Cooking system comprising different cooking apparatuses

The present application discloses a cooking system comprising more than one cooking apparatuses, each capable of cooking a food. A first cooking apparatus can boil or deep fry food or food ingredients to produce a semi-cooked food. The semi-cooked food may be cooked or mixed in a second cooking. The cooking apparatuses work together to produce cooked foods. A computer system is used to control the cooking system.

CROSS-REFERENCE TO RELATED APPLICATIONS

U.S. Provisional Patent Application

U.S. Patent Applications

BACKGROUND OF THE INVENTION

The present application relates to a cooking system for producing a cooked food from food or food ingredients. In the cooking of a food, e.g. a dish of food, one or more of the following steps are possibly required: (1) a first food or food ingredient is deep fried in oil or boiled in water; (2) a second food or food ingredient is stir fried or otherwise cooked in a wok or other cookware; (3) the above cooked foods are dispensed into a food container; (4) some powder or solid food or food ingredients are added to said food container; and (5) some liquid ingredients are added to said food container.

A cost-effective cooking apparatus or cooking system that does (some or) all of the above steps is important, as it can save labor and cost.

Furthermore, cost-effective transportation of food or food ingredients and dispensing into cookware or cooking containers are also important. Cost-effective transportation of the food containers is also important. The automation of such a cooking system depends on new computer algorithms.

BRIEF SUMMARY OF THE INVENTION

A cooking system here comprises some cooking apparatuses and other mechanisms and/or apparatuses. The present patent application discloses some cooking apparatuses comprising one or more of the following parts: (1) a plurality of baskets (or cooking containers) each configured to contain or otherwise hold food or food ingredients; (2) a plurality of basket holders each configured to position or hold a basket and a motion mechanism configured to cyclically move said holders and the baskets held by said holders; (3) a dispensing apparatus configured to grip and move a basket held by a said holder, said dispensing apparatus may be used to dispense a cooked or semi-cooked food held in a basket to a food container; (4) a liquid container configured to contain a liquid (e.g., oil for frying, water for boiling) and a heater configured to heat the liquid therein; (5) a cookware configured to contain or otherwise hold food or food ingredients for the purpose of cooking a food; (6) a stirring motion mechanism configured to move the cookware to stir or mix the food or food ingredients contained in the cookware; (7) a dispensing motion mechanism configured to directly or indirectly move the cookware to dispense a cooked or semi-cooked food into a food container; (8) a transport apparatus configured to move a food container to receive a cooked food from a said basket, and also to receive a cooked food from said cookware; and (9) a dispensing apparatus which dispenses food or food ingredients into the cookware and/or a basket (or cooking container), etc.

DETAILED DESCRIPTION OF THE INVENTION

For the present patent application, a food ingredient refers to any of the foods or substances that are combined to make a particular food, e.g. a dish of food. A food ingredient can be raw or pre-cooked. A food ingredient can be solid, powder, liquid, or a mixture, etc. A food ingredient can be raw meat, sausage, fresh vegetable, dry vegetable, cooking oil, vinegar, soy sauce, water, or salt, etc.

For the present patent application, a computer system is meant to be any system or apparatus that includes one or more computers. A computer system may or may not include a database. A computer system may or may not include a network. A computer system may or may not include a memory shared by more than one computers. A computer system may include software. A single computer with software can be considered to be a computer system.

For the present patent application, a shaft always comprises an axis. A shaft can have different shapes at different sections. A sectional shape of a shaft can be round or rectangular, or of other shapes. For the present patent application, a rotational movement refers to a rotational movement around an axis. A rotational mechanism refers to any mechanism comprising two mating parts which are constrained to rotate relative to each other; the axis of the relative rotation is referred to as the axis of the rotational mechanism. An example of a rotational mechanism comprises a shaft and a bearing housing as mating parts, wherein the shaft and bearing housing are connected by bearings and accessories.

In some applications or embodiments, a motor comprises a base component (e.g., a frame) which is a stationary member of the motor, and a shaft which is a moving member of the motor, wherein a (usually rotational) motion of the shaft relative to the base component can be produced. A motor may be connected to a computer via wires, and/or through a driver, and/or a controller and/or a relay and/or a wireless communication device. The base component of a motor may be referred to as the support component of the motor.

Similarly, an encoder may comprise a base component, and a shaft which is rotatable relative to the base component, where the encoder can detect the degree of rotation of the shaft relative to the base component, and then inform a computer of the degree by sending signals to the computer.

Various parts of our cooking apparatuses and cooking systems are described below.

Referring toFIG.1, a computer system99comprises a computer992with I/O ports991. Via said I/O ports991, said computer992may be connected to other electric or electronic parts including but not limited to: motors (including motors with controllers), actuators, inductive stoves, sensors, etc., so that the computer may communicate with said devices by known techniques. The connection of the computer992to said electric or electronic parts may comprise wires, wireless communication devices, controllers, drivers, and/or circuit boards. The computer system99may control motors, actuators; stoves or heaters; and other devices by known techniques.

It should be noted that the computer system99may further comprise additional computers, a computer network, a database, computer programs, wireless communication ports, and/or other electric and electronic components.

A connection of said computer system99to an electric or electronic device may comprise a connection of a computer of said computer system to said device. Thus, a device is connected to said computer system99if said device is connected to a computer of said computer system.

Referring toFIG.2A, a motion mechanism201comprises a stationary member201aand a moving member201b, which is connected (but not rigidly connected) to the stationary member. In many applications the movement of the moving member201bis constrained relative to the stationary member201a. The motion mechanism201comprises a driving mechanism (not shown in figure) configured to produce a motion of the moving member201brelative to the stationary member201a. The motion mechanism201may be connected to the computer system99ofFIG.1via wires or by wireless means and the computer system99may be configured to control the timing and speed of the motion mechanism201.

The motion mechanism201is a generic motion mechanism. Implicitly, the motion mechanism201includes a connection configured to connect the moving member to the stationary member, wherein said connection may often comprise bearings, sliders, kinematic pairs, and/or transmission mechanisms. The driving mechanism may be connected to the computer system99(via wires or by wireless means). The driving mechanism may be powered by electricity or other energy sources. A typical example of driving mechanism is a motor.

Referring toFIG.2B, a linear motion mechanism202comprises a stationary member202aand a moving member202b, wherein the moving member202bis constrained to move linearly relative to the stationary member202a. The linear motion mechanism202comprises a driving mechanism (not shown in figure) configured to produce a linear motion of the moving member202brelative to the stationary member202a. The linear motion mechanism202may be connected to the computer system99ofFIG.1via wires or by wireless means, and the computer system99may be configured to control the timing and speed of the linear motion mechanism202.

The linear motion mechanism202is a generic one. Examples of linear motion mechanism include but are not limited to: a linear actuator; a mechanism comprising linear rail, a slider configured to slide linearly on the linear rail, and a driving mechanism configured to drive the linear motion of the slider; etc.

It should be noted that the linear motion mechanism202may comprise an electric (or pneumatic, hydraulic) putter, or other types of putter. The linear motion mechanism202may include a motor which produces a rotational motion and a transmission mechanism configured to convert a rotation into a linear motion; wherein the transmission mechanism may optionally comprise a gear and rack, a screw rod and nut, or a sprocket and chain, etc.

A linear motion mechanism (such as the mechanism202) is called a vertical motion mechanism if the direction of the linear motion is vertical. A linear motion mechanism (such as the mechanism202) is called a horizontal motion mechanism if the direction of the linear motion is horizontal.

Referring toFIG.2C, a rotational motion mechanism203comprises a stationary member203aand a moving member203bwhich is constrained to rotate relative to the stationary member203a. The rotational motion mechanism203comprises a driving mechanism (not shown in figure) configured to produce a rotation of the moving member203brelative to the stationary member203aaround an axis, wherein the axis of the rotation is referred to as the axis of the rotational motion mechanism. The rotational motion mechanism203may be connected to the computer system99ofFIG.1via wires or by wireless means, and the computer system99may be configured to control the timing and speed of the rotational motion mechanism203.

Referring toFIG.2D, a rotational motion mechanism223comprises: a bearing housing223aas a stationary member; a shaft223bas a moving member; and a motor227as a driving member, i.e., a driving mechanism. The bearing housing223aand the shaft223bare connected by bearings224and accessories so that the shaft223bis constrained to rotate relative to the bearing housing223a. The motor227comprises a base component227aand a shaft227bso that the motor may produce a rotation of the shaft227brelative to the base component227a. The base component227aof the motor is rigidly or fixedly connected to the bearing housing223avia a connector226, and the shaft227bof the motor is connected to the shaft223bby a coupling225. It should be clear that the motor227may produce a rotation of the shaft223brelative to the bearing housing223a. The motor227is a driving mechanism of the rotational mechanism223.

It should be noted that the rotation produced by a rotational motion mechanism may be a continuous rotation, an intermittent motion, or a back-and-forth rotation between two end-positions.

Referring toFIG.2E, a motion mechanism205is a combination of two motion mechanisms201and204, which may also be referred to as motion sub-mechanisms; wherein the motion mechanism201is as shown as inFIG.2A; wherein the motion mechanism204is a motion mechanism comprising a stationary member204a, and a moving member204bwhich is connected to the stationary member204a, and a driving mechanism (not shown in figure) configured to produce a motion of the moving member204brelative to the stationary member204a. The moving member201bof the motion mechanism201is fixedly or rigidly connected to the stationary member204aof the motion mechanism204, so that the motion mechanism201can produce a motion of the stationary member204arelative to the stationary member201aof the motion mechanism201. The combination motion mechanism205may be connected to the computer system99ofFIG.1in the sense that the motion sub-mechanisms201and204are connected to the computer system99via wires or by wireless means, and the computer system99may be configured to control the motions produced by the motion sub-mechanisms of the combination motion mechanism205.

The motion mechanism205is referred to as a combination motion mechanism. It should be noted that the motion sub-mechanisms201and204may produce motions simultaneously. This applies to any combination motion mechanism in the following. Combination motion mechanisms are special cases of motion mechanisms.

Referring toFIG.2F, a combination motion mechanism207comprises rotational motion mechanisms203and206, referred to as motion sub-mechanisms; wherein the motion mechanism203is shown inFIG.2C; wherein the motion mechanism206is a rotational motion mechanism comprising a stationary member206a, and a moving member206bwhich is constrained to rotate relative to the stationary member206a, and a driving mechanism (not shown in figure) configured to produce a rotational motion of the moving member206brelative to the stationary member206a. The moving member203bof the motion mechanism203is fixedly or rigidly connected to the stationary member206aof the rotational motion mechanism206, so the rotational motion mechanism203can produce a rotation of the stationary member206arelative to the stationary member203aaround the axis of the rotational motion mechanism203. The combination motion mechanisms207may be connected to the computer system99ofFIG.1in the sense that the motion sub-mechanisms203and206are connected to the computer system99via wires or by wireless means, and the computer system99may be configured to control the motions produced by the motion sub-mechanisms of the combination motion mechanism207.

