially vertical axis with stirrers driven from the bottom of the receptacle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
    • B01F27/00—Mixers with rotary stirring devices in fixed receptacles; Kneaders
    • B01F27/80—Mixers with rotary stirring devices in fixed receptacles; Kneaders with stirrers rotating about a substantially vertical axis
    • B01F27/95—Mixers with rotary stirring devices in fixed receptacles; Kneaders with stirrers rotating about a substantially vertical axis with stirrers having planetary motion, i.e. rotating about their own axis and about a sun axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
    • B01F33/00—Other mixers; Mixing plants; Combinations of mixers
    • B01F33/50—Movable or transportable mixing devices or plants
    • B01F33/501—Movable mixing devices, i.e. readily shifted or displaced from one place to another, e.g. portable during use
    • B01F33/5011—Movable mixing devices, i.e. readily shifted or displaced from one place to another, e.g. portable during use portable during use, e.g. hand-held
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
    • B01F35/00—Accessories for mixers; Auxiliary operations or auxiliary devices; Parts or details of general application
    • B01F35/30—Driving arrangements; Transmissions; Couplings; Brakes
    • B01F35/33—Transmissions; Means for modifying the speed or direction of rotation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
    • B01F35/00—Accessories for mixers; Auxiliary operations or auxiliary devices; Parts or details of general application
    • B01F35/50—Mixing receptacles
    • B01F35/53—Mixing receptacles characterised by the configuration of the interior, e.g. baffles for facilitating the mixing of components
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
    • B01F35/00—Accessories for mixers; Auxiliary operations or auxiliary devices; Parts or details of general application
    • B01F35/50—Mixing receptacles
    • B01F35/53—Mixing receptacles characterised by the configuration of the interior, e.g. baffles for facilitating the mixing of components
    • B01F35/531—Mixing receptacles characterised by the configuration of the interior, e.g. baffles for facilitating the mixing of components with baffles, plates or bars on the wall or the bottom
    • B01F35/5312—Mixing receptacles characterised by the configuration of the interior, e.g. baffles for facilitating the mixing of components with baffles, plates or bars on the wall or the bottom with vertical baffles mounted on the walls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
    • B01F35/00—Accessories for mixers; Auxiliary operations or auxiliary devices; Parts or details of general application
    • B01F35/60—Safety arrangements
    • B01F35/605—Safety devices concerning the operation of the mixer
    • 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
    • A47J43/00—Implements for preparing or holding food, not provided for in other groups of this subclass
    • A47J43/04—Machines for domestic use not covered elsewhere, e.g. for grinding, mixing, stirring, kneading, emulsifying, whipping or beating foodstuffs, e.g. power-driven
    • A47J43/044—Machines for domestic use not covered elsewhere, e.g. for grinding, mixing, stirring, kneading, emulsifying, whipping or beating foodstuffs, e.g. power-driven with tools driven from the top side
    • A47J2043/04409—Apparatus of hand held type
    • 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
    • A47J43/00—Implements for preparing or holding food, not provided for in other groups of this subclass
    • A47J43/04—Machines for domestic use not covered elsewhere, e.g. for grinding, mixing, stirring, kneading, emulsifying, whipping or beating foodstuffs, e.g. power-driven
    • A47J43/044—Machines for domestic use not covered elsewhere, e.g. for grinding, mixing, stirring, kneading, emulsifying, whipping or beating foodstuffs, e.g. power-driven with tools driven from the top side
    • A47J2043/04409—Apparatus of hand held type
    • A47J2043/04427—Apparatus of hand held type with housing extending vertically in line with the tool axis

Definitions

  • the present invention relates to a food processor device and, more particularly, to a tool arrangement for a food processor device.
  • a food processing appliance such as a blender or a stand-mixer
  • a multipurpose kitchen appliance which helps and reduces physical work required while food preparation and cooking.
  • a food processing appliance is a motor-driven kitchen machine in which a rotary tool (e.g., rotary blades) is typically mounted in the base of a food receptacle (e.g., bowl) and driven from beneath the receptacle by means of a suitable drive coupling from an electric motor.
  • the tool may be mounted above the receptacle, and depend into it, receiving drive from the motor via an arm unit, as in the case of a typical stand-mixer.
  • Food processing appliance food receptacles have traditionally been cylindrical in shape, with the major axis of the receptacle aligned with the fixed rotational axis of the tool and motor assembly. In such an arrangement, centrally-rotating tools can easily reach close (e.g., 5mm or less) to the inner side-wall of the receptacle through their entire rotation.
  • non-cylindrical receptacles including receptacles that have a square-sided, hexagonal, rectangular, ovular/ovoid, triangular, or any other non-circular foot-print.
  • These non-cylindrical receptacles are advantageous in that they are easier to grip and deter the formation of standing vortices.
