WO2022162698A1

WO2022162698A1 - Storage system, robot and dispensing system for kitchens

Info

Publication number: WO2022162698A1
Application number: PCT/IN2022/050070
Authority: WO
Inventors: Ashutosh MAHINDRU; K S Ramanujan; Nirad Jaiyant RAMBRATSINGH; Willem ZWETSLOOT
Original assignee: Mahindru Ashutosh
Priority date: 2021-01-30
Filing date: 2022-01-28
Publication date: 2022-08-04
Also published as: WO2022162697A1; WO2022162699A1

Abstract

The invention relates to inter se compatible storage system, a robot, and a dispensing system in mobile kitchens to enable the making of food in transit. The novel storage system of the present invention comprises a plurality of stackable storage units, each further comprising a removable container with a lid, to carry pre-weighed ingredient of only one type. The present invention also relates to a robot for a kitchen comprising, a gantry, a telescopic arm with one or more gripping elements, and an electronic system, wherein the robot has 3D movement capability within the kitchen. The dispensing system of the present invention is designed to apply the ingredients on the food, in a suitable manner. It comprises a dispensing assembly with a plurality of receptables having appropriate outlets for the dispensation of various ingredients, and a spinner assembly for holding the food.

Description

STORAGE SYSTEM, ROBOT AND DISPENSING SYSTEM FOR KITCHENS FIELD OF THE INVENTION

The invention relates to a storage system, a robot and a dispensing system for kitchens and more particularly, to inter se compatible storage system, a robot, and a dispensing system in mobile kitchens to enable the making of food in transit.

PRIORITY INFORMATION

This invention claims priority from Indian application no. 202011052139, which among others, refers to making food in transit in a system that operates as a mobile kitchen, comprising a storage system to store ingredients and a distribution system capable of retrieving the ingredients from the storage system as well as transport/distributing the uncooked/semi-cooked/cooked food within the various parts of the mobile kitchen.

SUMMARY

The making of food in transit as envisaged in the aforesaid priority application bearing Indian application no. 202011052139, involves the use of a system that operates as a mobile kitchen comprising various systems/subsystems. Among others, such a mobile kitchen requires the use of a storage system to store ingredients and a distribution system to retrieve said ingredients from the storage system, as well as systems and processes to transport/distribute the ingredients/semi-cooked/cooked food across various sections of the mobile kitchen.

The present invention is directed to a novel storage system comprising one or more storage units for use in mobile kitchen as well as kitchens in general, wherein each storage unit comprises a removable container. The storage units are designed to be stackable in any organised manner. The storage unit and the container within are configured such that the container is closed and securely placed within the storage unit during transit but can be removed and opened, as and when needed. Each container will carry pre-weighed ingredient of only one type.

The present invention is also directed to a novel robot that operates as a distribution system for mobile kitchens as well as kitchens in general. The robot envisaged herein is suitable controlled and comprises a gantry and a telescopic arm with one or more gripping elements. The robot is designed to retrieve ingredients from the containers of storage units (part of the storage system) and transfer them to the dispensing system. The robot is also designed to otherwise transfer/distribute the semi-finished/cooked food to various sections of the kitchen. Accordingly, the present invention conceives a robot capable of 3D movement with the mobile kitchen or kitchen.

The dispensing system of the present invention is designed to dispense or apply the ingredients in a suitable manner, depending on the nature of the food ordered. The dispensing system comprises a dispensing assembly with a plurality of receptables having appropriate outlets for the dispensation of various ingredients, and a spinner assembly for holding the food.

Advantageously, the storage system, the robot, and the dispensing system as per the present invention are inter se compatible. Accordingly, the robot that acts as the distribution system can retrieve ingredients from the storage system, place back containers within the storage system, retrieve and/or place ingredients and/or food from and on to the dispensing system.

The systems of the present invention may be manually operated or fully automated, or a hybrid between the two. In a preferred embodiment, each robot and the dispensation system act as intelligent nodes with self-contained recipe creation system constantly connected with a local or central server/cloud that contains all information concerning the orders placed for food. The invention envisaged herein can be applied, inter alia, to the making of food in transit to enable just-in-time delivery of the food at a desired destination, such that a consumer is delivered fresh food and where required, hot food, much like the taste and experience when dining out at a restaurant.

