WO2019156622A1 - Appareil et procédé de préparation d'un produit alimentaire - Google Patents

Appareil et procédé de préparation d'un produit alimentaire Download PDF

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Publication number
WO2019156622A1
WO2019156622A1 PCT/SG2018/050062 SG2018050062W WO2019156622A1 WO 2019156622 A1 WO2019156622 A1 WO 2019156622A1 SG 2018050062 W SG2018050062 W SG 2018050062W WO 2019156622 A1 WO2019156622 A1 WO 2019156622A1
Authority
WO
WIPO (PCT)
Prior art keywords
container
axis
arm segment
arm
rotary joint
Prior art date
Application number
PCT/SG2018/050062
Other languages
English (en)
Inventor
Kok Weng TANG
Original Assignee
Co Nut Ink Pte 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
Application filed by Co Nut Ink Pte Ltd filed Critical Co Nut Ink Pte Ltd
Priority to SG11202007683QA priority Critical patent/SG11202007683QA/en
Priority to PCT/SG2018/050062 priority patent/WO2019156622A1/fr
Publication of WO2019156622A1 publication Critical patent/WO2019156622A1/fr

Links

Classifications

    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
    • G07F11/16—Delivery means
    • G07F11/165—Delivery means using xyz-picker or multi-dimensional article picking arrangements
    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23G—COCOA; COCOA PRODUCTS, e.g. CHOCOLATE; SUBSTITUTES FOR COCOA OR COCOA PRODUCTS; CONFECTIONERY; CHEWING GUM; ICE-CREAM; PREPARATION THEREOF
    • A23G3/00—Sweetmeats; Confectionery; Marzipan; Coated or filled products
    • A23G3/02—Apparatus specially adapted for manufacture or treatment of sweetmeats or confectionery; Accessories therefor
    • A23G3/20—Apparatus for coating or filling sweetmeats or confectionery
    • A23G3/2076—Apparatus for coating with powders or granules, e.g. sprinkling
    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23P—SHAPING OR WORKING OF FOODSTUFFS, NOT FULLY COVERED BY A SINGLE OTHER SUBCLASS
    • A23P20/00—Coating of foodstuffs; Coatings therefor; Making laminated, multi-layered, stuffed or hollow foodstuffs
    • A23P20/10—Coating with edible coatings, e.g. with oils or fats
    • A23P20/12—Apparatus or processes for applying powders or particles to foodstuffs, e.g. for breading; Such apparatus combined with means for pre-moistening or battering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B1/00—Packaging fluent solid material, e.g. powders, granular or loose fibrous material, loose masses of small articles, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
    • B65B1/04—Methods of, or means for, filling the material into the containers or receptacles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B25/00—Packaging other articles presenting special problems
    • B65B25/001—Packaging other articles presenting special problems of foodstuffs, combined with their conservation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B31/00—Packaging articles or materials under special atmospheric or gaseous conditions; Adding propellants to aerosol containers
    • B65B31/02—Filling, closing, or filling and closing, containers or wrappers in chambers maintained under vacuum or superatmospheric pressure or containing a special atmosphere, e.g. of inert gas
    • B65B31/025—Filling, closing, or filling and closing, containers or wrappers in chambers maintained under vacuum or superatmospheric pressure or containing a special atmosphere, e.g. of inert gas specially adapted for rigid or semi-rigid containers
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
    • G07F11/16—Delivery means
    • G07F11/165—Delivery means using xyz-picker or multi-dimensional article picking arrangements
    • G07F11/1657—Delivery means using xyz-picker or multi-dimensional article picking arrangements the picking arrangements using suction
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/70—Coin-freed apparatus for dispensing, or the like, discrete articles in which the articles are formed in the apparatus from components, blanks, or material constituents
    • 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
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
    • G07F17/0064—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for processing of food articles
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
    • G07F17/0064—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for processing of food articles
    • G07F17/0071—Food articles which need to be processed for dispensing in a cold condition, e.g. ice and ice cream
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B2210/00—Specific aspects of the packaging machine
    • B65B2210/04—Customised on demand packaging by determining a specific characteristic, e.g. shape or height, of articles or material to be packaged and selecting, creating or adapting a packaging accordingly, e.g. making a carton starting from web material
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40088—Task is push, slide box
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45084—Service robot
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45241—Coke oven