  • This invention therefore seeks to address the draw-backs of the prior art.
  • a food processing appliance comprises a receptacle for receiving food to be processed, a rotary tool having a first tool element for processing food in the receptacle; wherein the rotary tool is arranged to be driven to rotate about a first axis and simultaneously driven to move bodily about a second axis different to the first axis; and wherein the arrangement is such that, or the receptacle is shaped such that, a radial distance between an inner sidewall of the receptacle and the second axis is not constant; and wherein during part of the rotary movement of the rotary tool about the second axis, the first tool element extends radially away from the second axis by a distance greater than a minimum radial distance between the sidewall of the receptacle and the second axis, so as to extend closer to the sidewall of the receptacle.
  • This is advantageous as it means that the first tool element can reach into a space beyond the minimum radial distance between the second
  • the rotary tool may comprise a second tool element that extends radially from the first axis by a smaller distance and at a different angular position to the at least one first tool element. These second tool elements may sweep areas left unswept by the first tool elements.
  • the at least one second tool element may extend from the first axis at a different axial locations from the at least one first tool elements. This means that axial locations differing to those at which the one or more first tool elements may be swept.
  • At least two first tool elements may be included in the rotary tool, which can be configured to balance the rotary tool about a centre of gravity concentric with the first axis. This can result in a balanced tool.
  • the at least one second tool element can be configured to balance the weight of the first tool element(s) about a centre of gravity concentric with the first axis.
  • the tool elements may be straight or curved, for example having a concave and/or convex leading and/or trailing edge, which may aid travel through the food to be processed. Either or both edges may be sharpened.
  • the tool elements may also be bent upwardly from a fixing point on or close to the carrier plate rather than extending horizontally from an axle, to mitigate the problem of having a blunt axle moving within the container or receptacle and potentially jamming against items rather than cutting through them.
  • the rotary tool is configured to be driven about the first axis and move bodily about the second axis by the planet gear of a planetary drive assembly, for example such that the tip of each tool element describes a roulette curve.
  • the planetary drive assembly can comprise a sun gear receiving rotary power from a motor of the food processor to rotate about the second axis, the sun gear being arranged to drive the planet gear to rotate about the first axis in interference with a ring gear, such that the planet gear simultaneously moves bodily about the second axis.
  • the planetary drive assembly may further comprise an idler gear communicating rotary drive between the sun gear and the planet gear. This can allow the communication of driving force between the sun gear and the planet gear without loss of torque.
  • the planetary drive assembly can further comprise a gearbox permitting dynamic changing of the gearing ratio between the planet gear and the sun gear. This permits flexible operation of the planetary drive assembly.
  • a data processor may also be included in the planetary drive assembly, in electronic communication with an actuator for selecting a gearing ratio of the gearbox, and a sensor for detecting an RFID tag of the receptacle, wherein the processor is arranged to select a gearing ratio based on feedback from the sensor. This allows the food processing appliance to adapt to different receptacles.
  • the data processor can be in electronic communication with a safety sensor and a motor of the food processing appliance, wherein the processor is operable to automatically reduce power to the motor, or power down the motor, on receiving feedback from the safety sensor indicating an unsafe condition. In this way unsafe operation can be avoided.
  • the safety sensor may comprise one or more rotary-position sensors arranged to detect a rotary position of at least one of the sun gear and the planet gear to detect an unsafe and/or broken gear-tooth condition.
  • the rotary tool may extend into the receptacle at an angle of less than 90 degrees relative to a base of the receptacle. This can have the advantage of deterring the formation of vortexes.
  • the radial distance between the inner sidewall of the receptacle and the second axis have one or more minima and one or more maxima corresponding to different angular locations relative to the second axis, and the tool is driven to rotate about the first axis and to move bodily about the second axis such that the at least one first tool element reaches maximum extension away from the second axis at the angular location(s) relative to the second axis corresponding to the maxima, and optionally also to reach minimum extension away from the second axis at the angular location(s) corresponding to each minima.
  • maxima may be two or more, and the maxima may be substantially equally spaced around the second axis. This simplifies construction.
  • maxima may comprise arcuate lobe-shaped sections defined by the inner wall of the receptacle. These arcuate lobe-shaped sections are more easily swept by the blade as it extends outwardly and retracts inwardly.
  • the one or more first elements may comprise only one first element, and the number of rotations the tool makes about the first axis for each time it moves bodily about the second axis is equal to the number of maxima minus one.
  • This can allows efficient coverage of the interior of the receptacle.
  • the rotary tool can be arranged to rotate about the first axis at a speed relative to the rotation about the second axis such that the first tool element describes a consistent path relative to the receptacle.
  • the rotary tool is arranged to rotate about the first axis at a speed relative to the rotation about the second axis such that at least one of the tool elements, and more preferably each tool element, describes a consistent path relative to the receptacle.