BRIEF DESCRIPTION OF ACCOMPANYING DRAWINGS

Figure 1 A illustrates the side view of a mobile kitchen, depicting, inter alia, the storage system, the robot, and the dispensing system.

Figure IB illustrates the back view of a mobile kitchen, depicting, inter alia, the storage system, the robot, and the dispensing system.

Figure 2A to 2E illustrate the storage unit and the container for storing pre-weighed ingredients, which form part of the storage system as per the present invention.

Figures 3A-3D illustrate the robot as per the present invention.

Figures 4A-4F illustrate the telescopic arm with one or more gripping tools, forming part of the robot.

Figures 5A-5D illustrate the dispensing system as per the present invention.

DETAILED DESCRIPTION OF THE INVENTION

The articles “a”, “an” and “the” are used to refer to one or to more than one (i.e., to at least one) of the grammatical object of the article.

The terms “comprise” and “comprising” are used in the inclusive, open sense, meaning that additional elements may be included. Throughout this specification, unless the context requires otherwise the word “comprise”, and variations, such as “comprises” and “comprising”, will be understood to imply the inclusion of a stated element or step or group of element or steps but not the exclusion of any other element or step or group of element or steps.

The term “including” is used to mean “including but not limited to”. “Including” and “including but not limited to” are used interchangeably. The term “food” includes any substance capable of consumption/ingestion by humans and domestic animals, including without limitation, beverages/liquids, baked goods, and pizzas. The term “making”, in the context of food, refers to all steps taken to fulfil an order for food, including any initial preparation of the ingredients, the actual cooking and any finishing touches to be added. The term “cooking” includes all techniques and methods/processes for the preparation of food, including combining, mixing, cooling, freezing, heating, baking, and frying. The term "kitchen" is broadly intended to cover any room or area where food is prepared or cooked or packed and includes any intervening steps, whether stationary or mobile. The term "ingredient" means component, part or element used to make food, and includes blended or pre-mixed ingredients.

The term “fleet” includes both a single and multiple vehicle/locomotive/transportation device. The term “just-in-time” means being ready just at the arrival at the destination or a short time prior to arriving at the destination. The term “real-time” means the actual time the event occurs, or with a short delay. The term “commissary” means a store/store house, which could be fixed or mobile, for storing relevant inventories, including raw materials for making food, packing items and cutlery.

The working and operation of the processes and systems envisaged herein, is described in detail with reference to the accompanying figures. Although the illustrations and figures relate to the implementation of the invention disclosed herein in the context of a pizza in a mobile kitchen, the invention is not limited to pizza or to food that is consumed hot but also covers food that may be consumed cold and/or at room temperature, as well as to making the same in a stationary kitchen. Similarly, though the subject matter has been described in considerable detail with reference to certain examples and implementations thereof, other implementations are possible. As such, the spirit and scope of the invention should not be limited to the description of the examples and implementations contained herein. Those skilled in the art will be aware that the present disclosure is subject to variations and modifications other than those specifically described. It is to be understood that the present disclosure includes all such variations and modifications. The disclosure also includes all such steps, features, materials referred to or indicated in this specification, individually or collectively, and any and all combinations of any or more of such steps or features.

Figure 1 A illustrates the side view of a mobile kitchen, depicting, inter alia, the storage system, the robot and the dispensing system. Figure IB illustrates the back view of a mobile kitchen, depicting, inter alia, the storage system, the robot and the dispensing system. The actual spatial arrangements of the various systems/subsystems and the design/configuration of such systems/subsystems is only illustrative. A vehicle van (V) has a certain cargo area with a mobile kitchen. In this illustration, the mobile kitchen makes pizzas and thus, comprises a dough preparation system (A), a cooking section (C) and a packing section (D). A plurality of storage units together comprise the storage system B 1. The robot (E) is configured such that it can access all parts of the mobile kitchen. The robot (E) and the dispensing system (B2) are depicted in Figure 1A. In these figures, the storage units (25) are distributed over all sections and the full length of the cargo area.