Referring toFIG.2G, a combination motion mechanism209comprises two linear motion mechanisms202and208, which may also be referred to as motion sub-mechanisms; wherein the motion mechanism202is shown inFIG.2B; wherein the motion mechanism208is a linear motion mechanism comprising a stationary member208a, and a moving member208bwhich is constrained to move linearly relative to the stationary member208a, and a driving mechanism (not shown in figure) configured to produce a linear motion of the moving member208brelative to the stationary member208a. The moving member208bof the linear motion mechanism208is rigidly or fixedly connected to the stationary member202aof the linear motion mechanism202, so that the linear motion mechanism208can produce a linear motion of the stationary member202arelative to the stationary member208a. The combination motion mechanism209may be connected to the computer system99ofFIG.1in the sense that the motion sub-mechanisms202and208are connected to the computer system99via wires or by wireless means, and the computer system99may be configured to control the motions produced by the motion sub-mechanisms of the combination motion mechanism209.

Referring toFIG.2H, a combination motion mechanism210comprises a rotational motion mechanism203and two linear motion mechanisms202and208; wherein motion mechanisms203,202and208are referred to as motion sub-mechanisms. The moving member208bof the linear motion mechanism208is rigidly or fixedly connected to the stationary member202aof the linear motion mechanism202, so that the linear motion mechanism208can produce a linear motion of the stationary member202arelative to the stationary member208aof the linear motion mechanism208. The moving member203bis fixedly connected to the stationary member208aof the linear motion mechanism208, so that the rotational motion mechanism203can produce a rotation of the stationary member208arelative to the stationary member203a. The combination motion mechanisms210may be connected to the computer system99ofFIG.1in the sense that the motion sub-mechanisms202,203and208are connected to the computer system99via wires or by wireless means, and the computer system99may be configured to control the motions produced by the motion sub-mechanisms of the combination motion mechanism210.

Referring toFIG.2I, a robot arm218comprises a plurality of rotational motion mechanisms211,213,215and217; wherein the motion mechanisms211,213,215and217are referred to as motion sub-mechanisms. The rotational motion mechanism211,213,215or217comprises: a stationary member211a,213a,215, or respectively217a; a moving member211b,213b,215b, or respectively217bwhich is constrained to rotate relative to the respective stationary member; and a driving member comprising a motor (not shown in figure) configured to drive a rotation of the respective moving member relative to the respective stationary member around an axis. The moving member211bof the rotational motion mechanism211is rigidly connected to the stationary member213aof the rotational motion mechanism213via a connector212; wherein the axis of the rotational motion mechanism211may optionally be perpendicular to the axis of the rotational motion mechanism213. Thus, the motion mechanism211can produce a rotation of the stationary member213arelative to the stationary member211a. The moving member213bof the rotational motion mechanism213is rigidly connected to the stationary member215aof the rotational motion mechanism215via a rigid connector214; wherein the axis of the rotational motion mechanism213may optionally be parallel to the axis of the rotational motion mechanism215. The rotational motion mechanism213can produce a rotation of the stationary member215arelative to the stationary member213a. The moving member215bof the rotational motion mechanism215is rigidly connected to the stationary member217aof the rotational motion mechanism217via a connector216; wherein the axis of the rotational motion mechanism215may optionally be perpendicular to the axis of the rotational motion mechanism217, and the rotational motion mechanism215can produce a rotation of the stationary member217arelative to the stationary member215a. The robot arm218may be connected to the computer system99ofFIG.1in the sense that the motion sub-mechanisms211,213,215and217are connected to the computer system99via wires or by wireless means, and the computer system99may be configured to control the motions produced by the motion sub-mechanisms of the robot arm218.

The robot arm218is a combination motion mechanism which is a combination of the motion sub-mechanisms211,213,215and217. Any robot arm of prior art may be used as a motion mechanism for our applications. Any motion mechanism of prior art may be used for our applications.

It should be possible to construct a combination motion mechanism from a rather arbitrary sequence of motion mechanisms, referred to as motion sub-mechanisms.

Referring toFIG.3, a cooking apparatus103comprises: a cookware11; a heater (such as inductive stove, gas burner, electric burner, etc.)16; and a motion mechanism104comprising a stationary component104aand a moving component104b. The moving component104bis rigidly, fixedly, or otherwise connected to the cookware11at least during time of operation. The heater16is configured to heat the cookware11and hence the food or food ingredients held in said cookware. The motion mechanism104may produce a motion of the cookware to stir or mix the food or food ingredients in the cookware, using known techniques. The motion mechanism104may also be able to produce a motion (e.g. a rotation around a horizontal axis) of the cookware11to dispense a cooked food from the cookware11, using known techniques. The motion mechanism104is driven by motors104mand104n, which are connected to the computer system99ofFIG.1by wires or by wireless means.

As an example, the motion mechanism104may comprise a robot arm, wherein a moving part of the robot arm is connected to the cookware. The connection to the cookware may be temporary or permanent, depending on the particular application.

It should be noted that the heater may optionally be fixedly connected to the cookware. See, e.g., U.S. patent application Ser. No. 15/801,923, the disclosures of which are hereby incorporated herein by reference in its entirety. In other applications, the heater may optionally be fixedly connected to the ground.

The motion mechanism104of the cooking apparatus103may be substituted by the stirring motion mechanism, the unloading motion mechanism (or unloading apparatus in the terms of some patent applications), the dispensing apparatus, or the combination of the above, as disclosed in U.S. patent application Ser. Nos. 16/997,196, 15/706,136, 15/801,923, 16/155,895, and 17/069,707. The entire contents of the applications are incorporated herein by reference.

Referring toFIG.4A, a liquid dispensing sub-mechanism401comprises: a plurality of liquid pipes411,413and420; a plurality of flexible pipes410; a plurality of flowmeters419; a plurality of liquid pumps412; a plurality of electronic balances416; and a plurality of liquid containers414. Each liquid container414is configured to contain a liquid ingredient, e.g., cooking oil, vinegar, or water. Each liquid pipe411is connected to a flexible pipe410. Each flowmeter419is connected to a pair of corresponding pipes420and410. Each pump412is connected to a pair of corresponding pipes420and413; and said pipe413is inserted into a corresponding liquid container414, so that the pump can pump liquid from the liquid container and the flowmeter can measure the flow in the corresponding pipes. Each container414is positioned on an electronic balance416, so that the electronic balance416can weigh the corresponding container414. Connectors417and418are configured to fixedly connect the pipes410to improve rigidity or stability of the pipes. The pumps412, flowmeters419, and electronic balances416are connected by wired or wireless means to the computer system99ofFIG.1, so that the computer system may control the timing and amount of liquid to be drawn from the corresponding liquid container. The connector416fixedly connects the pipes411to improve rigidity or stability of the pipes.

Referring toFIG.4B, a liquid dispensing apparatus403comprises: a liquid dispensing sub-mechanism401; a shaft464comprising a horizontal axis; a rotational motion mechanism466comprising a stationary member466aand a moving member466bwhich is constrained to rotate relative to the stationary member466a. The moving member466bis fixedly connected to the connector417of the liquid dispensing sub-mechanism401via a connector462, and the stationary member466ais fixedly connected to the ground via a rigid component463referred to as a support component. The rotational motion mechanism466further comprises a motor466mreferred to as a driving member, which can drive a back-and-forth motion of the moving member466b, and hence of the connector462, between a first end-position and a second end-position, relative to the stationary member466a(or equivalently, relative to the support component463). The pipes410of the liquid dispensing sub-mechanism401are attached to the connector462. The connector418of the liquid dispensing sub-mechanism401is fixedly connected to the rigid component463. The rotational motion mechanism466is connected to the computer system99ofFIG.1in the sense that the motor466mis connected to the computer system99via wires or by wireless means, and the computer system99may be configured to control the timing and speed of the rotational motion mechanism466.

It should be noted the flowmeters419, the liquid pumps412, the electronic balance416of the liquid dispensing sub-mechanism401are configured to be fixedly connected to the ground via connectors, wherein the connectors are not showing in the figures.

FIGS.5A-5Bshow the relative positions of the above liquid dispensing apparatus403and the cookware11of a cooking apparatus103. At a first end-position of the connector462(in the back-and-forth rotation produced by the rotational motion mechanism466), an open end of the pipes411is to be positioned above the cookware11when the cookware11is at the upright position (seeFIG.5A), so that the liquid may flow into the cookware11. The liquid dispensing sub-mechanism401of the liquid dispensing apparatus403is used to dispense a plurality of liquid ingredients into the cookware11of a cooking apparatus103when the connector462is at the first end-position and the cookware11is at the upright position. When the connector462is rotated to the second end-position, the connector462and the pipes411are all rotated by an angle, away from the cookware11.

Referring toFIG.6A, a gripping mechanism221comprises: grippers261aand261bwhich can optionally be rigid or elastic components; and rotational motion mechanisms263and264. The rotational motion mechanism263comprises a stationary member263aand a moving member263b, and the rotational motion mechanism263is configured to produce a rotation of the moving member263brelative to the stationary member263a. The rotational motion mechanism264comprises a stationary member264aand a moving member264b, and the rotational motion mechanism264is configured to produce a rotation of the moving member264brelative to the stationary member264a. The stationary members263aand264aare fixedly connected to a support component262. The gripper261ais rigidly or fixedly connected to the moving member264b. The rotational motion mechanism264can produce a rotation of the gripper261aaround the axis of the rotational motion mechanism264relative to the stationary member264a. Similarly, the gripper261bis rigidly or fixedly connected to the moving member263b. The rotational motion mechanism263can produce a rotation of the gripper261baround the axis of the rotational motion mechanism263relative to the stationary member263a. As the gripper261aor261bis rigidly connected to the moving member264bor respectively263b, the rotational motion mechanism264or263can produce a rotation of the gripper261aor respectively261b. The axis of rotation of the rotational motion mechanism264is parallel to the axis of rotation of the rotational motion mechanism263, and the rotational motion mechanisms264and263are configured to rotate the respective grippers261aand261bin opposite directions simultaneously. Thus, the grippers261aand261bcan be rotated anti-synchronously around a pair of parallel axes. Each of the grippers261aand261bis rotated between a first end-position and a second end-position. At the first end-positions, the grippers261aand261bmay together grip a container or other object. At the second end-positions, the grippers261aand261bcan open up and release the container or object. The motion mechanisms263or264is driven by a motor263mor respectively264m. The gripping mechanism221may be connected to the computer system99ofFIG.1in the sense that the motors263mand264mare connected to the computer system99via wires or by wireless means, and the computer system99may be configured to control the motions of the grippers261aand261bproduced by the motion mechanisms263and264. Thus, the gripping mechanism221may be controlled by the computer system99to grip or release a container or other object.