  • the tool may comprise a plurality of tool elements, and the tool may be driven such that each element reaches its maximum extension from the second axis proximate an angular location relative to the second axis at which the radial distance from the second axis to the inner wall of the receptacle substantially corresponds to the length of the maximum extension of the element from the second axis.
  • each tool element or blade sweeps an area which approaches close to the inner wall, minimizing 'dead' zones.
  • the rotary tool may be arranged to be driven such that the radial distance between the first axis and the second axis varies.
  • the entire tool may maintain a constant distance from the inner wall of the receptacle.
  • the tool elements may have the same lengths.
  • the rotary tool can extend upwardly into the receptacle through the base thereof, or being supported by a base thereof, for use with a bottom-driven appliance. Alternatively or additionally, the rotary tool can depend downwardly into the receptacle through an upper opening thereof, such as for use with a mixer.
  • Any apparatus feature as described herein may also be provided as a method feature, and vice versa.
  • means plus function features may be expressed alternatively in terms of their corresponding structure, such as a suitably programmed processor and associated memory.
  • the invention also provides a computer program and a computer program product for carrying out any of the methods described herein and/or for embodying any of the apparatus features described herein, and a computer readable medium having stored thereon a program for carrying out any of the methods described herein and/or for embodying any of the apparatus features described herein.
  • the invention also provides a signal embodying a computer program for carrying out any of the methods described herein and/or for embodying any of the apparatus features described herein (e.g., as a file for use with a 3D printer to construct the apparatus and apparatus elements herein described), a method of transmitting such a signal, and a computer product having an operating system which supports a computer program for carrying out any of the methods described herein and/or for embodying any of the apparatus features described herein.
  • a signal embodying a computer program for carrying out any of the methods described herein and/or for embodying any of the apparatus features described herein (e.g., as a file for use with a 3D printer to construct the apparatus and apparatus elements herein described), a method of transmitting such a signal, and a computer product having an operating system which supports a computer program for carrying out any of the methods described herein and/or for embodying any of the apparatus features described herein.
  • the invention also encompasses a kit of parts for constructing any of the apparatuses or apparatus elements herein described.
  • any feature in one aspect of the invention may be applied to other aspects of the invention, in any appropriate combination.
  • method aspects may be applied to apparatus aspects, and vice versa.
  • any, some and/or all features in one aspect can be applied to any, some and/or all features in any other aspect, in any appropriate combination.
  • Figure 1 shows a side-on view of a food processor according to the present invention
  • Figure 2 shows a perspective view of food processor of Figure 1 ;
  • Figure 3 shows a top-down view of a food processor of Figure 1 ;
  • Figure 4 shows a section through the food processor along the line A-A of Figure 3;
  • Figure 5 shows a section through the line C-C of Figure 7;
  • Figure 6 shows a section through the line D-D of Figure 7;
  • Figure 7 shows a side-on view of the food processor of Figure 1 ;
  • Figure 8 shows a perspective view of a gearing arrangement according to the present invention;
  • Figure 9 shows a top-down view of the gearing arrangement of Figure 8;
  • Figure 10 shows a section through the line E-E of Figure 9;
  • Figure 1 1 shows a top-down view of a tool according to the present invention
  • Figure 12 shows a top-down view of a tool, receptacle, and tool axis path according to the present invention
  • Figure 13 shows a top-down view of a path of a tip of a tool blade according to the present invention
  • Figure 14 shows another top-down view of a path of a tip of a tool blade according to the present invention
  • Figure 15 shows a different top-down view of a path of a tip of a tool blade according to the present invention
  • Figure 16 shows yet another top-down view of a path of a tip of a tool blade according to the present invention
  • Figure 17 shows a top-down view of the path of four tool-blade tips according to the present invention.
  • Figure 18 shows a top-down view of a path of a tip of a tool blade in a four-lobed receptacle according to the present invention
  • Figure 19 shows a top-down view of the paths of two tips of tool blades in a three-lobed receptacle according to the present invention
  • Figure 20 shows a top-down view of the paths of a tip of a tool blade in a two-lobed receptacle according to the present invention
  • Figure 21 is a top view of a tool according to another embodiment
  • Figure 22 is a side view of the tool of Figure 21 ;
  • Figure 23 is a cross sectional side view of a drive arrangement according to another embodiment.
  • Figures 24 to 27 are cross sectional side views of carrier plates according to various embodiments.
  • Figs. 1 , 2, and 3 show a working-medium processing machine (in this example, a food processor) 100.
  • the food processor 100 is divided into a base 01 and a removable receptacle comprising a goblet or beaker 02 into which working medium can be placed for processing.