The prevent disclosure relates to a storage system for a kitchen comprising one or more storage units, with each storage unit comprising a removable container with a lid. This lid remains closed when the removable container is within the storage unit. The accidental or incorrect opening of the lid is prevented by using a locking mechanism and thus, the lid is not automatically opened even when the removable container is removed from the storage unit. Figures 2A to 2E illustrates the storage unit, which forms part of the storage system. One or more such storage units form the storage system. As seen in Figure 2A, each storage unit 100 has a bottom edge 12 and comprises a container (110) to store materials, such as ingredients. Each container within the storage unit shall only contain pre-weighed ingredient of one type. Thus, each storage unit will only carry one type of ingredient but there may be several storage units for various ingredients. This results in several advantages. For instance, it ensures that there is no confusion on the ingredient to be used, vegetarian and non -vegetarian ingredients are maintained separately, and ingredients that may cause allergic reactions can also be easily identified. Similarly, using pre-weighed ingredients prevents the need to weigh ingredients in a mobile kitchen during transit, which presents practical difficulties and may also result in inaccurate measurements. Similarly, with a standardised quantity of a specific ingredient, just the right amount of the ingredient would be added when making the food. The specific quantity may vary from ingredient to ingredient.

The container 110 has a nose (3) and the storage unit 100 is designed with an integrated rail (11). Figure 2B shows the front view of the storage unit comprising the container, in the closed state. In its closed state, the nose 3 sits on 11 and thus, the container 110 is held in position within 100. The drilling hole (4) on the front side of the container is part of the locking mechanism to open or close a lid of the container (later described). Figure 2C is also a front view of the container and the storage unit (13), in its closed state. This illustration clearly depicts how the nose of the container sits on the guiding rail 11. The dimensions of the container and the storage unit, and the placement of the guiding rail are appropriately configured and designed to suit the purpose.

Figure 2D is the top view of the container depicting the outcut (1) within which is placed a magnet. When brought in proximity with a magnetic force of appropriate polarity, the container can be retrieved from the storage unit or placed back within the storage unit, as may be necessary. Thus, via the outcut (1), the container can be vertically retrieved from, or placed back into, the storage unit. Seen from this perspective, the ingredients can be unloaded from the container through its bottom, which is where the lid 7 is located (not shown in this Figure 2D). (2) represents a hinge on the back side of the container, which allows such a lid to the container, to open and close (later described). The lid 7 is more clearly depicted in Figure 2E, which represents the side view of the container in a closed state. The hinge 2, previously shown in Figure 2D, enables the lid to close or open. There is a lock mechanism to prevent the accidental or incorrect opening of the lid 7. In this illustration, the lock mechanism is achieved using a pin hole (4) and within this pinhole, is a pin (8). If the pin (8) is located within the pinhole (4), the lid (7) cannot open and stays closed. This system is designed to ensure that the lid (7) only moves on the x-axis. The safety pin (9) also prevents the pin (8) from falling out of the shaft hole. The movement on the x-axis is possible due to the combination of an applied magnetic force and a spring (10). When a magnetic force is applied, it pushes back the pin (8), while the spring (10) is compressed. Hence, the system is unlocked, and the lid (7) opens. During the lid (7) opening, the pin (8) tacks back to its original closed state.

The 45-degree cut on the pin (8) allows the locking mechanism to close the lid (7). The lid (7) closes, while putting back the ingredient storage box in its storage compartment by using the bottom edge 12 of the storage box. This angle prevents the lid (7) from automatically opening once closed.

The retrieval/placement of the containers from the storage system for making the food in the mobile kitchen is performed by a robot. The robot for use in the kitchen as envisaged in this disclosure comprises a gantry, a telescopic arm with a gripping element and an electronic system The robot conceived has 3D movement capability within the kitchen, and the electronic controller instructs the movement of the robot. For instance, the electronic system instructs the robot to retrieve containers comprising specific ingredients, in a sequence, at one or more moments in time. Similarly, the electronic system instructs the robot to dispense ingredients in a specific sequence, at one or more locations, at one or more moments in time.