Referring toFIG.6B, a gripping mechanism221acomprises: grippers261aand261bwhich are optionally rigid or elastic components; a rotational motion mechanism267comprising a stationary member267aand a moving member (a shaft)267b; and a rotational mechanism265comprising a first mating part265aand a second mating part (a shaft)265bwhich is constrained to rotate relative to the first mating part265a. The rotational motion mechanism267is configured to produce a rotational motion of the moving member267brelative to the stationary member267b. The stationary members267aand the first mating part265aare rigidly or fixedly connected to a support component262. The gripper261ais rigidly or fixedly connected to the moving member267b. The gripper261bis rigidly or fixedly connected to the second mating part (a shaft)265b. The axis of rotation of the rotational motion mechanism267and the axis of the rotational mechanism265are configured to be parallel to each other. A transmission mechanism266is configured to connect the rotational motion mechanism267and the rotational mechanism265, so that a rotation of the shaft267brelative to the stationary member267ais transmitted to an anti-synchronous rotation of the shaft265b. Thus, the grippers261aand261bcan be rotated anti-synchronously around a pair of parallel axes. Each of the grippers261aand261bis rotated between a first end-position and a second end-position. At the first end-positions, the grippers261aand261bmay together grip a container or other object. At the second end-positions, the grippers261aand261bcan open up and release the container or object. The motion mechanism267is driven by a motor267m. The gripping mechanism221amay be connected to the computer system99ofFIG.1in the sense that the motor267mis connected to the computer system99via wires or by wireless means, and the computer system99may be configured to control the motions of the grippers261aand261bproduced by the motion mechanism267. Thus, the gripping mechanism221amay be controlled by the computer system99to grip or release a container or other object.

For examples of gripping mechanism221adescribed above, seeFIGS.39A-39B(“gripping mechanism701”), orFIGS.47A-47C(“gripping mechanism905”), of U.S. patent application Ser. No. 16/517,705. The entire content of the US Patent Application is hereby incorporated herein by reference.

Referring toFIG.6C, a gripping mechanism221bcomprises: a support component262which is a rigid component; grippers261aand261b; a linear motion mechanism260; a rigid component274; shafts273aand273b; links272aand272b; and shafts271aand271b. The linear motion mechanism260comprises a stationary member260aand a moving member260bwhich is configured to move linearly (along a horizontal direction) relative to the stationary member260a. A pair of shafts268aand268bare constrained to rotate relative to the support component262respectively around a pair of vertical axes. The shaft273a(or respectively273b) is configured to connect the link272a(or respectively272b) to the rigid component274so that the link272a(or respectively272b) is constrained to rotate relative to the rigid component274around the axis of the shaft273a(or respectively273b). The shaft271a(or271b) is configured to connect the link272a(or respectively272b) to the gripper261a(or respectively261b) so that the gripper261a(or respectively261b) is rotatable relative to the link272a(or respectively272b). The gripper261a(or261b) is rigidly or fixedly connected to the shaft268a(or respectively268b). Thus, the gripper261a(or respectively261b) is constrained to rotate relative to the support component262around the axis of the shaft268a(or respectively268b). The parts268a,271a,272a, and273aare mirror images of the parts268b,271b,272b, and273babout a vertical plane which is parallel to the direction of the linear motion of the moving member260brelative to the stationary member260a; wherein said stationary member260ais rigidly or fixedly connected to the support component262. The rigid component274is rigidly or fixedly connected to the moving member260b. Thus, the linear motion mechanism260may produce a horizontal motion of the rigid component274and hence anti-synchronous rotations of the grippers261aand261b. Each of the grippers261aand261bis rotated between a first end-position and a second end-position. At the first end-positions, the grippers261aand261bmay together grip a container or other object. At the second end-positions, the grippers261aand261bcan open up and release the container or object. The motion mechanism260is driven by a motor260m. The gripping mechanism221bmay be connected to the computer system99ofFIG.1in the sense that the motor260mis connected to the computer system99via wires or by wireless means, and the computer system99may be configured to control the motions of the grippers261aand261bproduced by the motion mechanism260. Thus, the gripping mechanism221bmay be controlled by the computer system99to grip or release a container or other object.

A gripping mechanism may also be referred to as a gripper mechanism.

Referring toFIG.6D, a gripping mechanism241comprises a support component (or base component)244and a plurality of gripper sub-mechanisms243which are referred to as robotic fingers. Each gripper sub-mechanism243comprises: grippers243dand243bwherein the gripper243dis rotatable relative to the gripper243band the gripper243bis rotatable relative to the support component244; a motion mechanism comprising a motor (hidden in figure) which drives a rotation of the gripper243drelative to the gripper243b; and a motion mechanism comprising a motor (hidden in figure) which drives a rotation of the gripper243brelative to the support component244. (It should be noted that an optional transmission mechanism may be used to link the rotation of the grippers243dand243band then only one motor is needed to drive the rotations of both grippers.) The gripping mechanism241may be connected to the computer system99ofFIG.1in the sense that all motors are connected to the computer system99via wires or by wireless means, and the computer system99may be configured to control the motions produced by the motors in the gripping mechanism241. The gripping mechanism241may be controlled by the computer system99to grip or release a container or other object.

Referring toFIG.6E, a gripping mechanism251comprises: a support component (or base component)252and a plurality of gripper sub-mechanisms253which are referred to as robotic fingers. Each gripper sub-mechanism253comprises: grippers253a,253band253c, wherein the gripper253cis rotatable relative to the gripper253b, the gripper253bis rotatable relative to the gripper253a, and the gripper253ais rotatable relative to the support component252; a motion mechanism comprising a motor (hidden in figure) which drives a rotation of the gripper253crelative to the gripper253b; a motion mechanism comprising a motor (hidden in figure) which drives a rotation of the gripper253brelative to the gripper253a; and a motion mechanism comprising a motor (hidden in figure) which drives a rotation of the gripper253arelative to the support component252. (It should be noted that an optional transmission mechanism may be used to link the rotation of the grippers253a,253band253cand then only one motor is needed to drive the rotations of all the grippers). The gripping mechanism251may be connected to the computer system99ofFIG.1in the sense that all motors are connected to the computer system99via wires or by wireless means, and the computer system99may be configured to control the motions produced by the motors in the gripping mechanism251. The gripping mechanism251may be controlled by the computer system99to grip or release a container or other object.

The gripping mechanisms241(FIG.6D) and251(FIG.6E) are commonly referred to as robot hands. The gripper sub-mechanisms243and253are referred to as robot fingers. In fact, any robot hand may be used as a gripping mechanism for our purposes here. Robot hands may also be referred to as robot end effectors. Similarly, any robot arm may be used as a motion mechanism for our purpose.

Referring toFIG.7, a robotic apparatus222comprises a robot arm218and a gripping mechanism241. The gripping mechanism241is configured to grip or release a container or other object. The support component244of the gripping mechanism241is fixedly connected to the moving member217bof the rotational motion mechanism217of the robot arm218, so that the robot arm can move the gripping mechanism241. When the gripping mechanism241grips a container or other object, the robotic apparatus222can transfer the container or object to another position. The robot arm218and the gripping mechanism241may be connected to the computer system99ofFIG.1via wires or by wireless means, and the computer system99may be configured to control the motions produced the motion mechanism in the robotic apparatus222. The robotic apparatus222may be controlled by the computer system99to grip a container or other object, and then move the container or object, and then release the container or object at a different position. The robotic apparatus222may substitute a transfer apparatus to grip and move a container or other object. The robotic apparatus222may also substitute a dispensing apparatus to grip and move a container to dispense food or food ingredients from the container.

It should be noted that the gripping mechanism221of the robotic apparatus222may be substituted by the gripping mechanism221a(or221b) or another gripping mechanism.

It should be noted that the gripping mechanisms221,221a,221b,241and251are some realizations of gripping mechanisms. They may be substituted by other types of gripping mechanism such as electric grippers, pneumatic grippers, etc.

Referring toFIG.8, an ingredient dispensing apparatus301comprises a container gripping mechanism303comprising: a support component345; gripping devices (also referred to as grippers)341aand341b; and rotational motion mechanisms343and344. The gripping device341aor341bmay comprise a rubber or silica gel or other elastic material. The rotational motion mechanism343comprises a stationary member343aand a moving member343bwhich is constrained to rotate relative to the stationary member343a. The rotational motion mechanism344comprises a stationary member344aand a moving member344bwhich is constrained to rotate relative to the stationary member344a. The stationary members343aand344aare fixedly connected to the support component345. The gripping device341ais rigidly or fixedly connected to the moving member343b. The rotational motion mechanism343further comprises a motor343mreferred to as a driving member, which can drive a rotation of the moving member343band hence of the gripping device341arelative to the stationary members343a. Similarly, the gripping device341bis rigidly or fixedly connected to the moving member344b. The rotational motion mechanism344further comprises a motor344mreferred to as a driving member, which can drive a rotation of the moving member344b, and hence of the gripping device341b, relative to the stationary members344a. The axis of rotation of the rotational motion mechanism343is parallel to the axis of rotation of the rotational motion mechanism344, and the rotational motion mechanisms343and344are configured to rotate the respective gripping devices341aand341banti-synchronously around a pair of parallel axes. Each of the gripping devices341aand341bis rotated between a first end-position and a second end-position. At the first end-positions, the gripping devices341aand341bmay together grip an ingredient container81. At the second end-positions, the gripping devices341aand341bcan open up and release the container.

The ingredient dispensing apparatus301further comprises a rotational motion mechanism348comprising a stationary member348aand a moving member348b. The moving member348bis rigidly or fixedly connected to the support component345of the container gripping mechanism303, and the stationary member348ais fixedly connected to the ground via a rigid component349referred to as a support component. The rotational motion mechanism348further comprises a motor348mreferred to as a driving member, which can drive a back-and-forth rotation of the moving member348b, and hence of the support component345, between a first end-position and a second end-position, relative to the stationary member348a(or equivalently, relative to the rigid component349). The rotational motion mechanisms343,344and348are connected to the computer system99ofFIG.1in the sense that the motors343m,344mand348mare connected to the computer system99via wires or by wireless means, and the computer system99may be configured to control the motions produced by the motion mechanisms of the ingredient dispensing apparatus301. The ingredient dispensing apparatus301may be controlled by the computer system99to grip an ingredient container81, and then rotate it a pre-assigned angle (e.g., 150 degrees) to dispense the food or food ingredients contained in the ingredient container81.

When the support component345of the container gripping mechanism303is rotated to the first end-position of the back-and-forth rotation, the gripping devices341aand341bin the container gripping mechanism303can be rotated to their first end-positions to grip an ingredient container81, wherein the ingredient container81may contain or otherwise hold food or food ingredients. When the ingredient container81is gripped, the axis of the gripped ingredient container81is configured to be vertical (although this is not a strict requirement). When the ingredient container81is being gripped by the container gripping mechanism303, the computer system99would control the rotational motion mechanism348to rotate the support component345of the container gripping mechanism303to the second end-position. This way, the ingredient container81and the gripping devices341aand341bare rotated with the support component345and the food or food ingredients contained in the ingredient container81can be dispensed as the ingredient container81is turned. After the dispensing of the food or food ingredients contained or held in the ingredient container81, the gripped container and (the support component of) the container gripping mechanism303may be returned to the first end-position, when the rotational motion mechanism348rotates the support component345backward.