Definitions

  • the present disclosure relates broadly to an apparatus and a method of preparing a food product.
  • F&B businesses typically follow a brick-and-mortar business model where a physical retail space is rented/purchased, and personnel are hired to prepare and serve food and beverages to customers.
  • the brick-and-mortar business model of running F&B businesses particularly those with relatively smaller retail space requirements, faces at least the following problems.
  • F&B outlets with a relatively smaller space requirement face difficulties in obtaining approval from the authorities for such outlets to be set up at niche locations such as the beaches, outdoor sites along the bay, river, main pedestrian walkway in main shopping belts and places of entertainment.
  • niche locations such as the beaches, outdoor sites along the bay, river, main pedestrian walkway in main shopping belts and places of entertainment.
  • the availability of feasible sites with the right brick-and-mortar size offered by prospective landlords has been challenging for F&B businesses with relatively smaller size requirements.
  • an apparatus for preparing a food product comprising, a housing defining an interior space for accommodating food preparation equipment; one or more preparation stations disposed in the interior space, said one or more preparation stations configured to dispense ingredients; a robotic arm comprising a holding means for grasping a container, said robotic arm configured to move the container to at least one preparation station such that the ingredients dispensed by the at least one preparation station can be received; wherein the robotic arm further comprises a vacuum generator for generating a vacuum between the holding means and the container to secure the container to the holding means.
  • the holding means may comprises one or more suction cups coupled to the vacuum generator.
  • the holding means may be substantially pliable for conforming to a surface of the container to create vacuum suction for securing the container.
  • the robotic arm may be located at a central region in the interior space and the one or more preparation stations may be located at peripheral regions in the interior space.
  • the robotic arm may further comprise a base member for supporting the robotic arm, said base member being attached to a supporting platform in the interior space; a first arm segment coupled to the base member at a first rotary joint, said first arm segment being configured to rotate about the first rotary joint at a first axis, wherein the first axis is substantially perpendicular to the supporting platform; a second arm segment coupled to the first arm segment at a second rotary joint, said second arm segment being configured to rotate about the second rotary joint at a second axis, wherein the second axis is substantially perpendicular to the first axis; a third arm segment coupled to the second arm segment at a third rotary joint, said third arm segment being configured to rotate about the third rotary joint at a third axis, wherein the third axis is substantially parallel to the second axis; a fourth arm segment coupled to the third arm segment at a fourth rotary joint, said fourth arm segment being configured to rotate about the fourth rotary joint at a fourth axis, wherein the fourth
  • the plurality of motors may be connected to the arm segments to move the respective arm segments about their axis of rotation.
  • the robotic arm may comprise a sensor mechanism to maintain the container in a substantially upright position.
  • the apparatus may further comprise a storage unit for storing containers, wherein the robotic arm retrieves the container from the storage unit before moving the container to the at least one preparation station.
  • the storage unit may further comprise a chiller for maintaining the container at a desired temperature range.
  • the storage unit may comprise a door for allowing access to the container.
  • the one or more preparation stations may comprise an ice-cream dispenser, said ice-cream dispenser comprising an extrusion nozzle operatively coupled to a control lever, wherein actuation of the control lever dispenses a measured volume of ice-cream into the container.
  • the one or more preparation stations may comprise one or more food topping dispensers configured to dispense food topping ingredients into the container based on a predetermined selection.
  • the one or food topping dispensers may comprise a rotary screw conveyor for dispensing a measured amount of food topping ingredients into the container.
  • the apparatus may further comprise a serving station comprising one or more holders and an automated door, wherein the one or more holders is configured to receive the food product from the robotic arm and the automated door is configured to open when the food product is deposited at the one or more holders.
  • a serving station comprising one or more holders and an automated door, wherein the one or more holders is configured to receive the food product from the robotic arm and the automated door is configured to open when the food product is deposited at the one or more holders.
  • the apparatus may further comprise a user input terminal and a controller unit, wherein the controller unit is configured to control the operation of the robotic arm and one or more preparation stations based on instructions entered in the user input terminal.
  • the container for holding the food product may be derived from an external covering of a plant source and has a substantially resilient structure that can withstand vacuum suction.
  • the container for holding the food product may be a substantially hemispherical coconut husk.
  • a method of preparing a food product comprising, providing an apparatus comprising a housing defining an interior space for accommodating food preparation equipment; providing one or more preparation stations disposed in the interior space for dispensing ingredients; grasping a container using a holding means of a robotic arm, wherein grasping the container comprises generating a vacuum between the holding means and the container to secure the container to the holding means; moving the container using the robotic arm to at least one preparation station for receiving the ingredients dispensed by the at least one preparation station.
  • the step of generating a vacuum between the holding means and the container may comprise using one or more suction cups coupled to the vacuum generator.
  • the step of grasping the container may comprise conforming the holding means which is substantially pliable to a surface of the container to create vacuum suction for securing the container.
  • the step of providing one or more preparation stations may comprise providing the one or more preparation stations at peripheral regions in the interior space; and may further comprise providing the robotic arm at a central region in the interior space.
  • the robotic arm may further comprise a base member for supporting the robotic arm, said base member being attached to a supporting platform in the interior space; a first arm segment coupled to the base member at a first rotary joint, said first arm segment being configured to rotate about the first rotary joint at a first axis, wherein the first axis is substantially perpendicular to the supporting platform; a second arm segment coupled to the first arm segment at a second rotary joint, said second arm segment being configured to rotate about the second rotary joint at a second axis, wherein the second axis is substantially perpendicular to the first axis; a third arm segment coupled to the second arm segment at a third rotary joint, said third arm segment being configured to rotate about the third rotary joint at a third axis, wherein the third axis is substantially parallel to the second axis; a fourth arm segment coupled to the third arm segment at a fourth rotary joint, said fourth arm segment being configured to rotate about the fourth rotary joint at a fourth axis, wherein the fourth
  • the plurality of motors may be connected to the arm segments to move the respective arm segments about their axis of rotation.
  • the step of moving the container may comprise maintaining the container in a substantially upright position with a sensor mechanism.
  • the method may further comprise a step of retrieving the container from a storage unit before moving the container to the at least one preparation station.
  • the method may further comprise chilling the storage unit to maintain the container at a desired temperature range.
  • the method may further comprise accessing the container via a door of the storage unit.
  • the method may further comprise a step of dispensing ice-cream from an ice-cream dispenser, said step comprising actuating a control lever operatively coupled to an extrusion nozzle to dispense a measured volume of ice-cream into the container.
  • the method may further comprise dispensing one or more food topping ingredients at one or more food topping dispensers based on a predetermined selection.
  • the step of dispensing one or more food topping ingredients may comprise rotating a rotary screw conveyor to dispense a measured amount of food topping ingredients into the container.
  • the method may further comprise a step of depositing the food product in one or more holders at a serving station, and a step of opening an automated door to allow retrieval of the food product.
  • the method may further comprise a step of entering instructions in a user input terminal and a step of controlling the operation of the robotic arm and one or more preparation stations via a controller unit based on the instructions.
  • the container for holding the food product may be derived from an external covering of a plant source and has a substantially resilient structure that can withstand vacuum suction.
  • the container for holding the food product may be a substantially hemispherical coconut husk.
  • a non-transitory computer readable storage medium having stored thereon instructions for instructing a processing unit of an apparatus to execute a method of preparing a food product, the method comprising, providing an apparatus comprising a housing defining an interior space for accommodating food preparation equipment; providing one or more preparation stations disposed in the interior space for dispensing ingredients; grasping a container using a holding means of a robotic arm, wherein grasping the container comprises generating a vacuum between the holding means and the container to secure the container to the holding means; moving the container using the robotic arm to at least one preparation station for receiving the ingredients dispensed by the at least one preparation station.
  • FIG. 1 is a schematic drawing of an apparatus for preparing a food product in an exemplary embodiment.
  • FIG. 2 is a schematic perspective view drawing of an apparatus for preparing a food product in an exemplary embodiment.
  • FIG. 3 is a schematic top sectional view drawing of an apparatus for preparing a food product in an exemplary embodiment.
  • FIG. 4A is a schematic front view drawing of a storage unit in an exemplary embodiment.
  • FIG. 4B is a schematic top view drawing of the storage unit in the exemplary embodiment.
  • FIG. 4C is a schematic side view drawing of the storage unit in the exemplary embodiment.
  • FIG. 4D is a schematic perspective view drawing of the shelf in the exemplary embodiment.
  • FIG. 4E is a schematic side view drawing of the shelf with two coconut husks resting on their respective receptacles in the exemplary embodiment.
