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US 2023/0405833 A1Published application
Apparatus and Method for Weighing Food Ingredients In An Automated Cooking Apparatus
AssigneeKitchen Robotics Ltd
InventorsDavid BEN-DAVID, Nikolay SOLDATENKO
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Abstract
The present invention is an apparatus and method for weighing food ingredient in an ACM during collection of ingredient from a dispenser wherein a the apparatus is provided with collecting apparatus equipped with a moving mechanism (MM), an ingredient-collecting-vessel (ICV) holding mechanism (HM) and a scaling beam.
Claims16
A collecting apparatus comprising:
- i. a moving mechanism (MM);
- ii. a four-beams-parallelogram-mechanism (FBPM) that is associated with the MM by two pivots and wherein the FBPM comprises three beams and a virtual beam wherein the virtual beam is part of the MM that resides between the two pivots;
- iii. an arm, wherein the proximal end of the arm is connected to a second beam of the FBPM and wherein the second beam is parallel to the virtual beam and the arm is perpendicular to the second beam, and wherein the distal end of the arm is associated with an ingredient-collecting-vessel (ICV) holding mechanism (HM);
- and
- iv. a scaling beam, wherein one end of the scaling beam is associated with the MM and the other end lays below the FBPM;
- wherein the scaling beam is configured to measure the displacement of the second beam that is due to adding an ingredient to the ICV;
- and
- wherein the MM is configured to carry an ICV from one dispensing-unit (DiU) toward another DiU.
5 more elements
A method of collecting and weighing ingredients by the collecting apparatus of an automatic cooking machine, the method comprising the steps of:
- Step 1:
- Upon receiving instructions from the controller, the moving mechanism is activated, which moves towards the station containing the sanitized ICVs;
- Step 2:
- activating the tilting-element (TE), in response to the instructions received from the controller which turns the arm towards the first ICV for collecting the ICV, wherein, the electromagnets of the distal part of the arm are also activated, for holding the first ICV;
- Step 3:
- the tilting element (TE), upon being activated, performs single or multiple motion axis movements, for gripping and picking up the clean ICV, depending upon the position of the ICV;
- Step 4:
- Carrying the ICV by the MM, towards the first DiU, depending upon the ingredients of the recipe, where it pauses upon reaching the first DiU;
- Step 5:
- tilting the arm for conveying the ICV towards and below the first DiU by the tilting element (TE);
- Step 6:
- receiving instructions by the first DiU for delivering its ingredients into the ICV, once the ICV is placed below the first DiU;
- Step 7:
- tilting the arm of the collecting apparatus backwards by the tilting element (TE) and carrying the ICV towards the moving mechanism, once the ingredients with the specific weight is delivered by the DiU;
- Step 8:
- collecting the next ingredient, depending upon the recipe of the required course, following the steps from 4 to 7, wherein, the MM carries the ICV to a defined position in front of the second DiU for collection of the ingredients.
13 more elements
Dependencies are inferred from the claim text.