Referring toFIG.9A, a vehicle790comprises: a support component786; a computer904; a plurality of wheels; motors configured to drive rotations of some of the wheels; a rechargeable battery791; and a plurality of container holders785a,785band785cwherein each container holder785a,785bor785cis rotationally symmetrical with a vertical axis. Each container holder785a,785bor785cis configured to hold an ingredient container81of a specific diameter. Each container holder on a vehicle790may hold an ingredient container81so that the movement of said ingredient container may be restricted or limited when the vehicle790is moving.

It should be noted that the vehicle790may move on a pair of curved rail tracks whose widths are smaller than the widths of straight rail tracks. The vehicle790can carry and transport a plurality of ingredient containers.

It should be noted that the any of container holders in the vehicle790may be substituted by a solid shape which can position or hold an ingredient container.

Referring toFIG.9A, a transport system302comprises tracks each comprising pairs of mini-rails331and a plurality of vehicles790. Each mini-rail331of the transport system302is fixedly connected to the ground. The vehicle790and the container holders785aon the vehicle790may move along the mini-rails331. The transport system302is configured to transfer ingredient containers. The computer904is connected to the computer system99ofFIG.1via wireless means, and the computer system99is configured to control the timing and speed of the vehicles790.

See U.S. patent application Ser. Nos. 16/517,705 and 16/997,933 for more details of the vehicle790. The entire contents of these applications are hereby incorporated herein.

Referring toFIG.9B, a vehicle790in the transport system302may move an ingredient container81to a dispensing position relative to the support component349of the ingredient dispensing apparatus301. Then the support component345of the container gripping mechanism303may be rotated to the first end-position relative to the support component349while the gripping devices341aand341bare kept at their second end-positions, and then, the gripping devices341aand341bare rotated to their first end-position to grip the ingredient container81.

FIG.10shows the relative positions of the cooking apparatus103(as inFIG.4), the ingredient dispensing apparatus301(as inFIG.8) and the transport system302(as inFIG.9A). A vehicle790of the transport system302moves an ingredient container81, which contains food or food ingredients, to a dispensing position relative to the support component349of the ingredient dispensing apparatus301. The support component345of the ingredient dispensing apparatus301may be rotated to the first end-position, and then the gripping devices341aand341bmay be moved to their first end-positions to grip the ingredient container81. Then the support component345is rotated to the second end-position, to dispense the food or food ingredients from the ingredient container81into the cookware11of the cooking apparatus103. The ingredient dispensing apparatus301is configured so that virtually entire contents held in the ingredient container81are dispensed into the cookware11; wherein exception (to the “virtually entire content”) may be a very small quantity of ingredients which are undesirably stubbornly sticking to a surface of the ingredient container81and this small quantity of ingredients will be waste. Afterwards, the support component345is rotated back to the first end-position, and after that, the gripping devices341aand341bare rotated to their second end-positions, as to release the emptied container, so as to be placed on the container holders785aof the vehicle790. It should be noted that the vehicle790is braked during the time of the above procedures.

Referring toFIG.11, a storage apparatus501comprises: a plurality of positions511; and a support component512, wherein an ingredient container81may be placed at one of the positions511. The support component512is fixedly connected to the ground by a rigid connector513. The storage apparatus501also comprises a refrigeration mechanism514configured to refrigerate the ingredient containers81to keep the food or food ingredients in the containers fresh. The refrigeration mechanism514is fixedly connected to the ground by a rigid connector515.

It should be noted that the storage apparatus501may be substituted by the storage system 560 of FIGS. 20A-24 of U.S. patent application Ser. No. 16/517,705 and similar storage systems disclosed in U.S. patent application Ser. No. 16/997,933. The entire contents of these applications are incorporated herein by reference.

It should be noted that the storage apparatus501may be substituted by any other storage or containers of food or food ingredients.

Referring toFIG.12, a loading apparatus502comprises a gripping mechanism503comprising: a support component536; gripping devices (also referred to as grippers)521aand521b; and rotational motion mechanisms530and531. The gripping device521aor521bmay comprise a rubber or silica gel or other elastic material. The rotational motion mechanism530comprises a stationary member530aand a moving member530bwhich is constrained to rotate relative to the stationary member530a. The rotational motion mechanism531comprises a stationary member531aand a moving member531bwhich is constrained to rotate relative to the stationary member531a. The stationary members530aand531aare fixedly connected to the support component536. The gripping device521ais rigidly or fixedly connected to the moving member530b. The rotational motion mechanism530further comprises a motor530mreferred to as a driving member, which can drive a rotation of the moving member530b, and hence of the gripping device521a, relative to the stationary members530a. Similarly, the gripping device521bis rigidly or fixedly connected to the moving member531b. The rotational motion mechanism531further comprises a motor531mreferred to as a driving member, which can drive a rotation of the moving member531b, and hence of the gripping device521b, relative to the stationary members531a. The axis of rotation of the rotational motion mechanism530is parallel to the axis of rotation of the rotational motion mechanism531, and the rotational motion mechanisms530and531are configured to rotate the respective gripping devices521aand521banti-synchronously around a pair of parallel axes. Each of the gripping devices521aand521bis rotated between a first end-position and a second end-position. At the first end-positions, the gripping devices521aand521bmay together grip an ingredient container81. At the second end-positions, the gripping devices521aand521bcan open up and release the container.

The loading apparatus502further comprises a vertical motion mechanism523and a horizontal motion mechanism535. Said vertical motion mechanism523comprises a stationary member523aand a moving member523bwhich is configured to be moved vertically and linearly relative to the stationary member523a. The moving member523bis rigidly connected to the support component536of the gripping mechanism503. The vertical motion mechanism523further comprises a motor523mreferred to as a driving member, which can drive a vertical linear motion of the moving member523b, and hence of the support component536, relative to the stationary member523a. Said horizontal motion mechanism535comprises a stationary member535aand a moving member535bwhich is configured to be moved horizontally and linearly relative to the stationary member535a. The moving member535bof the horizontal motion mechanism535is fixedly connected to the stationary member523aof the vertical motion mechanism523via a connector533. The horizontal motion mechanism535further comprises a motor535mreferred to as a driving member, which can drive a horizontal linear motion of the moving member535b, and hence of the stationary member523a, relative to the stationary member535a.

The loading apparatus502further comprises a rotational motion mechanism528comprising a stationary member528aand a moving member528bwhich is constrained to rotate relative to the stationary member528a. The moving member528bis fixedly connected to the stationary member535aof the horizontal motion mechanism535via a rigid connector524, and the stationary member528ais fixedly connected to the ground via a rigid component529referred to as a support component. The rotational motion mechanism528further comprises a motor528mreferred to as a driving member, which can drive a back-and-forth rotation of the moving member528b, and hence of the stationary member535a, relative to the stationary member528a(or equivalently, relative to the rigid component529). The motion mechanisms530,531,523,535and528are connected to the computer system99ofFIG.1in the sense that the motors530m,531m,523m,535mand528mare connected to the computer system99via wires or by wireless means, and the computer system99may be configured to control the motions produced by the motion mechanisms of the loading apparatus502. The loading apparatus502may be controlled by the computer system99to grip a container81, and then move the container vertically, and then horizontally, and then release the container81at a different position.

It should be noted that the loading apparatus502may be substituted by other mechanisms for the purpose of transferring an ingredient container. Such mechanisms may comprise a robot arm and a vacuum chuck.

FIGS.13A-13Dshow the relative positions of the storage apparatus501(as inFIG.11), the loading apparatus502(as inFIG.12) and the transport system302(as inFIG.9A). A vehicle790of the transport system302moves to a certain position relative to the support component529of the loading apparatus502. When the moving member528b(or the horizontal motion mechanism535) is at the first end-position in the back-and-forth rotation produced by the rotational motion mechanism528, and when the moving member523bis at the lower end-position in the vertically linear motion produced by the vertical motion mechanism523, and when the moving member535bis moved to a certain position by the horizontal motion mechanism535, the gripping devices521aand521bcan be moved to the first end-positions to grip a container (seeFIG.13A). Then, the moving member523bis vertically moved to the upper end-position while the ingredient container is gripped by the gripping devices521aand521b(seeFIG.13B). Then, the moving member528band the vertical motion mechanism523are rotated by the rotational motion mechanism528to the second end-position while the ingredient container is gripped by the gripping devices521aand521b(seeFIG.13C). Then, the moving member523bis vertically moved to the lower end-position, and then the gripping devices521aand521bmay be moved to release the ingredient container to a container holder785aof a vehicle790(seeFIG.13D). The computer system99may control the timing and speed of the rotational motion mechanisms528, the horizontal motion mechanism535and the vertical motion mechanism523. It should be noted that the vehicle790is braked during the time of the above procedures.

Referring toFIG.14A, a basket801comprises a truncated cone801w, a porous bottom801f, an edge801bat the top, and a handle801cat the top. The truncated cone801wmay optionally be made of metal sheet with or without holes. The porous bottom801fmay comprise a mesh, a net, or a sheet (e.g., metal sheet) with small holes. The (truncated cone801wand the porous bottom801fof the) basket801can hold food or food ingredients. The basket801may be placed into a cooking liquid (heated water or heated oil) so that the food or food ingredients held in the basket may be boiled or deep fried.

Referring toFIG.14B, a basket802comprises a mesh802a(in the shape of a truncated cone with a bottom), an edge802bat the top, and a handle801cat the top. The (mesh802aof the) basket802can hold food or food ingredients.

Referring toFIG.14C, a basket803comprises a mesh803a(in the shape of a truncated cone with a bottom) and a ring-shaped edge803bat the top. The (mesh803aof the) basket803may hold food or food ingredients.

It should be noted that the basket801,802, or803may be made of stainless steel or other material which can endure high temperatures (of heated oil) and be safe for touching food.

It should be noted that the basket801,802, or803, is a special type of cooking container which can contain or otherwise hold food or food ingredients during a cooking process, e.g., deep frying, boiling. The food or food ingredients held by the basket may not be liquid (or gel) and each piece may need to have a big enough diameter so as not to be dropped out from the basket. The minimum diameter depends on the size of the holes or the density of the net in the basket.

It should also be noted that a basket may optionally have a sectional shape of circle, oval, square, or other shape.

In the following applications, the basket801may be substituted by the basket802, or by other types of basket. The same applies to the basket803.

Referring toFIGS.14D-14E, a cooking apparatus810comprises: a plurality of baskets801(as inFIG.14A); a support component808; and a shaft812. Each basket801is porous in the sense that a liquid, such as water or oil, contained in the basket801may leak out when the basket801is positioned at an upright position and is held in the air. Moreover, the basket801, at or near said upright position, is configured to contain or otherwise hold solid food or food ingredients, wherein said solid food or food ingredients should have reasonably big enough diameters in comparison with the holes at or near the bottom of the basket801.