  • FIG. 4F is a schematic side view drawing of the shelf with one coconut husk lifted from its receptacle in the exemplary embodiment.
  • FIG. 5A is a schematic drawing of a robotic arm in an exemplary embodiment.
  • FIG. 5B is a perspective exploded view of the robotic arm showing the fourth arm segment, fifth arm segment and sixth arm segment in the exemplary embodiment.
  • FIG. 6 is a schematic drawing of an ice-cream dispenser in an exemplary embodiment.
  • FIG. 7 is a schematic drawing of a food topping dispenser in an exemplary embodiment.
  • FIG. 8 is a schematic drawing of a serving station in an exemplary embodiment.
  • FIG. 9A is a schematic front view drawing of an apparatus for preparing a food product in an exemplary embodiment.
  • FIG. 9B is a schematic top view drawing of the apparatus for preparing a food product in the exemplary embodiment.
  • FIG. 9C is a schematic side view drawing of the apparatus for preparing a food product in the exemplary embodiment.
  • FIG. 10 is a schematic flowchart for illustrating a method of preparing a food product in an exemplary embodiment.
  • FIG. 1 1 is a schematic flowchart for illustrating a method of preparing an ice-cream in an exemplary embodiment.
  • FIG. 12 is a schematic drawing of a computer system suitable for implementing the described exemplary embodiments.
  • Exemplary, non-limiting embodiments may provide an apparatus and a method of preparing a food product.
  • FIG. 1 is a schematic drawing of an apparatus 100 for preparing a food product in an exemplary embodiment.
  • the apparatus 100 for preparing a food product comprises a housing 102 defining an interior space 104 for accommodating food preparation equipment.
  • the apparatus 100 further comprises preparation stations 106, 108, 1 10, 1 12 and a robotic arm 1 14 disposed in the interior space 104 of the housing 102.
  • the housing 102 functions as a barrier between the interior space 104 and the external environment where the apparatus 100 is installed. This protects the preparation stations 106, 108, 1 10, 1 12 of the apparatus 100 which prepare the food product and maintain cleanliness of ingredients stored in the interior space 104 from contaminants e.g. dust, microbes, pests, and prevents access by unauthorized personnel.
  • the preparation stations 106, 108, 1 10, 1 12 are configured to dispense an ingredient for preparing the food product. Each of the preparation stations 106, 108, 1 10, 1 12 may be located at different locations within the interior space 104.
  • preparation station 106 may be configured to dispense a main ingredient
  • preparation station 108 may be configured to dispense a first food topping
  • preparation station 1 10 may be configured to dispense a second food topping
  • preparation station 1 12 may be configured to dispense a beverage/drink.
  • the preparation stations 106, 108, 1 10, 1 12 may be varied/customized in accordance with the requirements of the food product, e.g. based on a recipe. It will also be appreciated that at least one preparation station is provided within the interior space 104 and additional preparation stations may be added as required.
  • the robotic arm 1 14 comprises an end effector/holding means e.g. gripper 1 16 coupled to a vacuum generator 1 18.
  • the gripper 1 16 functions to grasp/grip/hold a container 120 via vacuum suction generated between the gripper 1 16 and the container 120.
  • the vacuum generator 1 18 functions to create vacuum suction between the gripper 1 16 and the container 120 to secure the container 120 to the gripper 1 16.
  • the robotic arm 1 14 functions to move/transfer the container 120 to various locations within the interior space 104, particularly to and between the preparation stations 106, 108, 1 10, 1 12, in order to collect ingredients for preparing the food product.
  • the robotic arm 1 14 is configured to move the container 120 to at least one preparation station e.g. preparation station 106 to collect a main ingredient.
  • FIG. 2 is a schematic perspective view drawing of an apparatus 200 for preparing a food product in an exemplary embodiment.
  • the apparatus 200 comprises a housing 202 defining an interior space 204 for accommodating food preparation equipment/stations.
  • the food preparation stations include an ice-cream dispenser 206, food topping dispensers e.g. 208, and a drink station 210 situated at various locations within the interior space 204.
  • the apparatus 200 further comprises a storage unit 212, said storage unit 212 comprising an external housing and a storage space/compartment for storing a plurality of containers for holding the food product.
  • the storage unit 212 is positioned adjacent to the housing 202 such that the entire storage space or at least a portion of the storage space is accessible to the interior space 204.
  • the storage unit 212 is positioned adjacent to the housing 202 such that the external housing of the storage unit 212 serves as a wall of the housing 202. It will be appreciated that the storage unit 212 may be positioned within the interior space 204 such that the storage space of the storage unit 212 is within the interior space 204.
  • the container for holding the food product may be edible, for example, the container may be a coconut husk cut into halves with the coconut flesh attached to the husk. Therefore, the storage unit 212 may comprise a chiller to maintain the coconut husks at a desired range of temperature and humidity to maintain their freshness and prolong their shelf life.
  • the apparatus 200 further comprises a serving station 214 situated in the interior space 204, said serving station 214 for receiving and delivering the prepared food product and/or drink to a user/customer.
  • the apparatus 200 further comprises a robotic arm 216 which is configured to hold a container using an end effector e.g. a gripper.
  • the robotic arm is further configured to move the container to the various stations located in the interior space 204.
  • the robotic arm 216 can be configured to move the container to the chiller 212, ice-cream dispenser 206, food topping dispensers e.g. 208, and serving station 214.
  • the robotic arm 216 is located at a substantially central location within the interior space 204 to facilitate access to the various stations within the interior space 204.
  • a viewing window 218 may be provided on a portion of the housing 202 for viewing a portion of the interior space 204 from the external environment.
  • the viewing window is in the form of a transparent wall which also serves as a wall of the housing 202.
  • the viewing window 218 may allow the customer to view the food ingredients on display and its preparation process. This may provide entertainment value to the customer and enhances the experience of purchasing the food product from the apparatus 200
  • the apparatus 200 further comprises a user input device/terminal 220 for receiving instructions from the customer, said user input terminal located adjacent to the housing 202.
  • the user input terminal 220 is operationally linked to a controller/processor unit (not shown) which processes the inputs received and sends signals to control operation of the various components of the apparatus 200 based on the input/instructions received (e.g. chiller 212, ice-cream dispenser 206, food topping dispensers e.g. 208, serving station 214, and robotic arm 216).
  • the user input terminal 220 comprises a user interface e.g. graphical user interface 222 for allowing the customer to view a selection of the various available ingredients and to customize the food product based on his/her preference.
  • the user input terminal 220 further comprises a payment module 224 for allowing the customer to make payment e.g. cash, credit/debit card, phone payment etc.
  • the user input terminal 220 may be configured to provide visual and/or aural stimulation e.g. jingles, sound effects, animations or light effects to enhance the user experience.
  • FIG. 3 is a schematic top sectional view drawing of an apparatus 300 for preparing a food product in an exemplary embodiment.
  • the apparatus 300 functions substantially similarly to the apparatus 200 for preparing a food product of FIG. 2.
  • the apparatus 300 comprises a housing 302 defining an interior space 304, an ice-cream dispenser 306, food topping dispensers e.g. 308, a drink station comprising a drink dispenser 310 and a cup dispenser 312, and a serving station 314 situated at various locations near the periphery of the interior space 304.
  • a storage unit 322 is positioned adjacent to and coupled to the housing 302.
  • a robotic arm 316 is situated at a substantially central location within the interior space 304 to allow the robotic arm 316 to access the components situated at the various locations near the periphery (i.e.
  • the apparatus 300 further comprises a user input terminal 318 located adjacent to the housing 302 and near the serving station 314 to facilitate easy retrieval of the food product after an order is confirmed at the user input terminal 318.
  • the serving station 314 comprises a door e.g. shutter door 320 disposed on the housing to allow a user to retrieve the food product and drink.
  • the robotic arm 316 is situated at a central region of the interior space 304 while stations such as the ice-cream dispenser 306, food topping dispensers e.g. 308, drink dispenser 310, cup dispenser 312, and serving station 314 are positioned around the robotic arm 316, near periphery regions of the interior space 304. This may ensure that each of the stations are within reach of the robotic arm 316 and that one station does not block/obstruct another station. It will be appreciated that the positions of the robotic arm and the various stations may be reconfigured, for example, to streamline the preparation workflow for different food products.
  • FIG. 4A is a schematic front view drawing of a storage unit 400 in an exemplary embodiment.
  • the storage unit 400 functions to store containers for holding a food product and to maintain a specific temperature and humidity so as to maintain freshness and prolong shelf life of a container.
  • the storage unit 400 is configured to maintain a nominal temperature of between about 2°C to about 8°C.
  • the container may be prepared/derived from a plant source, for example, an external covering such as husk, shell or skin of fruits and vegetables.
  • the container may have a substantially rigid structure and/or a substantially resilient structure that can withstand external forces applied thereon e.g. vacuum suction.
  • fruits and vegetables capable of providing a suitable external covering for use as a container may include but are not limited to coconut, gourds, honeydew, papaya, pineapple, pomelo, pumpkin, orange, watermelon and the like.
  • the container prepared from a plant source is biodegradable and the use of such containers is environmentally friendly as compared to the use of plastic containers which takes a significantly longer time to degrade and creates plastic pollution.
  • the containers are coconut husks 402.
  • the coconut husk container is made by cutting a whole coconut husk into half to form a substantially hemispherical bowl, said bowl comprising a convex outer surface and an inner concave surface forming a hollow cavity, wherein at least a portion of the inner surface is covered by coconut flesh and at least a portion of the outer surface is covered by coconut fibers.
  • the hollow cavity of the coconut husk may be used for holding ingredients for making the food product. It will be appreciated that containers derived from other types of fruits and vegetables may be prepared similarly and suitable adjustments may be made to create a container suitable for holding the food product.