  • the base contains a motor (not shown) and a control knob 04 for controlling the food processor 100 (though other control means could be used including a touch- screen, microphone with a voice-recognition module, wireless control by a mobile device or external server etc.).
  • the receptacle 02 includes a removably attachable lid 03. Whilst receptacle 02 is removably attachable to base 01 , it could instead be integrally formed with it.
  • Both the base 01 (which forms the main body of the food processor 100) and the receptacle 02 (in this case, a beaker) have a roughly square foot-print (i.e., are square when viewed from above) and are roughly rectangular parallelepiped-shaped (or cuboid) as a whole.
  • either or both of the base 01 and the receptacle 02 may be of another shape, including triangular, ovular (or oval-shaped), flower-petal (i.e., a central circle from which one or more arcuate 'lobes' extend), hexagonal, pentagonal, or another non-circular shape (or, indeed, a circular shape that is not centred on the central axis 12) in foot-print, or may be circular at the base but vary in shape above the base.
  • the receptacle 02 is removably attachable to a base 01 by locking elements or a screw- thread (not shown) that screw into or lock with matching locking elements/screw threads in the base 01 (also not shown).
  • the Receptacle 02 includes a receptacle base 10 in which a cavity is formed that contains a planetary gear assembly 14, 15, 17, 18.
  • the planetary gear assembly 14, 15, 17, 18 comprises a sun gear 14 and a planet gear 17.
  • a rotary tool 5 is mounted for rotation about a first axis 6.
  • the sun gear 14 receives drive from the main shaft 1 1 which is in turn connected to the motor in base 01 by drive coupling 13.
  • Sun gear 14 rotates about a second fixed central (or main) axis 12, and an idler gear 15 which receives drive from sun gear 14, rotates about an idler axis 16.
  • Planet gear 17 in turn receives drive from idler gear 15 and rotates about a tool (in this case, blade) axis 06 that drives the tool (in this case, a blade-assembly with an upright axle driving one or more blades to rotate) 05 to rotate around blade axis 06.
  • a tool in this case, blade
  • the planet gear 17 is inter-meshed about its circumference with a ring gear 18 that is mounted concentrically with the main axis 12, when planet gear 17 rotates this also results in it being driven about the main axis 12, causing the tool 05 and the carrier 07 through which the tool 05 extends to also rotate about main axis 12.
  • tool 05 is shown as extending at a right-angle to the carrier 07, it could extend by another angle less than 90 degrees, such as 45 degrees, thus helping to deter vortex-formation.
  • gears 14, 15, 17, 18 are shown by the over-lapping circles of gears 14, 15, 17, and 18 in Figs. 6 and 8.
  • These inter-meshings can be square-edged or saw-shaped teeth, or another form known in the art.
  • these gears may have rounded circumferences made of a resilient material (e.g., rubber) and drive each other frictionally.
  • the gears 14, 15, 17, 18 could be partially or wholly replaced by belt-drive mechanisms, pulleys, bevel-gears or other similar mechanisms for transmission of rotational drive.
  • the bottom-surface of the interior of receptacle 02 is cooperatively formed by the carrier 07 that supports the tool 05 as it rotates, and the base 10 that surrounds the carrier 07.
  • a seal 09 is formed between the carrier 07 and the base 10 to ensure that material cannot escape from the receptacle as the carrier 07 rotates within the base 10.
  • a tool seal 19 is formed between the tool 05 and the carrier that serves the same purpose.
  • These seals 09, 19 are preferably formed of a flexible, dish-washer and food-safe material such as rubber or artificial rubber to form a tight, food-safe seal.
  • the food processor 100 includes a heating element in either the receptacle 02 or the base 01 , or the food- processor is otherwise intended for use with hot material, these seals should also be heat- resistant (e.g., of temperatures in the range 90-200 degrees centigrade).
  • the carrier 07 may be stationary, with the tool 05 moving along a ring-shaped (or other suitable shape for a non-circular ring gear 18) hole sealingly defined through it.
  • the planetary gear assembly 14, 15, 17, 18, carrier 07, and tool 05 may be integral to base 01 , in which case receptacle 02 will be a "bottomless" receptacle that mates to base 01 about its circumference.
  • the planetary gear mechanism 14, 15, 17, 18 is located in the base 01 but the tool 05 and carrier 07 are located in the receptacle 02 and the tool 05 is removable attachable to planet gear 17.
  • FIG. 1 1 An example tool 05 is shown in Fig. 1 1 .
  • the tool 05 is made up of tool- elements that in this case are four double-edged cutting blades 30, 31 , 32, 33 extending at different angles from the central axle of the tool 05.
  • One of these cutting blades 30 is significantly longer than the others 31 , 32, 33 and separated from the shorter blades by a larger angle (e.g., 120 degrees) than they are from each other (e.g., 60 degrees).