The robot is more fully described with the help of Figures 3A-3D. Figure 3A illustrates a perspective view of the gantry (200) that is used as the support structure for the robot to function. The gantry comprises a first frame (205) and a second frame (210) perpendicular to the plane of the first frame (205). These frames provide the necessary support to enable the robot to have 3-axes capabilities. The first frame (205) that holds the motors to enable movement across 2-axes and a second frame (210) moving perpendicular to the plane of the first frame (205), thus enabling movement across the 3^rd axis to the plane of the first frame (205). The robot (described further in Figures 3B and 3C) is attached to the second frame (210).

The robot also comprises a telescopic arm (44) having at least one gripping tool (45). The y-axis frame is supported by a profile (39) in Figure 3B on each side for rigidity between y-frame and floor of the vehicle cargo area. The rigidity between the two y- frames is assured by an additional support profile (40) in Figure 3B that connects the profiles (39) on either side. The profile 38 acts as the z-axis frame. This 38 is mounted via an assembly plate (41) on the linear guide slide (42) of the x-frame. The linear guide slide (42) is placed on the linear guide rail (43) for moving the telescopic arm (44) with its gripping tool (45) in the x-direction. The guide rail (43) is fixed on the x-frame (36) of the robot.

For moving the telescopic arm (44) in z-direction, a linear slide system (46) is needed. The telescopic arm (44) is mounted on that system. The telescopic arm (44) is driven by a stepper motor (47) and fixed with a mounting plate (48) onto the linear guide rail (43) of the x-axis. The shaft of the stepper motor (47) to drive the telescopic arm (44) in z-direction is connected via a backlash free coupling (49) to beard shaft (50) which is integrated into the assembly plate (41). A toothed belt wheel (51) is placed on the beard shaft (50) to drive a timing belt. The closed timing belt is connected to a belt clamp (52) for moving the end actuator (44) in z-direction. A belt out-cut (53) on the telescopic arm (44) makes it possible to install the timing belt correctly. The tension system (54) on the z-frame is responsible for putting tension on the timing belt to ensure proper operation. The back view of the robot is shown in Figure 3D. For moving the linear guide slide (42) with the telescopic arm (44) along x-direction, a stepper motor (55) is used. The stepper motor (55) is fixed by means of a mounting plate (56) on the linear guide slide (42) of the x-axis frame. The shaft of the stepper motor (55) is equipped with a toothed belt wheel (57) for driving a timing belt. Two guide wheels (58) for the timing belt ensure a controlled movement of the linear guide slide (42), which is connected to the linear guide rail (43). The timing belt used for the movement in x-direction is fixed to belt clamps (59). These belt clamps (59) are mounted on a metal frame (60) and screwed to the linear guide slide system (61) of the y-axis aluminium frame. The linear guide slide (61) is placed on the linear guide rail (62) of the y-axis frame for moving the telescopic arm (44).

The gantry is equipped with two stepper motors (63) to move the linear guide slide system (61) along y-direction. A mounting plate (64) is used to fix the stepper motors (63) on the ground of the vehicle cargo area. The toothed belt wheel (65) drives the associated belt. For controlling the movement of the linear guide slide (61), guide wheels (66) for both sides of the gantry robot are mounted on the y-support frame (40). The toothed belt is clamped into two belt clamps (67), which are placed via a metal frame (60) onto the linear guide slide system (61). Hence, the x-frame (36) with the telescopic arm (44) and gripping tool (45) can move up and down towards y-direction.