The cooking apparatus810further comprises a rotational motion mechanism805and a plurality of basket holders811aand811bwhich are fixedly connected to the shaft812. The basket holders811aare at lower heights and are called lower holders or first holders; the basket holders811bare at higher heights and are called upper holders or second holders. A basket801may be held by a said basket holder811aor811bbut it is detached from the holder. The rotational motion mechanism805comprises a stationary member805aand a moving member805bwhich is constrained to rotate relative to the stationary member805a. The stationary member805ais fixedly connected to the support component808, and the moving member805bis fixedly connected to the shaft812. The rotational motion mechanism805further comprises a motor805mreferred to as a driving member, which can drive a cyclic rotation of the moving member805b, and hence of the shaft812, the basket holders811aand811b, and the baskets801held by the basket holders811aand811brelative to the stationary member805a(or equivalently, relative to the support component808); wherein the axis of said cyclic rotation is vertical. The rotational motion mechanism805is connected to the computer system99ofFIG.1in the sense that the motor805mare connected to the computer system99via wires or by wireless means, and the computer system99is configured to control timings and speeds of the rotational motion mechanism805.

The cooking apparatus810further comprises: a resistive heater46; a liquid container814; and temperature sensors47. The resistive heater46is connected to the computer system99which is configured to control the heating power and timing of said resistive heater46. The temperature sensors47may sense the temperature of the liquid in the liquid container814. The temperature sensors47are connected to the computer system99, which is configured to receive signals from said temperature sensors. The liquid container814is configured to contain a cooking liquid, such as water or cooking oil. The resistive heater46can heat the liquid contained in the liquid container814.

The cooking apparatus810further comprises: a pair of liquid pipes815aand815b; a pair of liquid pipes818aand818b; a pair of liquid pipes813aand813b; a pair of flowmeters819aand819b; a pair of liquid pumps817aand817b; a liquid container816; a filtering mechanism840; a liquid pipe862configured to connect the liquid container814with the filtering mechanism840; and a solenoid valve49mounted on the liquid pipe862. The solenoid valve49may open or stop the used liquid in the liquid container814from flowing to the filtering mechanism840through the liquid pipe862, and the used liquid can get filtered by the filtering mechanism840and be reused. It should be noted that the filtering mechanism840does not allow the liquid to circulate indefinitely. After the liquid is filtered and reused a number of times, the used liquid should be disposed of as waste. An end of the pipe813aor813bis inserted into the liquid contained in the liquid container814of the cooking apparatus810. The liquid container816is configured to hold a fresh liquid, e.g., water or cooking oil. The pump817a(or817b) is connected to a pair of corresponding pipes815aand818a(or respectively815band818b), and an end of said pipe815ais inserted in the liquid contained in the liquid container816and the other end of said pipe815bis connected to the filtering mechanism840. Each flowmeter819a(or respectively,819b) is connected to a pair of corresponding pipes818aand813a(or respectively,818band813b) and said pipe813a(or respectively,813b) is inserted into the liquid container814. The pump817acan draw fresh liquid from the liquid container816and pump it into the liquid container814. The pump817bcan draw (filtered) liquid from the filtering mechanism840and pump it into the liquid container814. The flowmeter819aand819bcan measure the flow of liquid pumped into the liquid container814. Pumps817a,817band flowmeters819aand819bare connected to the computer system99via wires, and the computer system99is configured to control the timing and amount of liquid to be drawn by the pump from the corresponding liquid container. The filtering mechanism840and the solenoid valve49are connected to the computer system99via wires, and the computer system99is configured to control the timing of used liquid in the liquid container814to flow to the filtering mechanism840and the timing of the used liquid in the filtering mechanism840to be filtered.

It should be noted that a basket801which is held by a lower basket holder811acan be partially immersed in liquid contained in the liquid container814.

Referring toFIG.15, a spraying and soaking apparatus850comprises: a liquid source857; and a liquid container858configured to contain used liquid. Liquid can flow through a pipe851, a flowmeter853, and a liquid pump855, from a liquid source857to a spray851a, which is positioned above the liquid container858, wherein the liquid pump is used to make the liquid flow and the flowmeter measures the flux of the liquid flow. Liquid can also flow through a liquid pipe852, a flowmeter853, a liquid pump855, from the liquid source857to the liquid container858. The used liquid in the liquid container858may flow out through a liquid pipe859, a solenoid valve861, and a garbage disposal (not shown in figure), wherein the pipe859goes through the solenoid valve861and connects the liquid container858to the garbage disposal. The solenoid valve861may open or stop the fluid flow through the pipe859. The level gauge48is mounted on the liquid container858and senses the level of liquid in the container858. The solenoid valve861, the pumps855, the flowmeters853, and the level gauge48are connected to the computer system99ofFIG.1. The computer system99is configured to control the liquid level in the liquid container858. The computer system99is also configured to control the timing and amount of liquid to be drawn by the pump from the liquid source.

The spray851ais at a certain level above the container858, so that a semi-cooked food, such as fried vegetables, may be sprayed with a liquid (such as water) to wash out the semi-cooked food. Alternatively, a semi-cooked food may be soaked in the liquid in the container858.

It should be noted that if the liquid in the apparatus850is water, the liquid source857may be connected to a source of tap water (or generally, the liquid source may be a liquid tank with high pressure). In this case, the pumps855may be substituted by valves to control the timing of the flow of the liquid through the respective pipes.

Referring toFIG.16A, a gripping mechanism881comprises: grippers826aand826bwhich can optionally be rigid or elastic components; and rotational motion mechanisms827and828. The rotational motion mechanism827comprises a stationary member827aand a moving member827bwhich is constrained to rotate relative to the stationary member827a. The rotational motion mechanism828comprises a stationary member828aand a moving member828bwhich is constrained to rotate relative to the stationary member828a. The stationary members827aand828aare fixedly connected to a support component824. The gripper826ais rigidly or fixedly connected to the moving member827b. The rotational motion mechanism827further comprises a motor827mreferred to as a driving member, which can drive a rotation of the moving member827b, and hence of the gripper826a, relative to the stationary member827a(or equivalently, relative to the support component824). Similarly, the gripper826bis rigidly or fixedly connected to the moving member828b. The rotational motion mechanism828further comprises a motor828mreferred to as a driving member, which can drive a rotation of the moving member828b, and hence of the gripper826b, relative to the stationary member828a(or equivalently, relative to the support component824). As the gripper826aor826bis rigidly connected to the moving member827bor respectively828b, the rotational motion mechanism827or828can produce a rotation of the gripper826aor respectively826b. The axis of rotation of the rotational motion mechanism827is parallel to the axis of rotation of the rotational motion mechanism828, and the rotational motion mechanisms827and828are configured to rotate the respective grippers826aand826bin opposite directions simultaneously. Thus, the grippers826aand826bcan be rotated anti-synchronously around a pair of parallel axes. Each of the grippers826aand826bis rotated between a first end-position and a second end-position. The grippers826aand826bare matched to the handle801cof the basket801or802. At the first end-positions, the grippers826aand826bmay together grip a basket801or802. At the second end-positions, the grippers826aand826bcan open up and release the basket. The gripping mechanism881may be connected to the computer system99ofFIG.1in the sense that the motors827mand828mare connected to the computer system99via wires or by wireless means, and the computer system99may be configured to control the motions of the grippers826aand826bproduced by the motion mechanisms827and828. Thus, the gripping mechanism881may be controlled by the computer system99to grip or release a basket801or802.

Referring toFIG.16B, a gripping mechanism882comprises: grippers835aand835bwhich can optionally be rigid or elastic components; and rotational motion mechanisms831and832. The rotational motion mechanism831comprises a stationary member831aand a moving member831bwhich is constrained to rotate relative to the stationary member831a. The rotational motion mechanism832comprises a stationary member832aand a moving member832bwhich is constrained to rotate relative to the stationary member832a. The stationary members831aand832aare fixedly connected to a support component833. The gripper835ais rigidly or fixedly connected to the moving member831b. The rotational motion mechanism831further comprises a motor831mreferred to as a driving member, which can drive a rotation of the moving member831b, and hence of the gripper835a, relative to the stationary member831a(or equivalently, relative to the support component833). Similarly, the gripper835bis rigidly or fixedly connected to the moving member832b. The rotational motion mechanism832further comprises a motor832mreferred to as a driving member, which can drive a rotation of the moving member832b, and hence of the gripper835b, relative to the stationary member832a(or equivalently, relative to the support component833). As the gripper835aor835bis rigidly connected to the moving member831bor respectively832b, the rotational motion mechanism831or832can produce a rotation of the gripper835aor respectively835b. The axis of rotation of the rotational motion mechanism831is parallel to the axis of rotation of the rotational motion mechanism832, and the rotational motion mechanisms831and832are configured to rotate the respective grippers835aand835bin opposite directions simultaneously. Thus, the grippers835aand835bcan be rotated anti-synchronously around a pair of parallel axes. Each of the grippers835aand835bis rotated between a first end-position and a second end-position. The grippers835aand835bare matched to the ring-shaped edge803bof the basket803. At the first end-positions, the grippers835aand835bmay together grip a basket803. At the second end-positions, the grippers835aand835bcan open up and release the basket. The gripping mechanism882may be connected to the computer system99ofFIG.1in the sense that the motors831mand832mare connected to the computer system99via wires or by wireless means, and the computer system99may be configured to control the motions of the grippers835aand835bproduced by the motion mechanisms831and832. Thus, the gripping mechanism882may be controlled by the computer system99to grip or release a basket803.

Referring toFIG.16C, a transfer apparatus820comprises the gripping mechanism881and a vertical motion mechanism821comprising a stationary member821aand a moving member821bwhich is configured to be moved vertically and linearly relative to the stationary member821a. The moving member821bis rigidly connected to the support component824of the gripping mechanism881. The vertical motion mechanism821further comprises a motor821mreferred to as a driving member, which can drive a vertical linear motion of the moving member821b, and hence of the support component824, relative to the stationary member821a.

The transfer apparatus820further comprises a rotational motion mechanism825comprising a stationary member825aand a moving member825bwhich is constrained to rotate relative to the stationary member825a. The moving member825bis fixedly connected to the stationary member821aof the vertical motion mechanism821via a rigid connector822, and the stationary member825ais fixedly connected to the ground via a rigid component829referred to as a support component. The rotational motion mechanism825further comprises a motor825mreferred to as a driving member, which can drive a back-and-forth rotation of the moving member825b, and hence of the stationary member821a, between a first end-position and a second end-position, relative to the stationary member825a(or equivalently, relative to the rigid component829). The motion mechanisms827,828,821and825are connected to the computer system99ofFIG.1in the sense that the motors827m,828m,821mand825mare connected to the computer system99via wires or by wireless means, and the computer system99may be configured to control the motions produced by the motion mechanisms of the transfer apparatus820. The transfer apparatus820may be controlled by the computer system99to grip a basket801, and then move the basket vertically, and then horizontally, and then release the basket801at a different position.

At the first end-position of the stationary member821aof the vertical motion mechanism821in the back-and-forth rotation, and when the moving member821bis at a certain position relative to the support component829, the grippers826aand826bof the gripping mechanism881can be moved to the first end-positions to grip a basket801. When the stationary member821aof the vertical motion mechanism821is rotated to the second end-position while the basket801is gripped by the grippers826aand826b, the basket801is also rotated.

It should be noted that the transfer apparatus820may be substituted by other mechanisms for the purpose of moving a basket. Such mechanisms may comprise a robot arm.