  • One of the short blades 31 extends in the opposite direction to the longer blade 30, whilst the other two (32, 33) extend from the axle of the tool 05 on either side of the short blade 31 .
  • a separation angle of 120 degrees is shown between the long blade 30 and the short blades 31 , 32, 33 in Fig. 1 1 , this can be anywhere between 90 and 180 degrees. More preferably the angle should be between 100 and 130 degrees. Alternatively the shorter blades 31 , 32, 33 may be omitted, or differ in number from one to any suitable number.
  • the short blades 31 , 32, 33 may extend from the central axle of the tool 05 at the same height as the long blade 30 above the bottom-surface of receptacle 02 or at a different height, or indeed at different heights from each other, so as to maximise the processing volume of the tool 05.
  • Being double-edged in this case is useful as the planetary-motion of the tool 05 means that it is possible that the blades 30, 31 , 32, 33 will strike the working-medium being processed in either direction.
  • the short blades 31 , 32, 33 are preferably of such a weight that they balance out the weight of the longer blade 30 about a centre of gravity concentric with the tool axis 06. This avoids uneven forces acting on the drive shaft of the tool 05.
  • the gearing assembly 14, 15, 17, 18 can include a second planet-gear 17 on the opposite side of the sun gear 14 to the first planet gear 17, this may also have a rotary tool attached (thus increasing processing) and/or may be weighted so as to act as a counterbalance to the first planet gear 17 thus reducing vibration of the machine during operation. Indeed, more than one additional planet gear may be included.
  • An example of the relative dimensions of the blades 30, 31 , 32, and 33 and the receptacle 02 are shown in Fig. 12.
  • a distance between the main axis 12 and the tool axis 06 (U) is 30 units
  • the length of the longest blade 30 (Y) is 44 units
  • the length of the shorter blade 31 (Z) is 30 units
  • the minimum distance between the path of the tool axis 06 and the inner sidewall of the receptacle 02 (V) is 30.1 units to ensure that the shorter blades 31 , 32, 32 clear the inner side-wall of receptacle 02 by at least 0.1 units, resulting in a maximum distance (X) of 45.7 units between the path of the tool axis 06 and the inner sidewall of the receptacle 02.
  • the gearing of the planetary assembly 14, 15, 17, 18 may be ratioed such that during a single rotation of the tool axis 06 about the main axis 12 results in three rotations of the tip of the longest blade 30 about tool axis 06 (or 3/4ths of a turn per corner).
  • the ring gear 18 causes the tool 05 to rotate about the tool axis 06 in a retrograde fashion - that is, in the opposite direction of rotation to that of the tool axis 06 about the main axis 12.
  • An example of such ratioing would be for the sun gear 14 to have 20 teeth, the planet gear 17 to have 20 teeth, and the ring gear 18 to have 80 teeth.
  • the purpose of the idler gear 15 in this arrangement is to communicate motive force between the sun gear 14 and the planet gear 17 whilst avoiding reduction in torque, however the idler gear 15 may instead be omitted and sun gear 14 be increased in size so as to contact planet gear 17 directly.
  • the combination of the blade-angles and blade-lengths of blades 30, 31 , 32, 33, and the planetary gearing assembly 14, 15, 17, 18 with the above-described gear- ratios allows the tip of the long blade 30 to enter into each of the corners of the receptacle 02, extending beyond the minimum distance between the path of the tool axis 06 and the inner wall of the receptacle 02. Meanwhile, as is shown in Figs. 14, 15, 16, and 17, the tips of the shorter blades 31 , 32, 33 sweep the majority of the area missed by the long blade 30. This results in thorough processing of working medium within the receptacle 02 even where it is non-cylindrical, and has a square-footprint, thus eliminating dead-zones.
  • Figs. 18, 19, and 20 show similar arrangements of a blade that is longer than the minimum distance between the inner sidewall of the receptacle 02 and the path of the tool axis 06 operating without colliding with the inner sidewall of the receptacle 02 by extending outwardly proximate to the maxima and extending inwardly proximate to the minima.
  • Fig. 18 shows a receptacle 02A with a flower-petal-shaped footprint, which is to say an inner circle from which arcuate-lobe-shaped-spaces extend (in this case, four).
  • the gears are suitably ratioed, only the longest blade is needed to sweep the entirety of the interior, excepting the clearance-space between the blade and the inner wall of the receptacle 02.
  • the ratioing of the planetary gearing assembly can be the same as in the example of Fig. 13.
  • a balanced blade of two long blades of equal length extending in opposite directions may be used, in which case the gearing ratio should be such that the tool 05 only rotates once for every single rotation of the tool axis 06 about the main axis 12 (or 1 /4th of a turn per corner).
  • Fig. 19 shows a receptacle 02B with a roughly triangular-shaped footprint, albeit with rounded corners.