  • the storage unit 400 comprises a storage space/compartment 404 for storing containers such as hemispherical-shaped coconut husks e.g. 402.
  • the storage compartment 404 comprises thermally insulated walls e.g. 406 for minimizing energy consumption and a door 408 for providing access to the storage compartment 404.
  • the door 408 is substantially transparent in at least a portion of its surface and the substantially transparent portion is formed by an insulating glass pane.
  • the substantially transparent portion of the door 408 allows the coconut husks e.g. 402 placed within the storage compartment 404 to be visible from outside of the storage unit 400.
  • the door 408 may be manually opened and closed using a robotic arm (e.g. 216 of FIG. 2).
  • the door 408 may be coupled to a motor actuator which is linked to a controller unit such that opening and closing of the door 408 are automated and controlled by the controller unit.
  • the storage compartment 404 further comprises one or more shelves e.g. 410 for holding the coconut husks e.g. 402.
  • Each shelf 410 comprises a plurality of receptacles e.g. 412 whereby each receptacle 412 is configured to receive one container 402.
  • the average diameter of a coconut husk for preparing a food product in this exemplary embodiment is typically about 10cm.
  • the receptacle 412 should be dimensioned accordingly to have a diameter which is a proportion of the average diameter of the coconut husk used.
  • the receptacle may have a diameter between about 7 cm to about 9 cm.
  • the storage compartment 404 may store up to 48 containers. It will be appreciated that the storage compartment is not limited to 48 containers and may store more containers e.g. up to 96 coconut husks.
  • the storage unit 400 further comprises a chiller/cooling unit 414 below the storage compartment 404.
  • the chiller unit 414 functions to cool the storage compartment 404 by drawing air into the chiller unit 414, cooling the air, and circulating the cooled air in the storage compartment 404.
  • the storage unit 400 further comprises wheels/castor wheels e.g. 416 disposed at the base of the storage unit 400 to facilitate movement of the storage unit 400 from one location to another.
  • the storage unit 400 also comprises stoppers e.g. 418 disposed at the base of the storage unit 400 to maintain the storage unit 400 in a substantially stationary position once the storage unit 400 is installed at its designated location.
  • FIG. 4B is a schematic top view drawing of the storage unit 400 in the exemplary embodiment.
  • each shelf 410 comprises eight receptacles e.g. 412 for holding up to eight coconut husks e.g. 402.
  • the receptacles e.g. 412 are arranged in two rows, each row consisting of 4 receptacles e.g. 412.
  • the storage compartment 404 is enclosed by a plurality of thermally insulated walls e.g. 406 and a door 408.
  • the storage compartment 404 further comprises a partition wall 420 dividing the storage compartment 404 into two sections.
  • a pair of support structures 422 is provided on the interior surface of the storage compartment 404 and the partition wall 420 to support the shelf 410 in a substantially horizontal orientation.
  • the pair of support structures 422 may extend from or be attached to the partition wall 420 and the interior surface of the storage compartment 404.
  • FIG. 4C is a schematic side view drawing of the storage unit 400 in the exemplary embodiment.
  • Each shelf 410 is configured to be coupled to/ resting on at least a pair of support structures (e.g. 422 of FIG. 4B) extending from or attached to the interior surface of the storage compartment 404.
  • the pair of support structures may be spaced at regular height intervals along the storage compartment 404 such that there is space/clearance provided between the plurality of shelves e.g. 410.
  • the shelves e.g. 410 can slide out from the storage compartment 404.
  • the pair of support structures may comprise linear guides which allow the shelf 410 to slide in and out of the storage compartment 404. This allows easier access and retrieval of the coconut husks e.g. 402.
  • chiller unit 414 comprises a fan 424, a compressor 426, an evaporator 428, a condenser 430 and a duct 432. It will be appreciated that the mechanisms of cooling a chiller/refrigerator are known in the art and it is within the purview of a person skilled in the art to implement such cooling means.
  • the storage unit 400 measures 1.7 m (height, represented by H1 in FIG. 4A) by 1 .2 m (width, represented by W1 in FIG. 4A) by 0.5 m (depth, represented by D1 in FIG. 4B).
  • the storage compartment 404 measures about 1.07 m (height, represented by H2 in FIG. 4A) by 1 .08 m (width, represented by W2 in FIG. 4B).
  • the chiller unit 414 measures about 0.37 m (height, represented by H3 in FIG. 4A) by 1 .2 m (width, represented by W1 in FIG. 4A).
  • the walls e.g. 406 of the storage compartment are about 0.06 m thick (represented by T1 of FIG. 4B). It will be appreciated that the above dimensions are intended to be illustrative and may be varied accordingly.
  • FIG. 4D is a schematic perspective view drawing of the shelf 410 in the exemplary embodiment.
  • the plurality of receptacles e.g. 412 are positioned above a bottom surface 434 of the shelf 410 such that a space 436 is provided between the plurality of receptacles e.g. 412 and the bottom surface 434 of the shelf 410, for allowing an end effector e.g. gripper of a robotic arm to slide under the plurality of receptacles e.g. 412 and contact an exterior underside of the coconut husk 402 which is resting on the receptacle 412.
  • Each receptacle 412 has a substantially circular shape/outline for receiving the coconut husk 402.
  • Each receptacle 412 comprises one or more gaps e.g. 438 along its circumference for facilitating retrieval/removal of the coconut husk 402 from the shelf 410 by the robotic arm.
  • FIG. 4E is a schematic side view drawing of the shelf 410 with two coconut husks e.g. 402 resting on their respective receptacles e.g. 412 in the exemplary embodiment.
  • a robotic arm 440 comprising an end effector e.g. a vacuum bellow 442 enters the space 436 and positions the vacuum bellow 442 to contact the exterior underside of the coconut husk 402.
  • a substantially air-tight space 444 is formed between the vacuum bellow 442 and the exterior underside of the coconut husk 402 as the vacuum bellow 442 contacts the exterior underside of the coconut husk 402.
  • FIG. 4F is a schematic side view drawing of the shelf 410 with one coconut husk 402 lifted from its receptacle 412 in the exemplary embodiment.
  • the robotic arm 440 activates a vacuum generator (e.g. air pump assembly) which is coupled to the vacuum bellow 442 via an in-built pneumatic line, such that air is evacuated from the space 444 to create a vacuum between the vacuum bellow 442 and the exterior underside of the coconut husk. This creates a suction force which allows the vacuum bellow 442 to grip the coconut husk 402.
  • a vacuum generator e.g. air pump assembly
  • the robotic arm 440 lifts the coconut husk 402 from its resting position on the receptacle 412.
  • the robotic arm 440 may be configured to move the coconut husk 402 away from the shelf 410 by exiting the space 436.
  • FIG. 5A is a schematic drawing of a robotic arm 500 in an exemplary embodiment.
  • the robotic arm 500 comprises a base member 502 which provides support for the robotic arm 500.
  • the base member 502 comprises a base plate 504 with attachment means e.g. drilled holes 506 for attaching the robotic arm 500 to a platform.
  • the platform on which the base member 502 of the robotic arm 500 is attached may be fixed or movable. In the case of a movable platform, the platform may be movable along one or more tracks, thus allowing the robotic arm 500 to translate along the one or more tracks and extend its reach.
  • the base member 502 may serve as a housing for enclosing a vacuum generator, electronic circuitry and mechanical components for controlling and actuating the robotic arm 500.
  • the robotic arm 500 further comprises a first arm segment 508 coupled e.g. pivotally coupled to the base member 502 via a first joint e.g. rotary joint 510 such that the first arm segment 508 is configured to rotate with respect to the base member 502 about a first axis of rotation which is substantially parallel to the Z axis, as shown in FIG. 5A.
  • a first arm segment 508 coupled e.g. pivotally coupled to the base member 502 via a first joint e.g. rotary joint 510 such that the first arm segment 508 is configured to rotate with respect to the base member 502 about a first axis of rotation which is substantially parallel to the Z axis, as shown in FIG. 5A.
  • the first arm segment 508 is further pivotally coupled to a second arm segment 512 via a second rotary joint 514 such that the second arm segment 512 is configured to rotate with respect to the first arm segment 508 about a second axis of rotation which is substantially perpendicular to the first axis of rotation.
  • the robotic arm 500 further comprises a third arm segment 516 pivotally coupled to the second arm segment 512 via a third rotary joint 518 such that the third arm segment 516 is configured to rotate with respect to the second arm segment 512 about a third axis of rotation which is substantially perpendicular to the first axis of rotation and substantially parallel to the second axis of rotation.
  • the third arm segment 516 is further pivotally coupled to a fourth arm segment 520 via a fourth rotary joint 522 such that the fourth arm segment 520 is configured to rotate with respect to the third arm segment 516 about a fourth axis of rotation which is substantially parallel to the second and third axes of rotation.
  • the robotic arm 500 further comprises a fifth arm segment 524 pivotally coupled to the fourth arm segment 520 via a fifth rotary joint 526 such that the fifth arm segment 524 is configured to rotate with respect to the fourth arm segment 520 about a fifth axis of rotation which is substantially parallel to the second, third and fourth axes of rotation.
  • the fifth arm segment 524 is further pivotally coupled to a sixth arm segment 528 via a sixth rotary joint 530 such that the sixth arm segment 528 is configured to rotate with respect to the fifth arm segment 524 about a sixth axis of rotation which is substantially perpendicular to the fifth axis of rotation.
  • the robotic arm 500 is capable of rotating about six axes of rotation (i.e. six degrees of freedom) which allows the robotic arm 500 to perform a combination of translational and rotational movements.
  • the translational movements may be described as surging (moving forward and backward on the X-axis), swaying (moving left and right on the Y-axis), and heaving (moving up and down on the Z-axis).
  • the rotational movements may be described as rolling (tilting side to side on the X-axis), pitching (tilting forward and backward on the Y-axis), and yawing (rotating/swiveling clockwise and anti clockwise on the Z-axis).
  • the robotic arm 500 further comprises a plurality of motors (not shown) coupled to the arm segments for moving the arm segments about its respective axes of rotation.
  • the base member 502 and each arm segment e.g. 508, 512, 516, 520, 524, 528 may comprise driving units/motors for rotating the arm segments about their respective axes of rotations e.g. hydraulic, electric, or pneumatic drives, sensors for allowing the arm segments to receive feedback about its environment e.g. motion sensors, and circuitry connections for allowing the arm segments to communicate e.g. providing/receiving signals to/from a controller unit which controls the movement of the robotic arm 500.