Referring toFIG.16D, a food dispensing apparatus830comprises a gripping mechanism881aand a rotational motion mechanism838. The gripping mechanism881ais the same as the gripping mechanism881except that the support component824of the gripping mechanism881is substituted by a support component834. Said rotational motion mechanism838comprises a stationary member838aand a moving member838bwhich is constrained to rotate relative to the stationary member838a. The moving member838bis fixedly connected to the support component834of the gripping mechanism881a. The rotational motion mechanism838further comprises a motor838mreferred to as a driving member, which can drive a back-and-forth rotation of the moving member838b, and hence of the support component834, between a first end-position and a second end-position, relative to the stationary member838a.

The food dispensing apparatus830further comprises a vertical motion mechanism843comprising: a stationary member843a; and a moving member843b, which is configured to be moved vertically and linearly relative to the stationary member843a. The moving member843bis rigidly connected to the stationary member838aof the rotational motion mechanism838. The vertical motion mechanism843further comprises a motor843mreferred to as a driving member, which can drive a vertical linear motion of the moving member843b, and hence of the stationary member838a, relative to the stationary member843a.

The food dispensing apparatus830further comprises a rotational motion mechanism839comprising a stationary member839aand a moving member839bwhich is constrained to rotate relative to the stationary member839a. The moving member839bis fixedly connected to the stationary member843aof the vertical motion mechanism843via a rigid connector841, and the stationary member839ais fixedly connected to the ground via a rigid component842referred to as a support component. The rotational motion mechanism839further comprises a motor839mreferred to as a driving member, which can drive a back-and-forth rotation of the moving member839b, and hence of the stationary member843a, between a first end-position and a second end-position, relative to the stationary member839a(or equivalently, relative to the rigid component842). The motion mechanisms827,828,838,843and839are connected to the computer system99ofFIG.1in the sense that the motors827m,828m,838m,843mand839mare connected to the computer system99via wires or by wireless means, and the computer system99may be configured to control the motions produced by the motion mechanisms of the food dispensing apparatus830. The food dispensing apparatus830may be controlled by the computer system99to grip a basket801, and then move the basket vertically, and then horizontally, and then turn the basket801.

When the support component834of the gripping mechanism881ais at the first end-position in the back-and-forth rotation, when the stationary member843aof the vertical motion mechanism843is at the first end-position in the back-and-forth rotation, when the moving member843bis moved to a certain position relative to the support component842, then the gripper826aand826bof the gripping mechanism881acan be moved to the first end-positions to grip a basket801which is held by an upper basket holder811band which contains food or food ingredients under the condition that the basket801is at a certain position relative to the support component842. Then, the moving member843bis moved up to another position, and the stationary member843aof the vertical motion mechanism843is rotated to the second end-position, and the support component834of the gripping mechanism881ais rotated to the second end-position while the basket801is gripped by the gripper826aand826bof the gripping mechanism881a, so that the basket801is turned by an angle above a food container to dispense food or food ingredients into the food container. Virtually the entire contents of the basket are dispensed by the turning of the basket.

It should be noted that the food dispensing apparatus830may be substituted by other mechanisms for the purpose of transferring a basket. Such mechanisms may comprise a robot arm.

Referring toFIGS.17A-17C, a cooking apparatus860comprises a cooking apparatus810(as inFIGS.14D-14E), a transfer apparatus820(as inFIG.16C), a food dispensing apparatus830(as inFIG.16D) and a spraying and soaking apparatus850(as inFIG.15). When a basket801of the cooking apparatus810held by a lower basket holder811aof the cooking apparatus810is rotated to a certain position relative to the support component808, the gripper devices826aand826bin the gripping mechanism881of the transfer apparatus820may work together to grip the basket801, as shown inFIG.17A. When the transfer apparatus820moves the gripped basket801to a certain position relative to the support component829, the gripped basket801is partially immersed in the liquid of the liquid container858. When the gripped basket801is moved to another position, the sprayer851aof the spraying and soaking apparatus850can spray liquid into food or food ingredients held in the gripped basket801(seeFIG.17B). When the gripped basket801is moved to a third position relative to the support component829, the gripped basket801may be released by rotating the gripping devices826aand826bof the gripping mechanism881to their second end-positions, and then the basket801may be dropped onto an upper basket holder811b. When said basket801is held by said upper basket holder811b, said basket801is entirely above the liquid container814, as shown inFIG.17C. When the upper basket holder811bis rotated to a certain position, the basket801held by said upper basket holder811bmay be gripped by the gripper826aand826bof the gripping mechanism881aof the food dispensing apparatus830, as shown inFIGS.17A-17C. Then the food dispensing apparatus830may move and rotate the basket801to dispense a cooked or cooked food from the basket801.

It should be noted that the food dispensing apparatus830and the transfer apparatus820may be combined into one mechanism comprising a robot arm.

It should be noted that basket801of the cooking apparatus860may be substituted by the basket802or803. If the basket801is substituted by the basket803, the gripping mechanism881of the transfer apparatus820and the gripping mechanism881aof the food dispensing apparatus830need to be substituted by the gripping mechanism882.

Referring toFIG.18, a transport apparatus890comprises: a rotatable component899; a plurality of container holders889which are fixedly mounted on the rotatable component899; and a rotational motion mechanism892comprising a stationary member892aand a moving member892bwhich is constrained to rotate relative to the stationary member892a. The holders889are cyclically and symmetrically positioned around the axis of the rotational motion mechanism892. Each container holder889may position and hold a food container182so that the movement of said food container is restricted or limited when the rotatable component899is rotated; wherein the food container182is configured to contain or otherwise hold food. The moving member892bis fixedly connected to the rotatable component899, and the stationary member892ais fixedly connected to the ground via a rigid component891referred to as a support component. The rotational motion mechanism892further comprises a motor892mreferred to as a driving member, which can drive an intermittent rotation of the moving member892b, and hence of the rotatable component899, relative to the stationary member892a(or equivalently, relative to the rigid component891). The angle of each intermittent rotation may be the same, although this is not a strict requirement. The motion mechanism892is connected to the computer system99in the sense that the motor892mis connected to the computer system99via wires or by wireless means, and the computer system99may be configured to control the motions produced by the motion mechanism892.

It should be noted that the container holders889may be substituted by a solid shape which can position or hold a food container.

Referring toFIG.19A, a container gripping mechanism610comprises: grippers620aand620bwhich can optionally be rigid or elastic components; and rotational motion mechanisms621and622. The rotational motion mechanism621comprises a stationary member621aand a moving member621bwhich is constrained to rotate relative to the stationary member621a. The rotational motion mechanism622comprises a stationary member622aand a moving member622bwhich is constrained to rotate relative to the stationary member622a. The stationary members621aand622aare fixedly connected to a support component608. The gripper620ais rigidly or fixedly connected to the moving member621b. The rotational motion mechanism621further comprises a motor621mreferred to as a driving member, which can drive a rotation of the moving member621b, and hence of the gripper620a, relative to the stationary member621a(or equivalently, relative to the support component608). Similarly, the gripper620bis rigidly or fixedly connected to the moving member622b. The rotational motion mechanism622further comprises a motor622mreferred to as a driving member, which can drive a rotation of the moving member622b, and hence of the gripper620b, relative to the stationary member622a(or equivalently, relative to the support component620). As the gripper620aor620bis rigidly connected to the moving member621bor respectively622b, the rotational motion mechanism621or622can produce a rotation of the gripper620aor respectively620b. The axis of rotation of the rotational motion mechanism621is parallel to the axis of rotation of the rotational motion mechanism622, and the rotational motion mechanisms621and622are configured to rotate the respective grippers620aand620bin opposite directions simultaneously. Thus, the grippers620aand620bcan be rotated anti-synchronously around a pair of parallel axes. Each of the grippers620aand620bis rotated between a first end-position and a second end-position. At the first end-positions, the grippers620aand620bmay together grip an ingredient container81. At the second end-positions, the grippers620aand620bcan open up and release the ingredient container. The container gripping mechanism610may be connected to the computer system99ofFIG.1in the sense that the motors621mand622mare connected to the computer system99via wires or by wireless means, and the computer system99may be configured to control the motions of the grippers620aand620bproduced by the motion mechanisms621and622. Thus, the container gripping mechanism610may be controlled by the computer system99to grip or release an ingredient container81.

It should be noted that the support component608may be referred as the support component of the container gripping mechanism610.

Referring toFIG.19B, a double screw mechanism630comprises: screw shafts635and642; gears637and641; and a support component636. The gear637is rigidly connected to the screw shaft635, and the gear641is rigidly connected to the screw shaft642. The gear637is engaged with the gear641. Thus, the screw shafts635and642can be constrained to rotate in opposite directions around their respective axes. The double screw mechanism630further comprises: a container638configured to be fixedly connected to the support component636, wherein the container638comprises an inlet and an outlet; a funnel639configured to be fixedly connected to the support component636by a rigid connector640; and a rotational motion mechanism631comprising a stationary member631aand a moving member631bwhich is constrained to rotate relative to the stationary member631a. The moving member631bis fixedly connected to the screw shaft635, and the stationary member631ais fixedly connected to the support component636via a rigid connector632. The rotational motion mechanism631further comprises a motor631mreferred to as a driving member, which can drive a rotation of the moving member631b, and hence of the screw shaft635, relative to the stationary member631a(or equivalently, relative to the support component636). The outlet of the container638is connected to the funnel639. As explained before, the rotational motion mechanism631may rotate the screw shafts635and642. The screw shafts635and642are located inside the container638, so that the rotations of the screw shafts635and642can dispense the food or food ingredients into the container638through the funnel639. The motion mechanism631is connected to the computer system99ofFIG.1in the sense that the motor631mis connected to the computer system99via wires or by wireless means, and the computer system99may be configured to control the motions produced by the motion mechanism631.

Referring toFIG.19C, a mixing mechanism660comprises: a main shaft667comprising a plurality of mixer shafts667a, wherein the main shaft667comprises a vertical axis; a support component665; a container668comprising a cover666, wherein the cover666comprises a handle666, wherein the container668comprises an inlet and an outlet; and a rotational motion mechanism661comprising a stationary member661aand a moving member661bwhich is constrained to rotate relative to the stationary member661a. The moving member661bis fixedly connected to the main shaft667, and the stationary member661ais fixedly connected to the support component665. The rotational motion mechanism661further comprises a motor661mreferred to as a driving member, which can drive a rotation of the moving member661b, and hence of the main shaft635, relative to the stationary member661a(or equivalently, relative to the support component665). The main shaft667is located inside the container668, so that the rotations of the mixer shafts667aof the main shaft667can dispense the food or food ingredients from the container668. The motion mechanism661is connected to the computer system99ofFIG.1in the sense that the motor661mis connected to the computer system99via wires or by wireless means, and the computer system99may be configured to control the motions produced by the motion mechanism661.