  • the longest blade 30 may sweep the majority of the footprint of the receptacle 02 with a single shorter blade 31 extending in the opposite direction to the long blade 30 sweeping a significant part of the remaining space unswept by the long blade 30.
  • the ratio of the gears should be such that during a single rotation of the tool axis 06 about the main axis 12 results in two rotations of the tip of the longest blade 30 about tool axis 06 (or 2/3rds of a turn per corner).
  • Fig. 20 show a receptacle 02C with an oval-shaped footprint - that is, a central circular part from which two arcuate lobes extend in opposite directions.
  • a single long blade 30 may sweep the majority of the footprint of the receptacle 02 where the gearing is of a ratio such that the tool 05 rotates about the tool axis 06 once for every rotation of the tool axis about the main axis 12 (or a half-turn per corner).
  • the gearing is ratioed to produce rotation of the tool according to the following formula: number of tool rotations about tool axis
  • Corners as described herein are the points located about the main axis 12 at which the inner sidewall of the receptacle 02 reaches a maximum distance from the main axis 12.
  • the position of the long blade 30 needs to be set correctly in relation to the cornersflobes" in the receptacle 02.
  • This can be achieved by use of timed gears, marks on gears indicating where they should be turned to during assembly, tooth missing gears, assembly jigs and many other common methods. Similar methods can be used by the user during disassembly for cleaning.
  • tool-elements of the above example are blades
  • other tool-elements may be used in any appropriate combination, including whisks, dough-hooks, stirring elements, scraping elements, flexible wipers, or other known rotary tools for processing working medium that may in turn include driven elements - for example a tool element may simply be an arm carrying a driven rotary tool on its extremity.
  • the clearances can be reduced or eliminated.
  • corners of the above example receptacles 02, 02A, 02B, and 02C are angularly separated by the same angle (e.g., the corners of the square-footprint receptacle 02 are provided 90 degrees apart relative to the centre of the receptacle) corners which are separated by differing angular separations may be catered for by altering the spacing of the teeth of the ring gear 18 so as to drive the tool 05 to rotate about its axis 06 more slowly over some parts of the rotation of the tool axis 06 about the main axis 12 than others.
  • the ring-gear 18 may be non- circular (e.g., oval-shaped), with rotational drive communicated between the sun gear 1 and the planet gear 17 by an extendable transmission means such as a stretchable drive-belt or telescoping-shaft bevel-gear arrangement, and planet gear 17 may be connected to a central hub by a telescoping arm which is outwardly biased by e.g., a helical spring, to receive rotational drive to rotate about main axis 12.
  • an extendable transmission means such as a stretchable drive-belt or telescoping-shaft bevel-gear arrangement
  • planet gear 17 may be connected to a central hub by a telescoping arm which is outwardly biased by e.g., a helical spring, to receive rotational drive to rotate about main axis 12.
  • the receptacle 02 and lid 03 are preferably made of a light, non-toxic, food-safe, dishwasher- friendly material such as glass, TritanTM or another copolyester, or a different transparent plastic such as polycarbonate.
  • the tool 05, carrier 07, and base 10 are preferably made of a durable but equally non-toxic and food/dishwasher-safe substance such a stainless steel.
  • the gears 14, 15, 17, and 18 can be made of a durable, cheap to manufacture metal such as die-cast aluminium or steel.
  • the gearing mechanism 14, 15, 17, and 18 need only be located in the head of the stand-mixer so as to receive drive from the stand-mixer motor with the shaft of the tool 05 attaching to the planet gear 17 so as to depend downwardly into a food receptacle 02 through the upper opening of the receptacle 02, preferably depending proximate to the an inner bottom surface of the receptacle 02, which may be a mixing bowl removably attachable to the stand mixer.
  • a bottom-driven tool 05 may be provided in the same machine.
  • the food processor 100 may include a processor connected to (i.e., in electronic communication with) a rotary position sensor detecting the rotational position of the tool 05 relative to the tool axis 06 and/or the main axis 12.
  • the processor may electronically power-down the motor of the base 01 if it detects that the tool 05 is rotating improperly (e.g., not according to the ratios and positions described above).
  • the processor may also act on feedback from other sensors indicating malfunction of the gearing mechanism, including vibration sensors and temperature sensors.
  • the processor may cause information of the malfunction to be communicated to the user via a user interface or a suitable alarm.
  • the long blade 30 Whilst various arrangements have been discussed above for rotating a long blade 30 of fixed length such that it moves into and away from corners of the receptacle 02 as it rotates in a way that is relatively simple and cheap to manufacture, the long blade 30 may also (or alternatively) extend and retract dynamically as it rotates to reach into corners.
  • An example of such a mechanism would be a rotary tool with a telescoping blade driven by linear actuator controlled according to a program running on a processor in electronic communication with the linear actuator.