Accordingly, the present invention envisages a robot having an arrangement to move along the x-, y- and z-axis for reaching all sections of the mobile kitchen. The drive system of the robot is a combination of step motors and linear guide rails. The robot comprises a telescopic arm with a gripping tool that can interact with the different parts of the mobile kitchen. The telescopic arm with the gripping tool, for instance, can retrieve containers from any of the storage units within the storage system, and place them back. The telescopic arm envisaged herein can also be configured to perform dual function and this mechanism is outlined with the help of Figures 4A-4F. Figure 4A is a perspective view of the telescopic arm. Figure 4B is the top view of the telescopic arm. Figures 4D, 4E and 4F depict the side view of the telescopic arm. As seen in Figure 4B, the arm is mounted (15) together with a belt clamp on a linear guide system, which is fixed on the gantry and responsible for the movement in z-direction to pick up the ingredient storage box. The belt outcut (16) on the arm surface makes it possible to drive the belt and therefore to move the telescopic arm back and forth on the linear guide rail system.

The other end of the arm comprises one or more gripping elements. In these illustrations, the other end of the arm comprises two gripping tools resulting in an “F” shape from a side-view (Figures 4D, 4E, 4F). The first gripping element is the bottom portion of the “F”, marked as 17A. This first gripping tool (17A) comprises an electromagnet (18) integrated into the top part of the first gripping tool (17A). When moved towards the top of each storage unit, this first gripping tool 17 A is brought above the magnet of each container (1 in Figure 2D). Since this first gripping tool (17A) comprises an electromagnet (18A), with the appropriate polarity, the magnetic forces can interact between each other to pick up the container. The telescopic arm in this figure (21) holds the container (22) by means of magnetic forces through the first gripping element 17 A. There is also a second gripping element is the top portion of the “F”, marked as 17B. This second gripping element 17B can also be similarly configured to retrieve or place items using magnetic or electromagnetic forces. As seen in Figure 4F, for instance, it has an integrated electromagnet 18B designed to retrieve or hold or place a relatively flat utensil made of magnetic material or at least containing one part made of magnetic material, such as an iron skillet “P”. This way to handle the container and the iron skillet is illustrated in the Figure 4F, with one part of the figure illustrating the retrieval of the container and the other handling the skillet iron plate P . The two electromagnets (18A & 18B) respectively can be enabled by the control electronics, as needed.

The electronic system comprises appropriate hardware and software and/or firmware, that can carry out the control of the robot. Including without limitation, for instance, the electronic system could comprise one or more processor/micro-controller enabled hardware, firmware, and configurable software to enable real-time communication. This would include a data storage system, memory unit, microcontrollers with communications capability. This could even be a general-purpose computer configured and/or modified with the necessary hardware and software. The electronic system could remotely receive inputs as well. The electronic system would control the operations of the robot to enable just-in-time delivery. Thus, for instance, the electronic system would which storage units to retrieve, when to retrieve it (them) and so on. All of these could be adapted real-time to enable just-in-time delivery.

In a typical process within a kitchen, once the relevant ingredients are retrieved from the storage system, they are dispensed or applied on the food. For instance, when the mobile kitchen must make a pizza, the relevant ingredients are to be retrieved and applied on the pizza dough. This dispensation function is also performed by the dispensing system more fully described with the help of the illustrations in Figures 5A, 5B, 5C and 5D. In this illustration, the mobile kitchen is tasked with making a pizza. Figure 5A is a perspective 3D view of the dispensing system. As seed in Figure 5B, the dispensing system comprises a dispensing assembly (24) and a spinner assembly (25). The dispensing assembly (24) has a plurality of receptacles (27) distributed over 360 degrees for eight different types of ingredients, and the spinner is depicted as (25). In this illustration, there are eight receptacles. The operations of the entire dispensing system may be controlled through the same electronic system that controls the robot previously described, or a separate but similar electronic system. The pizza dough (26) is loaded on to the surface of the spinner assembly (25), using appropriate means, such as an iron skillet. This is achieved by using the telescopic arm of the robot previously described. Once the pizza dough is placed on the surface of the spinner assembly, the same telescopic arm removes the relevant container with the ingredient required out of the storage system and places the container above the required receptacle (27). The telescopic arm is able to apply magnetic forces to push back the pin (8) shown in Figure 2E above, and therefore, to open the lid (7) of the container as described previously with reference to Figure 2E. The receptacles are designed with outlets of varying configurations suitable for different types of ingredients. Including without limitation, for instance, the outlet can be a wheel funnel system (27) to dispense round sliced ingredients, as an example salami, onto the pizza (26). The outlet can be an integrated nozzle (28) to dispense liquid ingredients, such as olive oil or tomato sauce. Appropriate mechanisms to clean the funnel systems are also conceived herein. For instance, each receptable is equipped with an air injection system to get rid of stuck ingredients on the wheel (27) or accelerate the liquid flow towards the nozzle outlet (28).