Referring toFIG.19D, an ingredient dispensing apparatus680comprises: a mixing mechanism660(as inFIG.19C); a double screw mechanism630(as inFIG.19B); a container gripping mechanism610(as inFIG.19A); a support component656; an electronic scale681mounted on the support component656by a connector682; and a rotational motion mechanism651comprising a stationary member651aand a moving member651bwhich is constrained to rotate relative to the stationary member651a. The moving member651bis fixedly connected to the support component608of the container gripping mechanism610, and the stationary member651ais fixedly connected to the support component656. The rotational motion mechanism651further comprises a motor651mreferred to as a driving member, which can drive a back-and-forth rotation of the moving member651b, and hence of the support component608, between a first end-position and a second end-position, relative to the stationary member651a(or equivalently, relative to the support component656). The electronic scale681is connected to the computer system99ofFIG.1via wires (not shown in figures) to communicate with the computer system99and the electronic scale681can weigh the ingredient container81and the food or food ingredients contained therein. The computer system99can then compute the weight of the food or food ingredients by subtracting the weight of the ingredient container81. The motion mechanism651is connected to the computer system99in the sense that the motor651mis connected to the computer system99via wires or by wireless means, and the computer system99may be configured to control the motions produced by the motion mechanism651.

The support component636of the double screw mechanism630and the support component665of the mixing mechanism660are fixedly connected to the support component656. The outlet of the container668is connected to the inlet of the container638. It should be noted that the support component656may be referred as the support component of the ingredient dispensing apparatus680.

When the rotational motion mechanisms661and631respectively rotate the main shaft667and the screw shaft635, the food or food ingredients in the container668may be pushed through the container638and eventually dispensed into the ingredient container81through the funnel639. The rotational motion mechanisms661and631and the electronic scale681are connected to the computer system99, and the computer system99can dynamically control the timing of the rotational motion mechanisms661and631with assistance from signals from the electronic scale681.

When the support component608of the container gripping mechanism610is rotated to the first end-position, the grippers620aand620bin the container gripping mechanism610can be rotated to their first end-positions to grip an ingredient container81which may contain or otherwise hold food or food ingredients. When the ingredient container81is thus gripped, the axis of the gripped ingredient container81is configured to be vertical (although this is not a strict requirement). After the ingredient container81is gripped by the container gripping mechanism610, the computer system99would control the rotational motion mechanism651to rotate the support component608of the container gripping mechanism610to the second end-position. During this period, the ingredient container81is kept gripped by the grippers620aand620b. Therefore, the ingredient container81and the grippers620aand620bare rotated by the same angle as the support component608. In particular, the food or food ingredients contained in the ingredient container81can be unloaded as the ingredient container81is turned. The angle of rotation of the support component608from the first end-position to the second end-position is between 90 and 180 degrees (e.g., 150 degrees). After the dispensing of the food or food ingredients contained or held in the ingredient container81, the gripped container81and (the support component608of) the container gripping mechanism610may be returned to the first end-position, when the rotational motion mechanism651rotates the support component608backward.

When the support component608of the container gripping mechanism610is at the first end-position, the grippers620aand620bcan be rotated to their second end-positions to release an ingredient container81on the electronic scale681, and the support component608of the container gripping mechanism610is kept at the first end-position. After a time (as needed), the grippers620aand620bof the container gripping mechanism610may be returned to the first end-position, when the weight of the food or food ingredients entering the ingredient container81reaches a certain value, and the computer system99controls that no further food or food ingredients are added to the ingredient container81.

Referring toFIG.20, a liquid dispensing apparatus702comprises: a plurality of liquid pipes713; a plurality of pipes720; a plurality of flowmeters719; a plurality of liquid pipes710; a plurality of liquid pumps712; a plurality of electronic balance716; and a plurality of liquid containers714. Each liquid container714is configured to contain a liquid ingredient, e.g., soups, vinegar, or sauces. Each flowmeter719is connected to a pair of corresponding pipes720and710. Each pump712is connected to a pair of corresponding pipes720and713; and said pipe713is inserted into a corresponding liquid container714, so that the pump712can draw liquid from the liquid container714and the flowmeter719can measure the flow in the corresponding pipes. Each container714is positioned on an electronic balance716, so that the electronic balance716can weigh the corresponding container714. Each electronic balance716is connected to the ground by a connector. Each pump712, each flowmeter719and each electronic balance716is connected to the computer system99ofFIG.1, and the computer system99is configured to control the timing and amount of liquid to be drawn from the corresponding liquid container714.

Referring toFIG.21A, a vehicle760is similarly configured to the vehicle790except that: the support component786is substituted by a support component766; the container holders785a,785band785care substituted by a plurality of food container holders662; and the computer904is substituted by a computer904b. The other part numbers in the vehicle760are the same as the corresponding part numbers in the vehicle790. The food container holders662are configured to hold a food container182so that the movement of said food container182may be restricted or limited when the vehicle is moving. The computer904bmay control the operations of the electrical or electronic devices of the vehicle760by sending signals to the electrical or electronic device. The computer904bmay communicate with the computer system99ofFIG.1via a wireless communication device768b.

Referring toFIG.21B, the transport system302comprises a plurality of vehicles760. The vehicles760and the food containers182held by the food container holders662on the vehicles760may move along the mini-rails331. The transport system302can transfer food containers182. The computer904bis connected to the computer system99via wireless means, so that the computer system99may control the timing and speed of the vehicles760. It should be noted that the food container holders662in the vehicle760may be substituted by a solid shape which can position or hold a food container.

It should be noted that the vehicles760may comprise other components for the purpose of staying on the track.

It should be noted that the transport system302may comprise track switch mechanisms. The vehicles760or790may move on different mini-rails by means of a track switch mechanism.

Referring toFIG.22A, a transfer apparatus670comprises a gripping mechanism601comprising: gripping devices (also referred to as grippers)671aand671b; and rotational motion mechanisms673and674. The gripping device671aor671bmay comprise a rubber or silica gel or other elastic material. The rotational motion mechanism673comprises a stationary member673aand a moving member673bwhich is constrained to rotate relative to the stationary member673a. The rotational motion mechanism674comprises a stationary member674aand a moving member674bwhich is constrained to rotate relative to the stationary member674a. The stationary members673aand674aare fixedly connected to a support component672. The gripping device671ais rigidly or fixedly connected to the moving member673b. The rotational motion mechanism673further comprises a motor673mreferred to as a driving member, which can drive a rotation of the moving member673band hence of the gripping device671arelative to the stationary members673a. Similarly, the gripping device671bis rigidly or fixedly connected to the moving member674b. The rotational motion mechanism674further comprises a motor674mreferred to as a driving member, which can drive a rotation of the moving member674b, and hence of the gripping device671b, relative to the stationary members674a. The axis of rotation of the rotational motion mechanism673is parallel to the axis of rotation of the rotational motion mechanism674, and the rotational motion mechanisms673and674are configured to rotate the respective gripping devices671aand671banti-synchronously around a pair of parallel axes. Each of the gripping devices671aand671bis rotated between a first end-position and a second end-position. At the first end-positions, the gripping devices671aand671bmay together grip a food container182. At the second end-positions, the gripping devices671aand671bcan open up and release the food container182.

The transfer apparatus670further comprises a vertical motion mechanism602comprising a stationary member602aand a moving member602bwhich is configured to be moved vertically and linearly relative to the stationary member602a. The moving member602bis rigidly or fixedly connected to the support component672of the gripping mechanism601. The vertical motion mechanism602further comprises a motor602mreferred to as a driving member, which can drive a vertical linear motion of the moving member602band hence of the support component672relative to the stationary member602a. The transfer apparatus670further comprises a rotational motion mechanism603comprising a stationary member603aand a moving member603bwhich is constrained to rotate relative to the stationary member603a. The moving member603bis rigidly or fixedly connected to the stationary member602aof the vertical motion mechanism602via a connector676, and the stationary member603ais fixedly connected to the ground via a connector678referred to as a support component. The rotational motion mechanism603further comprises a motor603mreferred to as a driving member, which can drive a rotation of the moving member603b, and hence of the stationary member602a, relative to the stationary member603a(or equivalently, relative to the support component678). The motion mechanisms673,674,602and603may be connected to the computer system99ofFIG.1in the sense that the motors673m,674m,602mand603mare connected to the computer system99via wires or by wireless means, and the computer system99may be configured to control the motions produced by the motion mechanisms673,674,602and603of the transfer apparatus670. The transfer apparatus670may be controlled by the computer system99to grip a food container182, and then move the food container vertically, and then horizontally, and then release the food container182at a different position.

Referring toFIG.22B, a transfer apparatus670acomprises the gripping mechanism601and the rotational motion mechanism603of a transfer apparatus670(as shown inFIG.22A). The transfer apparatus670afurther comprises a rotational motion mechanism692comprising a stationary member692aand a moving member692bwhich is constrained to rotate relative to the stationary member692a. The moving member692bis rigidly or fixedly connected to the support component672of the gripping mechanism601via a connector691, and the stationary member692ais fixedly connected to a rigid component693. The rotational motion mechanism692further comprises a motor692mreferred to as a driving member, which can drive a back- and forth rotation of the moving member692band hence of the support component672, between a first end-position and a second end-position, relative to the stationary member692a(or equivalently, relative to the rigid component693). When an arc segment of the rotation between the first end-position and the second end-position in the support component672rotating is close to a straight line, the back- and forth rotation of the support component672can be thought of as a back-and-forth vertical linear motion. The moving member603bof the rotational motion mechanism603is rigidly or fixedly connected to the stationary member692aof the rotational motion mechanism692via the rigid component693, and the stationary member603ais fixedly connected to the ground via a connector694referred to as a support component. The motor603mof the rotational motion mechanism603can drive a rotation of the moving member603b, and hence of the stationary member692a, relative to the stationary member603a(or equivalently, relative to the support component694). The transfer apparatus670amay be connected to the computer system99ofFIG.1in the sense that the motors673m,674m,692mand603mare connected to the computer system99via wires or by wireless means, and the computer system99may be configured to control the motions produced by the motion mechanisms673,674,692and603of the transfer apparatus670a. The transfer apparatus670amay be controlled by the computer system99to grip a food container182, and then move the food container vertically, and then horizontally, and then release the food container182at a different position.

It should be noted that the gripping mechanism601may be substituted by other types of gripping mechanisms.

It should be noted that the transfer apparatus670may be substituted by the transfer apparatus670aor other transfer apparatuses for the purpose of transferring a food container. Such a transfer apparatus may comprise a robot arm and a vacuum chuck.

Referring toFIG.22C, a wastewater disposal apparatus730comprises a sink106and a garbage disposal107which is connected to the sink, right below the sink. The sink106and the garbage disposal are fixedly connected to the ground via a connector105; and a pipe is connected to the garbage disposal to flow wastewater to a sewage or a wastewater tank. The wastewater may be dispensed to the sink106, which is connected to the garbage disposal and sewage or wastewater tank. The garbage disposal107may be connected to the computer system99ofFIG.1, which may be configured to control the power supply to the garbage disposal.