  • the gearing ratio of the gearing mechanism 14, 15, 17, and 18 need not be fixed and may be changed dynamically through the use of, for example, a changeable gearbox. Indeed, where a configuration where the gearing is retained in the base 01 is used, the food processor 100 may automatically change the gearing ratio depending on the shape of the container attached 02 to the base 01 based on feedback from a sensor detecting an RFID tag attached to the receptacle 02 identifying its shape or the appropriate ratio to be used. This dynamic changing may be carried out using a processor in electronic communication with an actuator for changing the gearing in the gearbox, and an RFID sensor for detecting an RFID tag of the receptacle.
  • the cutting edge 42 of each blade 44 the tool 40 can be made to be a curved shape as shown in Figures 21 and 22. This presents a longer cutting surface to the food and also works with the planetary cutting action and the square shape of the beaker to reduce the torque needed to cut food.
  • each blade 44 does not extend further from the blade shaft 46 than the tip 48 of the blade 44. That is, it does not fall outside of a circle with a diametre the same as the length of the blade positioned between the blade shaft and the blade tip.
  • the sharpened edges are shown on the convex edge 42 as this gives good performance; however the concaved edge 50 could alternatively be sharpened, or both edges may be sharpened.
  • the upper edges of the blades are sharpened, but the lower edges or a combination of upper and lower edges can alternatively be sharpened.
  • the sharpened edges can also be serrated.
  • proximal ends 52 of the blades start as low as possible (close to the carrier plate) since they will travel through material in the beaker.
  • the required blade height can then be achieved by bending the blades upwards as shown in Figure 22.
  • any blade shape cutting into a corner of the beaker should not exceed the area of a half circle 54 with a diameter X being the same as the blade length, and being positioned at the blade tip 48 as shown in Figure 21 .
  • the diameter of the goblet corner in which this blade cuts should also not be any larger than this diameter; otherwise blade to goblet colisions may occur.
  • clearance can also be built by moving the blade axis when in a corner cutting position and the axis of the goblet corner away from each other.
  • the gearbox may be arranged as shown in Figure 23.
  • the drive from the motor turns the drive input shaft 56, which is connected to and therefor also turns the carrier plate 58 about its axis.
  • the blade shaft 62 Offset from the drive shaft 56 (and axis of carrier rotation) and contained within the carrier plate 58 by bearings 60 (not necessarily in the same axis as could be at an angle to the drive input axis) is the blade shaft 62.
  • the planet gear 64 Also connected to the blade shaft 62 is the planet gear 64, the teeth of which mesh with an outer ring gear 66.
  • this part includes a sealing surface 69for a carrier seal 68, the outside diameter surface should be hard and very smooth to optimise sealing efficiency and lifespan. This surface also should be accuratelyconcentric to the drive input shaft 56 to which the carrier 58 is attached.
  • the whole carrier plate 58 is made from a material that is a good material from a sealing point of view the whole part will be very expensive.
  • One solution is to have an outer sleeve 70 made from a suitable material (17-4 PH steel) that I then assembled over the carrier plate 71 which can then be a cheaper material (plastic or die cast aluminium), as shown in Figure 25.
  • This seal surface insert 70 could be pressed over the carrier or over-moulded, to create a radial seal.
  • the seal surface or seal surface insert could be made from a cheap material but have a coating or surface treatment to make the outside surface more suitable as a seal running surface. Coatings such as ceramics, diamond-like coating, Titanium nitriding or similar can be used.
  • the edge of the sealing surface or seal that runs on the sealing surface of the carrier plate could have a vulnerable end, such that the carrier plate 73 or any seal surface insert can include an outer rib 72 to offer protection from foreign objects, as shown in Figure 26.
  • a radial seal e.g., the lips seal or a seal insert such as 70
  • a face-seal similar to a washer
  • either of the carrier plate and the face-seal may be resiliently biased against the other in order to maintain contact between them even when the face-seal becomes worn.
  • the carrier-plate may be upwardly biased, e.g. by a coil spring, against the face-seal to create a tight seal such that a gap does not form when the face- seal becomes worn.
  • the entire carrier plate assembly should be balanced, as well as the blade assembly being balanced by itself.
  • a blade shaft seal 41 between the carrier plate 58 and the blade shaft 62 a drive shaft seal 61 between the drive input shaft 56 and the outer housing 65 and a carrier plate seal 68 between the carrier plate 58 and the outer housing 65.
  • the carrier plate seal 68 is the largest and has to deal with high shaft surface speeds. At 4000rpm this may be about 17.8 meters per second, such that it is preferably made from some form of PTFE material. This will allow it to run without any grease, since grease is not considered suitable for use in a food processor as it can affect any dry food in the goblet or beaker.