  • the robotic arm 500 functions substantially similarly to the robotic arm 1 14 of FIG. 1 to pick up/retrieve, grip/hold, and move a container 532 from one location to another location.
  • the robotic arm 500 comprises an end effector/holding means 534 disposed on the sixth arm segment 528, said end effector 534 is configured to contact an external/exterior surface, e.g. exterior underside of the container 532 to support the container 532, and grasp/hold the container 532 as the robotic arm 500 picks/lifts up the container 532 and moves the container 532 between different locations.
  • the robotic arm 500 may comprise sensors coupled to, for example, electronic circuitry within the base member 502 for sensing the spatial orientation of the container, such that a controller unit may control the movement of the robotic arm to maintain the container 532 in a substantially upright position while moving between different locations. This prevents the contents of the container 532 from spilling/toppling out.
  • the robotic arm 500 may also comprise pressure sensors for measuring the vacuum suction created between the end effector 534 and the surface of the container 532 (i.e. measuring the gripping strength of the end effector 534).
  • the robotic arm 500 may also comprise a background suppression sensor for detecting the presence of the container 532 e.g. a coconut husk and a cup, in order for the robotic arm 500 to initiate the next movement/action after detection.
  • the end effector 534 is in communication with a vacuum generator which is disposed at the base of the robotic arm e.g. in base member 502.
  • the vacuum generator comprises a vacuum pump for creating vacuum suction between the end effector 534 and the external/exterior surface of an object to be gripped, and tubing for providing fluid communication with the end effector 534.
  • the end effector 534 may comprise one or more suction cups in communication with the vacuum generator.
  • Each suction cup may comprise a concave receptacle/cavity for contacting an external/exterior surface of a container to be held.
  • the concave receptacle comprises an outer rim/edge configured to detachably couple/contact an external/exterior surface of a container.
  • the concave receptacle may comprise one or more ports coupled to the vacuum generator for (i) allowing the air to be drawn out from the space enclosed by the concave receptacle and the surface of the container, thus forming a vacuum to secure the container to the suction cup; and/or (ii) allowing air to enter the space enclosed by the concave receptacle and the surface of the container, thus removing the vacuum state and releasing the grip on the container.
  • the end effector 534 of the robotic arm 500 may be made of a substantially pliable/flexible material e.g. silicone rubber, thus allowing the end effector 534 to substantially conform to shape and surface of a containers.
  • a substantially pliable/flexible material e.g. silicone rubber
  • the inventors have recognized that certain surfaces may be particularly challenging for a gripper using a vacuum suction mechanism.
  • an exterior surface of the container may be irregular in that the gripped surface may not be smooth, flat and clean (i.e. substantially free of particulate matter on its surface).
  • a container e.g. coconut husk may have uneven exterior surfaces due to coconut fibers covering the exterior surfaces, or be irregular in shape which make it challenging for the end effector to form an effective vacuum seal/suction between the end effector and the exterior underside surface of the container.
  • the flexible/pliable material of the end effector 534 advantageously allows the end effector 534 to substantially conform to the irregular shapes or uneven external surfaces of the container 532. This allows the end effector 534 to form an effective air-tight/vacuum seal between the end effector 534 and the exterior surface of the container 532.
  • FIG. 5B is a perspective exploded view of the robotic arm 500 showing the fourth arm segment 520, fifth arm segment 524 and sixth arm segment 528 in the exemplary embodiment.
  • the sixth arm segment 528 comprises the end effector 534 in the form of a vacuum bellow 536 disposed on a top side of the sixth arm segment 528.
  • the vacuum bellow functions to hold/grip the container 532 in a substantially fixed position.
  • the vacuum bellow 536 also functions to maintain the container 532 in a substantially upright/level position on the sixth arm segment 528.
  • the vacuum bellow 536 may be coupled to the vacuum generator via an in-built pneumatic line.
  • the vacuum bellow 536 is further coupled to a vacuum port 538 disposed on the fourth arm segment 520 via a tubing e.g. pneumatic hose (not shown).
  • An outer edge 540 of the vacuum bellow 536 is arranged to contact an exterior surface of an object e.g. container to be gripped, such that a substantially air-tight space is formed between the space enclosed by the vacuum bellow 536 and the exterior surface of the object contacting the vacuum bellow 536.
  • the air-tight space allows a vacuum to be created therein, so as to provide a suction force for gripping the container 532 by the vacuum bellow 536.
  • the vacuum bellow 536 may be made from material which is substantially soft and pliable, such that the outer edge 540 substantially conforms to the exterior surface of the container to be gripped.
  • the robotic arm 500 receives a signal from a controller unit to position the vacuum bellow 536 against the exterior surface of the container to be gripped. Once the vacuum bellow 536 is in position, the controller unit signals the robotic arm 500 to activate the vacuum generator such that a vacuum is created between the air-tight space formed by the vacuum bellow 536 and the exterior surface of the container. Once the container is gripped, the robotic arm 500 may move the container between and to various locations.
  • FIG. 6 is a schematic drawing of an ice-cream dispenser 600 in an exemplary embodiment.
  • the ice-cream dispenser 600 comprises a tank 602 for storing a liquid ice cream slurry composition, said tank being mounted on a base plate 604, an extrusion nozzle 606 disposed on the tank 602 for dispensing ice-cream.
  • the extrusion nozzle 606 is operatively coupled to a control lever 608 for controlling the flow of ice-cream from the extrusion nozzle 606.
  • the control lever 608 is configured to rotate/swivel between an ON” and a OFF” position. When the control lever 608 is in the OFF” position, e.g.
  • the dispensing of solid ice cream from the extrusion nozzle 606 is automated.
  • the control lever 608 is operatively coupled to a shaft 610 which in turn is operatively coupled to an actuator e.g. linear actuator 612 located beneath the base plate 604.
  • the linear actuator 612 is operationally linked to a controller unit (not shown) which controls the dispensing of ice-cream from the ice-cream dispenser 600.
  • the controller unit sends a signal to the linear actuator 612 to dispense ice-cream.
  • the linear actuator 612 moves vertically downwards and causes the shaft 610 to move downwards, which in turn, causes the control lever 608 to rotate downwards as it is moved by the shaft 610.
  • the control lever 608 is in the ON” position and solid ice-cream flows out of the extrusion nozzle 606.
  • the controller unit sends another signal to the linear actuator 612 to stop the flow of ice-cream.
  • the linear actuator 612 moves vertically upwards and causes the shaft 610 to move upwards, which in turn, causes the control lever 608 to rotate upwards as it is being moved by the shaft 610.
  • the control lever 608 is in the OFF” position and ice cream ceases to flow out of the extrusion nozzle 606.
  • the rate of flow of ice-cream from the extrusion nozzle 606 may be controlled by the degree of rotation of the control lever 608 between the ON” and OFF” positions.
  • FIG. 7 is a schematic drawing of a food topping dispenser 700 in an exemplary embodiment.
  • the food topping dispenser 700 functions to dispense food toppings for a food product.
  • Food topping may include but are not limited to whole or crushed nuts, dried or hydrated fruit pieces, candy pieces, seeds, coconut flakes, malt, miniature marshmallows, sprinkles, chocolate chips, biscuits and the like, and combinations thereof.
  • the food topping dispenser 700 may be configured to dispense one type of food topping ingredient or a mixture of food topping ingredients.
  • the food topping dispenser 700 may dispense a single type of nut or an assorted mixture of assorted nuts.
  • the food topping dispenser 700 comprises a storage container 702 for storing the food topping ingredients.
  • the storage container 702 comprises a top opening which is covered by a lid 704 and a viewing window 706.
  • the lid 704 encloses the storage container 702 to preserve/prolong the shelf life of the food topping ingredients and to protect the food topping ingredients stored therein from external contaminants e.g. dust, moisture, microbes and the like.
  • the viewing window 706 allows a user/customer to view the contents within the storage container 702 which may entice the user to choose the food topping ingredients.
  • the viewing window 706 also enables a staff member to visually monitor the amount of remaining ingredients in the storage container 702 and replenish the storage container 702 with fresh ingredients when required.
  • the food topping dispenser 700 further comprises a screw dispensing assembly 708 in communication with the storage container 702 via a funnel-shaped opening 710 at on the storage container 702.
  • the screw dispensing assembly 708 comprises a rotary screw conveyor (covered and not shown in the figure) having a shaft 712 coupled to a motor assembly 714 and an outlet 716 for dispensing food topping ingredients.
  • Food topping ingredients stored in the storage container 702 enter the screw dispensing assembly 708 via the funnel-shaped opening 710 and fall between the blades of the rotary screw conveyor.
  • the motor assembly 714 rotates the shaft 712 of the rotary screw conveyor, causing the rotary screw conveyor to rotate and move the food topping ingredients along the screw dispensing assembly 708 and dispensed via the outlet 716.
  • the screw dispensing assembly 708 further comprises a lid 718 which can be opened to facilitate cleaning.
  • the food topping dispenser 700 further comprises a base plate 720 on which the screw dispensing assembly 708 and motor assembly 714 are mounted.
  • the base plate 720 is coupled to a support pole 722 which supports and props the food topping dispenser 700 in a substantially upright position.
  • the food topping dispenser may be configured to dispense food topping ingredients based on a predetermined selection. If a particular food topping ingredient is selected via a user input device (e.g. 220 of FIG. 2), a container will be placed (by the robotic arm) at the food topping dispenser containing the selected food topping ingredient and the food topping dispenser will receive a signal to dispense a measured amount of the selected food topping ingredient from its outlet. If a particular food topping ingredient is not selected via the user input device, a container will not be placed at the food topping dispenser containing the particular food topping ingredient and the food topping dispenser will not receive a signal to dispense the particular food topping ingredient.
  • a user input device e.g. 220 of FIG. 220 of FIG. 220