An even distribution of all types of ingredients is ensured by means of one or more actuators (29), placed on the dispensing system, which moves the receptables in x- direction to dispense the ingredients over the whole dough diameter. There is at least one actuator associated with each receptable. The movement of the actuator (29) stops if the right-side wall of the receptable reaches the midpoint of the pizza (26). Figure 5D shows the side view of the dispensing and spinner systems. The figure indicates that the spinner system (25) is placed co-linear to the dispensing system (24). Hence, even distribution of the falling out ingredients is assured.

The front view of the dispensing system and spinner is shown in Figure 5C. The dispensing and spinner systems (24) (25) are mounted with flanges (35) onto the floor of the mobile kitchen. A stepper motor (30) integrated in the dispensing system is responsible for positioning the required receptable above the pizza dough for dispensing the correct type of ingredients. The ingredients are distributed like a spiral over the whole pizza dough surface to ensure full distribution. This can be achieved by a spinner motor (33), which spins the plate (34) with the dough by 360 degrees. The side wall (31) on the outlet (27) prevents the ingredients from distributing wrongly. The surface reduction of the circular outlet (32) of the wheel funnel is crucial for controlled ingredient dispensing while the wheel is rotating.

Once the required ingredients are dispensed or applied on the pizza dough, the telescopic arm of the robot picks up the plate (34) comprising the pizza dough, for onward processing. For instance, once the dispensation of the ingredients is completed, the robot, through its telescopic arm, can be directed to retrieve the pizza dough (now topped with the ingredients) and place the same inside the cooking system(s) within the mobile kitchen.

Although the subject matter has been described in considerable detail with reference to certain examples and implementations thereof, other implementations are possible. As such, the spirit and scope of the invention should not be limited to the description of the preferred examples and implementations contained herein.

Claims

CLAIMS I claim:

1. A storage system for a kitchen comprising: a. one or more storage units (100), b. each storage unit comprising a removable container (110) with a lid (7), wherein the lid remains closed when the removable container is within the storage unit.

2. A storage system according to claim 1, wherein the lid (7) has a lock preventing its automatic opening when the removable container (110) is removed from the storage unit.

3. A storage system according to claim 2, wherein the lock uses magnetic or electromagnetic force.

4. A storage system according to claim 1, wherein the removable container can be removed from, or placed back into, the storage unit using magnetic or electromagnetic force.

5. A storage system according to claim 4, wherein the removable container can be removed from, or placed back into, the storage unit in a vertical direction.

6. A storage system according to claim 1, wherein the lid is located on a bottom side of the removable container.

7. A storage system according to claim 1, wherein each removable container contains an ingredient of only one type.

8. A process of loading an ingredient into a removal container within a storage unit, where the quantum of the ingredient is pre-weighed. A robot for a kitchen comprising: a. a gantry (200), b. a telescopic arm (44) with one or more gripping elements (17A, 17B), and c. an electronic system wherein the robot has 3D movement capability within the kitchen, and wherein the electronic system instructs the movement of the robot. A robot according to claim 9, wherein the one or more gripping elements comprise a magnet or electromagnet. A robot according to claim 9, wherein the electronic system instructs the robot to retrieve containers comprising ingredients, in a sequence, at one or more moments in time. A robot according to claim 9, wherein the electronic system instructs the robot to dispense ingredients in a specific sequence, at one or more locations, at one or more moments in time. A dispensing system for a kitchen comprising: a. a dispensing assembly (24) having a plurality of receptacles comprising outlets, b. a spinner assembly (25) for holding a food wherein the dispensing assembly and the spinner assembly can rotate synchronously, in the same or opposite directions. A kitchen comprising: a. a storage system, b. a robot, c. a dispensing system

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