  • the electronics that control the motor speed and torque are preferably arranged to recognise a stall condition created by the blades (eg by becoming jammed against hard material) or any other moving part and then stop the motor completely; it can also preferably reverse the motor or carry out a pre-programmed sequence to clear the stall condition.
  • the large top surface of the carrier plate having a large surface area suitable for heat- transmission, may be arranged to be heated and/or cooled to affect a temperature change in any food contained in the goblet.
  • This surface could be heated or cooled by induction heating, a resistive heater, a thick film heater, a printed heater, Thermoelectric heat transfer, transfer of heat via heat pipes, cooling via condenser based heating etc.
  • the top surface of the carrier plate can he textured or ribbed to create a greater surface area for heat transfer to happen.
  • Electronic communication can include all forms of electronic communication including data-transmission and powering-on/off, digital or analogue, wireless or wired, or any suitable combination of these. This includes WiFi Zigbee, Bluetooth, RFID, NFC, other radio-frequency transmission means, parallel or serial bus communication, and other communication means. Furthermore it includes datatransmission even where mediated partly or wholly through non-electronic forms including fibre-optic, laser, sonic, infra-red, mechanical etc.
  • the invention may take a form different to that specifically described above.
  • blending is used as an example of a food processing activity above
  • other food processing activities can be carried out including beating, whisking, mixing, folding, stirring etc. with suitable tools.
  • a bottom-driven food processing machine e.g., a blender
  • a top-driven food processing machine e.g., a stand-mixer or kitchen machine
  • the invention may also be implemented in a hand-held tool such as a hand-blender or hand-blender attachment.
  • kitchen appliance encompasses all such devices.
  • the field of use includes the preparation and/or processing of: chemicals; pharmaceuticals; paints; building materials; clothing materials; agricultural and/or veterinary feeds and/or treatments, including fertilisers, grain and other agricultural and/or veterinary products; oils; fuels; dyes; cosmetics; plastics; tars; finishes; waxes; varnishes; beverages; medical and/or biological research materials; solders; alloys; effluent; and/or other substances.
  • the term "food” and similar terms recited herein may be replaced by any of the preceding substances.
  • Mechanical and other improvements disclosed herein may find application in automotive and industrial fields, the field of tools including hand-tools, the plumbing field, the field of hydraulics, and are not limited in application to kitchen appliances.
  • the invention described here may be used in any kitchen appliance and/or as a standalone device.
  • This includes any domestic food-processing and/or preparation machine, including both top-driven machines (e.g., stand-mixers) and bottom-driven machines (e.g., food processors). It may be implemented in heated and/or cooled machines.
  • the invention may also be implemented in both hand-held (e.g., hand blenders) and table-top (e.g., blenders) machines. It may be used in a machine that is built-in to a work-top or work surface, or in a stand-alone device.
  • the invention can also be implemented as a stand-alone device, whether motor-driven or manually powered.

Abstract

L'invention concerne un robot culinaire (100) comprenant un réceptacle (2) pour recevoir un aliment à transformer, un outil rotatif (5) pour transformer l'aliment dans le réceptacle (2), qui est entraîné pour tourner autour d'un premier axe (6) et est simultanément entraîné pour se déplacer physiquement autour d'un second axe (12) différent du premier axe, une distance radiale entre une paroi latérale interne du réceptacle (2) et le second axe (12) variant en fonction de la position angulaire par rapport au second axe et l'outil rotatif (5) comprenant un ou plusieurs éléments d'outil qui s'étendent radialement en s'éloignant du second axe (12) d'une distance supérieure à une distance radiale minimale entre la paroi latérale et le second axe (12) pendant une partie du mouvement de l'outil rotatif (5) autour du second axe (12).
PCT/GB2017/051613 2016-06-03 2017-06-05 Robot culinaire WO2017208028A1 (fr)

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EP17728636.6A EP3463634A1 (fr) 2016-06-03 2017-06-05 Robot culinaire
CN201780029957.0A CN109195695B (zh) 2016-06-03 2017-06-05 食品加工机

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GB1609765.1 2016-06-03
GB1609765.1A GB2551126B (en) 2016-06-03 2016-06-03 Food processor

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WO2017208028A1 true WO2017208028A1 (fr) 2017-12-07

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PCT/GB2017/051612 WO2017208027A2 (fr) 2016-06-03 2017-06-05 Robot culinaire à main

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CN (1) CN109195695B (fr)
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GB2550997A (en) 2017-12-06
GB2551126B (en) 2022-01-26
GB201701716D0 (en) 2017-03-22
GB2551126A (en) 2017-12-13
EP3463634A1 (fr) 2019-04-10
CN109195695B (zh) 2022-09-20
WO2017208027A3 (fr) 2018-02-08
WO2017208027A2 (fr) 2017-12-07
CN109195695A (zh) 2019-01-11

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