  • a container will be placed (by the robotic arm) at the food topping dispenser containing the selected food topping ingredient and the food topping dispenser will receive a signal to dispense a measured amount of the selected food topping ingredient from its outlet. If a particular food topping ingredient is not selected via the user input device, a
  • FIG. 8 is a schematic drawing of a serving station 800 in an exemplary embodiment.
  • the serving station 800 comprise a first holder 802 for holding a container 804 and a second holder 806 for holding a cup 808.
  • the first holder 802 and the second holder 806 each comprises a substantially circular portion which acts as a receptacle for receiving the container 804 and cup 808, respectively.
  • the container 804 has a hemispherical shape for holding a food product and the cup 808 is for holding a drink.
  • the container 804 and cup 808 may be deposited on the first holder 802 and second holder 806 by a robotic arm, respectively.
  • the serving station 800 may further comprise a door 810 adjacent to the first holder 802 and second holder 806 for allowing a user to access the serving station 800 and retrieve/collect the container 804 containing the food product and the cup 808 containing the drink.
  • the door may be an automated door which is programmed to be closed when there is no container and cup deposited at the serving station 800, and is programmed to open when a container and cup is deposited at the serving station 800.
  • the door may be a shutter door, sliding door, hinged door and the like.
  • FIG. 9A is a schematic front view drawing of an apparatus 900 for preparing a food product in an exemplary embodiment.
  • the apparatus 900 functions substantially similarly to the apparatus 200 for preparing a food product of FIG. 2.
  • the apparatus 900 comprises a user input terminal 902 (compare 220 of FIG. 2) and a serving station 904 (compare 214 of FIG. 2) located near each other. This facilitates easy retrieval/collection of the food product and drink after an order is made via the user input terminal 902.
  • the apparatus 900 further comprises wheels/castor wheels e.g. 906 disposed at the base of the apparatus 900 to facilitate movement of the apparatus 900 from one location to another.
  • the apparatus 900 also comprises stoppers e.g. 908 disposed at the base of the apparatus 900 to maintain the apparatus 900 in a substantially stationary position once the apparatus 900 is installed at its designated location.
  • FIG. 9B is a schematic top view drawing of the apparatus 900 for preparing a food product in the exemplary embodiment.
  • FIG. 9C is a schematic side view drawing of the apparatus 900 for preparing a food product in the exemplary embodiment.
  • the dimensions of the apparatus 900 are 2345 mm (width, represented by W3 in FIG.
  • the apparatus 900 occupies an area of approximately 4.2 m 2 (or 45 square feet). It will be appreciated that the space occupied by the apparatus 900 is significantly smaller than a typical brick and mortar F&B outlet and yet the apparatus 900 may perform substantially similar functions as the typical brick and mortar F&B outlet. For example, the apparatus may receive orders from a customer, prepare and serve a food product in accordance with the customer’s preference, and collect payments etc. The apparatus 900 is also not excessively tall and may be installed at its desired location with relative ease.
  • FIG. 10 is a schematic flowchart 1000 for illustrating a method of preparing a food product in an exemplary embodiment.
  • an apparatus comprising a housing defining an interior space for accommodating food preparation equipment is provided.
  • one or more preparation stations for dispensing ingredients is provided in the interior space.
  • a container is grasped using a holding means of a robotic arm by generating a vacuum between the holding means and the container to secure the container to the holding means.
  • the container is moved using the robotic arm to at least one preparation station for receiving the ingredients dispensed by the at least one preparation station.
  • FIG. 1 1 is a schematic flowchart 1 100 for illustrating a method of preparing an ice cream in an exemplary embodiment.
  • a machine for preparing an ice-cream is initiated. Prior to initiation, the machine may be in a power-saving/sleep mode. Initiation may be performed by a customer by e.g. pressing a button or tapping a touch screen of a user terminal, causing the machine to switch on from a sleep mode to an active mode.
  • a robotic arm of the machine is activated. Upon activation, the robotic arm positions itself at a starting home position.
  • the starting home position may be a central location within an interior space of the machine such that the robotic arm is able to access one or more food preparation stations located at peripheral locations in the interior space.
  • selection of ice-cream topping is entered and payment is made. The customer enters his/her choice of ice-cream topping at the user terminal and makes payment via the user terminal. The customer’s selection of ice-cream topping is received by a controller unit in the form of electrical signals.
  • a husk is picked up from a chiller.
  • the controller unit signals the robotic arm to move towards the chiller which stores one or more husks and opens a door of a chiller.
  • the robotic arm then positions its gripper against the outer surface of the husk in order to pick up the husk and generates vacuum suction to secure the husk in the gripper.
  • ice-cream is dispensed into the husk.
  • the controller unit signals the robotic arm to transport the husk to an ice-cream dispenser. Once the husk is positioned at an extrusion nozzle of the ice-cream dispenser, the controller unit signals the ice-cream dispenser to actuate a control lever which is operatively coupled to the extrusion nozzle and turn on the flow of ice-cream from the extrusion nozzle. Once a measured volume of ice cream is dispensed into the husk, the controller unit signals the ice-cream dispenser to actuate the control lever to turn off the flow of ice-cream from the extrusion nozzle.
  • one or more selected food toppings is dispensed into the husk.
  • the controller unit signals the robotic arm to transport the husk to one or more food topping dispensers containing the food topping ingredients selected by the customer.
  • the controller unit signals a motor to actuate a rotary screw conveyor in the food topping dispenser, causing the food topping ingredient to be dispensed from the outlet.
  • the controller unit signals the motor to stop the rotary screw conveyor, thus stopping the dispensing of the food topping ingredient.
  • step 1 1 14 ice-cream is served on a serving counter. Once all the selected food toppings are dispensed into the husk, the controller unit signals the robotic arm to transport the husk to a serving counter and deposit the husk at a holder. To deposit the husk, the controller unit signals the robotic arm to release the vacuum suction between the gripper and the outer surface of the husk.
  • coconut water is dispensed into a cup. The controller unit signals the robotic arm to move toward a cup dispenser and position its gripper against the outer surface of a cup in order to pick up the cup and generates vacuum suction to secure the cup in the gripper. The controller unit then signals the robotic arm to move towards a drink dispenser. Once the cup is positioned at an outlet of the drink dispenser, the controller unit signals the drink dispenser to dispense a measured volume of coconut water into the cup.
  • the cup is placed beside the ice-cream on the serving counter.
  • the controller unit signals the robotic arm to transport the cup to the serving counter and deposit the cup at a holder beside the ice-cream.
  • the controller unit signals the robotic arm to release the vacuum suction between the gripper and the surface of the cup.
  • the serving counter door is opened for the customer to pick up the ice cream and cup.
  • the controller unit signals the serving counter door e.g. automated shutter door to open to allow the customer to collect the ice-cream placed on the coconut husk and cup of coconut water.
  • step 1 122 the serving counter door and chiller door are closed and the robotic arm is resets to its original home position.
  • the controller unit signals the serving counter door to close and signals the robotic arm to move towards the chiller to close the chiller door. Once this is completed, the robotic arm returns to its starting home position.
  • an apparatus for preparing a food product and a method of preparing a food product are disclosed.
  • the apparatus for preparing a food product relies on automation to prepare and serve the food product.
  • Described exemplary embodiments of the apparatus may be a robotic kiosk comprising a housing made of aluminium and/or plastic, robotic machine/arm, an integrated ice-cream freezer, toppings dispensers, beverage dispenser, fridge, and equipped with shelving for storage of cups, toppings, coconut husks and ice cream.
  • the food product may be an ice-cream with selected food topping(s) and a drink e.g. fresh coconut water.
  • the ice cream may be provided by third party suppliers e.g. ice-cream manufactured by StoeltingTM ice-cream machine which is an industry leader in food service equipment.
  • the robotic kiosk may serve up to 45 ice cream treats and 45 fresh coconut water per hour.
  • the full preparation and serving process may be visible through a viewing glass window of the robotic kiosk, thus providing visual stimulation to customers.
  • the robotic kiosk may have a user interface which is interactive, customer-controlled, enjoyable and simple to use - children as young as three years old may easily operate and purchase ice-cream treats and drink.
  • the robotic kiosk may be simple to load, clean and maintain.
  • Exemplary embodiments of the apparatus and method of preparing a food product may address operational issues faced by F&B operators as the apparatus and method of preparing the food product is automated. Automation of food preparation and serving may advantageously results in an increase in efficiency and productivity and there is no on-site manpower required to prepare and serve the food and beverage.
  • the apparatus may be capable of being in operation daily for 24 hours. Such technology enhancement would alleviate manpower issues related to the F&B industry and allow better allocation of human resources.
  • Exemplary embodiment of the apparatus and method of preparing a food product may require lesser space (about 45 square feet) as compared to conventional brick-and- mortar F&B outlets.
  • the apparatus may be installed at more locations e.g. major outdoor walkways and pavements, amusement and theme parks, shopping malls and centres, and beach walkways and pavements.
  • the apparatus may be free-standing or installed against a flat wall or corner.
  • F&B operators may install such apparatus in major amusement and theme parks without incurring additional costs for the park owner due to its smaller space requirement and no requirement of on-site manpower.
  • the presence of the apparatus may add value with its unique selling point and proven outdoor lifestyle concept in generating more revenue to park owners.
  • Exemplary embodiments of the apparatus for preparing a food product may advantageously result in cost savings in rental cost as the apparatus requires a smaller retail space as compared to conventional brick-and-mortar F&B outlets. There may be significant savings in manpower cost as no on-site manpower is required to operate the apparatus. There may also be savings in utilities and maintenance costs as the apparatus uses minimal power at only 30 AMP with a 3-phase power supply. Further, as the apparatus may be operated around the clock, there may be an increase in revenue and profitability.
  • the terms "coupled” or “connected” as used in this description are intended to cover both directly connected or connected through one or more intermediate means, unless otherwise stated.
  • An algorithm is generally relating to a self-consistent sequence of steps leading to a desired result.
  • the algorithmic steps can include physical manipulations of physical quantities, such as electrical, magnetic or optical signals capable of being stored, transmitted, transferred, combined, compared, and otherwise manipulated.
  • Such apparatus may be specifically constructed for the purposes of the methods, or may comprise a general purpose computer/processor or other device selectively activated or reconfigured by a computer program stored in a storage member.
  • the algorithms and displays described herein are not inherently related to any particular computer or other apparatus. It is understood that general purpose devices/machines may be used in accordance with the teachings herein. Alternatively, the construction of a specialized device/apparatus to perform the method steps may be desired.
  • the computer readable medium may include storage devices such as magnetic or optical disks, memory chips, or other storage devices suitable for interfacing with a suitable reader/general purpose computer. In such instances, the computer readable storage medium is non-transitory. Such storage medium also covers all computer-readable media e.g. medium that stores data only for short periods of time and/or only in the presence of power, such as register memory, processor cache and Random Access Memory (RAM) and the like.
  • the computer readable medium may even include a wired medium such as exemplified in the Internet system, or wireless medium such as exemplified in bluetooth technology.
  • the exemplary embodiments may also be implemented as hardware modules.
  • a module is a functional hardware unit designed for use with other components or modules.
  • a module may be implemented using digital or discrete electronic components, or it can form a portion of an entire electronic circuit such as an Application Specific Integrated Circuit (ASIC).
  • ASIC Application Specific Integrated Circuit
  • the disclosure may have disclosed a method and/or process as a particular sequence of steps. Flowever, unless otherwise required, it will be appreciated the method or process should not be limited to the particular sequence of steps disclosed. Other sequences of steps may be possible. The particular order of the steps disclosed herein should not be construed as undue limitations. Unless otherwise required, a method and/or process disclosed herein should not be limited to the steps being carried out in the order written. The sequence of steps may be varied and still remain within the scope of the disclosure. Further, in the description herein, the word “substantially” whenever used is understood to include, but not restricted to, "entirely” or“completely” and the like.
  • exemplary embodiments can be implemented in the context of data structure, program modules, program and computer instructions executed in a computer implemented environment.
  • a general purpose computing environment is briefly disclosed herein.
  • One or more exemplary embodiments may be embodied in one or more computer systems, such as is schematically illustrated in FIG. 12.
  • One or more exemplary embodiments may be implemented as software, such as a computer program being executed within a computer system 1200, and instructing the computer system 1200 to conduct a method of an exemplary embodiment.
  • the computer system 1200 comprises a computer unit 1202, input modules such as a keyboard 1204 and a pointing device 1206 and a plurality of output devices such as a display 1208, and printer 1210.
  • a user can interact with the computer unit 1202 using the above devices.
  • the pointing device can be implemented with a mouse, track ball, pen device or any similar device.
  • One or more other input devices such as a joystick, game pad, satellite dish, scanner, touch sensitive screen or the like can also be connected to the computer unit 1202.
  • the display 1208 may include a cathode ray tube (CRT), liquid crystal display (LCD), field emission display (FED), plasma display or any other device that produces an image that is viewable by the user.
  • CTR cathode ray tube
  • LCD liquid crystal display
  • FED field emission display
  • plasma display any other device that produces an image that is viewable by the user.
  • the computer unit 1202 can be connected to a computer network 1212 via a suitable transceiver device 1214, to enable access to e.g. the Internet or other network systems such as Local Area Network (LAN) or Wide Area Network (WAN) or a personal network.
  • the network 1212 can comprise a server, a router, a network personal computer, a peer device or other common network node, a wireless telephone or wireless personal digital assistant. Networking environments may be found in offices, enterprise-wide computer networks and home computer systems etc.
  • the transceiver device 1214 can be a modem/router unit located within or external to the computer unit 1202, and may be any type of modem/router such as a cable modem or a satellite modem.
  • network connections shown are exemplary and other ways of establishing a communications link between computers can be used.
  • the existence of any of various protocols, such as TCP/IP, Frame Relay, Ethernet, FTP, HTTP and the like, is presumed, and the computer unit 1202 can be operated in a client-server configuration to permit a user to retrieve web pages from a web-based server.
  • any of various web browsers can be used to display and manipulate data on web pages.
  • the computer unit 1202 in the example comprises a processor 1218, a Random Access Memory (RAM) 1220 and a Read Only Memory (ROM) 1222.
  • the ROM 1222 can be a system memory storing basic input/ output system (BIOS) information.
  • the RAM 1220 can store one or more program modules such as operating systems, application programs and program data.
  • the computer unit 1202 further comprises a number of Input/Output (I/O) interface units, for example I/O interface unit 1224 to the display 1208, and I/O interface unit 1226 to the keyboard 1204.
  • I/O interface unit 1224 to the display 1208, and I/O interface unit 1226 to the keyboard 1204.
  • the components of the computer unit 1202 typically communicate and interface/couple connectedly via an interconnected system bus 1228 and in a manner known to the person skilled in the relevant art.
  • the bus 1228 can be any of several types of bus structures including a memory bus or memory controller, a peripheral bus, and a local bus using any of a variety of bus architectures. It will be appreciated that other devices can also be connected to the system bus 1228.
  • a universal serial bus (USB) interface can be used for coupling a video or digital camera to the system bus 1228.
  • USB universal serial bus
  • An IEEE 1394 interface may be used to couple additional devices to the computer unit 1202.
  • Other manufacturer interfaces are also possible such as FireWire developed by Apple Computer and i.Link developed by Sony.
  • Coupling of devices to the system bus 1228 can also be via a parallel port, a game port, a PCI board or any other interface used to couple an input device to a computer.
  • sound/audio can be recorded and reproduced with a microphone and a speaker.
  • a sound card may be used to couple a microphone and a speaker to the system bus 1228.
  • several peripheral devices can be coupled to the system bus 1228 via alternative interfaces simultaneously.
  • An application program can be supplied to the user of the computer system 1200 being encoded/stored on a data storage medium such as a CD-ROM or flash memory carrier.
  • the application program can be read using a corresponding data storage medium drive of a data storage device 1230.
  • the data storage medium is not limited to being portable and can include instances of being embedded in the computer unit 1202.
  • the data storage device 1230 can comprise a hard disk interface unit and/or a removable memory interface unit (both not shown in detail) respectively coupling a hard disk drive and/or a removable memory drive to the system bus 1228. This can enable reading/writing of data. Examples of removable memory drives include magnetic disk drives and optical disk drives.
  • the drives and their associated computer-readable media such as a floppy disk provide nonvolatile storage of computer readable instructions, data structures, program modules and other data for the computer unit 1202. It will be appreciated that the computer unit 1202 may include several of such drives. Furthermore, the computer unit 1202 may include drives for interfacing with other types of computer readable media.
  • the application program is read and controlled in its execution by the processor 1218. Intermediate storage of program data may be accomplished using RAM 1220.
  • the method(s) of the exemplary embodiments can be implemented as computer readable instructions, computer executable components, or software modules.
  • One or more software modules may alternatively be used. These can include an executable program, a data link library, a configuration file, a database, a graphical image, a binary data file, a text data file, an object file, a source code file, or the like.
  • the software modules interact to cause one or more computer systems to perform according to the teachings herein.
  • the operation of the computer unit 1202 can be controlled by a variety of different program modules.
  • program modules are routines, programs, objects, components, data structures, libraries, etc. that perform particular tasks or implement particular abstract data types.
  • the exemplary embodiments may also be practiced with other computer system configurations, including handheld devices, multiprocessor systems, microprocessor-based or programmable consumer electronics, network PCs, minicomputers, mainframe computers, personal digital assistants, mobile telephones and the like.
  • the exemplary embodiments may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a wireless or wired communications network.
  • program modules may be located in both local and remote memory storage devices.
  • a single robotic arm has been described to prepare the food product. It will be appreciated that the robotic arm is not limited to a single robotic arm and there may be more than one robotic arm cooperating with one another to prepare the food product.
  • the gripper of the robotic arm has been described to hold the container using vacuum suction generated between the gripper and the container.
  • the gripper is not limited as such, and may comprise mechanical means (e.g. claws/robotic fingers), magnetic means, pneumatic means, or electric means for grasping the container.
  • the container is described to be a hemispherical-shaped coconut husk.
  • the container is not limited as such, and may be made from other suitable materials e.g. plastic, paper, waffle, biscuit, external coverings derived/prepared from other plant sources etc.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Food Science & Technology (AREA)
  • Chemical & Material Sciences (AREA)
  • Polymers & Plastics (AREA)
  • Robotics (AREA)
  • Oil, Petroleum & Natural Gas (AREA)
  • Dispersion Chemistry (AREA)
  • Confectionery (AREA)

Abstract

L'invention concerne un appareil et un procédé permettant de préparer un produit alimentaire, l'appareil comprenant : un boîtier définissant un espace intérieur permettant de loger un équipement de préparation d'aliment ; une ou plusieurs stations de préparation disposées dans l'espace intérieur, ladite ou lesdites stations de préparation étant configurées pour distribuer des ingrédients ; un bras robotique comprenant un moyen de retenue pour saisir un contenant, ledit bras robotique étant configuré pour déplacer le contenant vers au moins une station de préparation de façon à pouvoir recevoir les ingrédients distribués par la ou les stations de préparation ; le bras robotique comprenant également un générateur de vide permettant de générer un vide entre le moyen de retenue et le récipient afin de fixer le contenant au moyen de retenue.
PCT/SG2018/050062 2018-02-12 2018-02-12 Appareil et procédé de préparation d'un produit alimentaire WO2019156622A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
SG11202007683QA SG11202007683QA (en) 2018-02-12 2018-02-12 An apparatus and a method of preparing a food product
PCT/SG2018/050062 WO2019156622A1 (fr) 2018-02-12 2018-02-12 Appareil et procédé de préparation d'un produit alimentaire

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/SG2018/050062 WO2019156622A1 (fr) 2018-02-12 2018-02-12 Appareil et procédé de préparation d'un produit alimentaire

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WO2019156622A1 true WO2019156622A1 (fr) 2019-08-15

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111063106A (zh) * 2019-12-30 2020-04-24 道美科技(上海)股份有限公司 一种椰子贩卖机的控制方法及其系统
CN111248471A (zh) * 2020-01-17 2020-06-09 广东智源机器人科技有限公司 食品制作系统
EP3970576A1 (fr) * 2020-09-14 2022-03-23 SAR Elektronic GmbH Dispositif pour l'approvisionnement automatisé en liquides

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US7896038B2 (en) * 2006-01-31 2011-03-01 Puffin Innovations, Llc Method and apparatus for dispensing frozen confectionary
US20130103198A1 (en) * 2010-06-11 2013-04-25 Kabushiki Kaisha Yaskawa Denki Service providing system and service providing method
US20140120235A1 (en) * 2012-10-26 2014-05-01 Robofusion, Inc. Robotic vending machine
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US7896038B2 (en) * 2006-01-31 2011-03-01 Puffin Innovations, Llc Method and apparatus for dispensing frozen confectionary
US20130103198A1 (en) * 2010-06-11 2013-04-25 Kabushiki Kaisha Yaskawa Denki Service providing system and service providing method
US20140120235A1 (en) * 2012-10-26 2014-05-01 Robofusion, Inc. Robotic vending machine
CN105096464A (zh) * 2015-08-21 2015-11-25 澳柯玛股份有限公司 自动售卖冰激凌机

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ICED CONFECTIONARY IN A COCONUT HUSK, 5 April 2018 (2018-04-05), Retrieved from the Internet <URL:http://www.conutink.com> [retrieved on 20170429] *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111063106A (zh) * 2019-12-30 2020-04-24 道美科技(上海)股份有限公司 一种椰子贩卖机的控制方法及其系统
CN111248471A (zh) * 2020-01-17 2020-06-09 广东智源机器人科技有限公司 食品制作系统
EP3970576A1 (fr) * 2020-09-14 2022-03-23 SAR Elektronic GmbH Dispositif pour l'approvisionnement automatisé en liquides

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