Referring toFIG.22D, a receiving system690comprises: a transfer apparatus670(as inFIG.22A); and a number of wastewater disposal apparatuses730(as shown inFIG.22C). The positions of the support component678of the transfer apparatus670and the connectors105of the wastewater disposal apparatuses730are fixed relative to each other. The receiving system690further comprises: a liquid dispensing apparatus702(as shown inFIG.20) and an ingredient dispensing apparatus680(as shown inFIG.19D). A cooked food in the cookware11may be dispensed by the cooking apparatus103(ofFIG.3), and a cooked food in the basket801may be dispensed by the food dispensing apparatus830(ofFIG.16D). The pumps712of the liquid dispensing apparatus702can draw a liquid ingredient from the liquid containers714through the liquid pipes710. The computer system99ofFIG.1can control the transfer apparatus670to produce an intermittent rotation in the gripping mechanism601and the gripped food container182. The rotation angle in any intermittent rotation may be the same, although this is not a strict requirement. At each stop of the intermittent rotation, the following processes may be completed: (1) when the food container182that is gripped by the gripping mechanism601of the transfer apparatus670is positioned right above a sink106, said food container can receive a cooked food which is dispensed by the food dispensing apparatus830from the cooking apparatus860; (2) when said food container182is positioned right above another sink106, said food container182can receive a cooked food which is dispensed by the motion mechanism140from the cooking apparatus103; (3) when said food container182is positioned right next to the ingredient dispensing apparatus680, said food container can receive food or food ingredients dispensed by the ingredient dispensing apparatus680from an ingredient container81; (4) when said food container182is positioned next to the liquid dispensing apparatus702, said food container can receive liquid ingredients dispensed by the liquid dispensing apparatus702from the liquid containers714; and (5) when said food container182is positioned next to the transport system302, said food container may be transferred to a container holder of a vehicle760in the transport system302by the transfer apparatus670, and said vehicle760may move said food container182to an area accessible by humans.

Referring toFIG.22E, a receiving system690acomprises: a transport apparatus890(as inFIG.18); an ingredient dispensing apparatus680(as inFIG.19D); a transfer apparatus670(as inFIG.22A); and a number of wastewater disposal apparatuses730(as shown inFIG.22C). The positions of the support component678of the transfer apparatus670, the connectors105of the wastewater disposal apparatuses730, and the support component891of the transport apparatus890are fixed relative to each other. The liquid dispensing apparatus702and the ingredient dispensing apparatus680are positioned next to the receiving system690a. A cooked food in the cookware11may be dispensed by the cooking apparatus103, and a cooked food in the basket801may be dispensed by the food dispensing apparatus830. The pumps712of the liquid dispensing apparatus702can draw a liquid ingredient from the liquid containers714through the liquid pipes710. The computer system99ofFIG.1can control the transport apparatus890to produce an intermittent rotation in the rotatable component899and the accessories attached on it. The rotation angle in any intermittent rotation may be the same, although this is not a strict requirement. At each stop of the intermittent rotation, the following processes may be completed: (1) when a food container182on the transport apparatus890is positioned right above the sink106of a wastewater disposal apparatus730, said food container can receive a cooked food which is dispensed by the food dispensing apparatus830from the cooking apparatus860; (2) when said food container182is positioned right above the sink106of another wastewater disposal apparatus730, said food container can receive a cooked food which is dispensed by the motion mechanism104from the cooking apparatus103; (3) when said food container182is positioned right next to the ingredient dispensing apparatus680, said food container can receive food or food ingredients dispensed by the ingredient dispensing apparatus680from an ingredient container81; (4) when said food container182is positioned next to the liquid dispensing apparatus702, said food container can receive liquid ingredients dispensed by the liquid dispensing apparatus702from the liquid containers714; and (5) when said food container182is positioned next to the transfer apparatus670, said food container may be gripped and moved by the transfer apparatus670to be positioned on a vehicle760of the transport system302or a transport apparatus, and said vehicle760or transport apparatus may move said food container182to an area accessible by humans.

It should be noted that the receiving system690may be substituted by the receiving system690aor other receiving system for the purpose of receiving cooked food from the cooking apparatus103and the cooking apparatus860, and receiving food or food ingredients from the ingredient dispensing apparatus680, and receiving liquid ingredients dispensed from the liquid dispensing apparatus702. Such a receiving system may comprise a robot arm.

In some embodiments, referring toFIGS.23-25D, a cooking system901comprises (from left to right): a cooking apparatus860(as inFIGS.14D-14E); a computer system99(as inFIG.1); a receiving system690(as inFIG.22D); a transport system302(as shown inFIG.9A); an ingredient dispensing apparatus301b(see below); an ingredient dispensing apparatus301(as inFIG.8); a cooking apparatus103(as inFIG.3); a cleaning apparatus402; a liquid dispensing apparatus403(as inFIG.4B); a storage apparatus501(as inFIG.11); and a loading apparatus502(as inFIG.12). The liquid dispensing apparatus403can dispense liquid ingredients into the cookware11(as shown inFIG.5A). The ingredient dispensing apparatus301is positioned next to the cooking apparatus103, to dispense food or food ingredients into the cookware11of the cooking apparatus103(as shown inFIG.10). The ingredient dispensing apparatus301bis a copy of the ingredient dispensing apparatus301but is positioned next to the cooking apparatus860, to dispense food or food ingredients into a basket of the cooking apparatus860(as shown inFIG.24B). The part numbers in the mechanism301bare the same as the corresponding components in the mechanism301. The ingredient dispensing apparatus301in the cooking system901may be referred to as a first ingredient dispensing apparatus, and the ingredient dispensing apparatus301bin the cooking system901may be referred to as a second ingredient dispensing apparatus.

The cleaning apparatus402is positioned next to the cooking apparatus103and can clean the cookware11. See U.S. patent application Ser. No. 17/069,707 for more details of the cleaning apparatus402. The entire contents of the application are hereby incorporated herein.

Said loading apparatus502is positioned next to the transport system302and may load an ingredient container81containing food or food ingredients from the storage apparatus501to a vehicle790in the transport system302. The vehicle790of the transport system302may move to a location next to the cooking apparatus103so that the food or food ingredients in the ingredient container on the vehicle790are dispensed into the cookware11of the cooking apparatus103by the ingredient dispensing apparatus301. The timing of arrival of the vehicle790at said location is controlled by the computer system99.

The cooking system901further comprises a food processing apparatus480which is positioned next to the transport system302. The food processing apparatus480is configured to process and produce a food or food ingredient and then to dispense said food or food ingredient into an ingredient container81. The vehicle790can then move to a position next to the cooking apparatus860so that the food or food ingredients in said ingredient container can be dispensed by the ingredient dispensing apparatus301binto the basket801of the cooking apparatus860. The vehicle790may alternatively move to a position next to the cooking apparatus103to have said food or food ingredient dispensed into the cookware11

As shown inFIGS.24A-24B, the gripping devices of the ingredient dispensing apparatus301bmay grip an ingredient container81containing food or food ingredients and then the gripping devices and the ingredient container are rotated to dispense the food or food ingredients from the ingredient container81into a basket801of the cooking apparatus860held by a lower basket holder811a. Meanwhile the basket801is at a certain position relative to the support component349of the ingredient dispensing apparatus301b, and food or food ingredients in the basket801may be fried, boiled, or otherwise cooked in the heated liquid in the liquid container814of the cooking apparatus860, to produce a first cooked food. Then, the basket801is rotated to a certain position relative to the support component829of the transfer apparatus820, and the transfer apparatus820may grip the basket801and move it to a certain position relative to the spraying and soaking apparatus850, so that the first cooked food in the basket801may be immersed in a liquid in the liquid container858of the spraying and soaking apparatus850, and the sprayer851aof the spraying and soaking apparatus850can spray liquid on the first cooked food in the basket801. Next, the transfer apparatus820may move the basket801and release it, to let the basket801be held by an upper basket holder811b. The basket801may be left at this position for a period of time, to let the excessive liquid on the first cooked food drip down into the liquid container814.

The gripping devices of the ingredient dispensing apparatus301may grip an ingredient container81containing food or food ingredients and then the gripping devices and the ingredient container are rotated to dispense the food or food ingredients from the ingredient container81into the cookware11of the cooking apparatus103(seeFIG.10). Meanwhile the cookware11is at a certain position relative to the support component349of the ingredient dispensing apparatus301, and the motion mechanism104of the cooking apparatus103may move the cookware11of the cooking apparatus103to stir or mix the food or food ingredients in the cookware11, to produce a second cooked food

It should be noted that the gripping devices of the ingredient dispensing apparatus301bmay also be moved to grip an ingredient container81containing food or food ingredients and then the gripping devices and the ingredient container are rotated to dispense the food or food ingredients from the ingredient container81to a basket801which is held by an upper basket holder811b.

Then, the basket801is rotated to a certain position relative to the support component829of the transfer apparatus820, and the transfer apparatus820may grip and move the basket801to a position so that the basket801can be held by a lower basket holder811a. At this position, the food or food ingredients in the basket801are fried, boiled, or otherwise cooked in the heated liquid contained in the liquid container814of the cooking apparatus860.

It should be noted that one may optionally configure the ingredient dispensing apparatus301bto dispense food or food ingredients from an ingredient container81to a basket801which is held by a lower basket holder811aor an upper basket holder811b.

Then, as shown inFIGS.25A-25D, when the basket801that is held by an upper basket holder811bis rotated to a certain position relative to the support component842of the food dispensing apparatus830, and when a food container182which is gripped by the transfer apparatus670in the receiving system690is transferred to a position next to the food dispensing apparatus830where the food container182is positioned right above the sink106of a wastewater disposal apparatus730, the food dispensing apparatus830may grip and move the basket801and turn it over, so that the first cooked food contained in the basket801may be dispensed into the food container182(seeFIG.25B). Then, the transfer apparatus670in the receiving system690transfers the gripped food container182to a position next to the cooking apparatus103where the gripped food container182is positioned right above the sink106of another wastewater disposal apparatus730, and then the motion mechanism104of the cooking apparatus103can rotate the cookware11to dispense a cooked food from the cookware11to the gripped food container182(seeFIG.25D). And the transfer apparatus670in the receiving system690transfers the gripped food container182to a position next to the ingredient dispensing apparatus680, the ingredient dispensing apparatus680may grip an ingredient container81containing food or food ingredients and then rotate the ingredient container to dispense the food or food ingredients from the ingredient container81into the gripped food container182. Then the transfer apparatus670in the receiving system690transfers the gripped food container182to a position next to the liquid dispensing apparatus702, so that the liquid dispensing apparatus702may dispense liquid food ingredients from the liquid container714to the gripped food container182. All these foods or food or food ingredients dispensed into the food container182may together form a food product that can be served to customers. Then the transfer apparatus670can transfer said food container182to a vehicle760of the transport system302; and said vehicle760may move said food container182to an area accessible by humans. The cleaning apparatus402is positioned next to the cooking apparatus103and can clean the cookware11.

The cooking apparatus860in the cooking system901may be referred to as a first cooking apparatus and the basket801may be referred to as a first cookware. The first cooking apparatus860comprises: a cooking apparatus810; a transfer apparatus820; a food dispensing apparatus830; and a spraying and soaking apparatus850. The food dispensing apparatus830may move and turn the basket801to dispense a first cooked food from the basket801of the cooking apparatus860to a food container182.

The cooking apparatus103in the cooking system901may be referred to as a second cooking apparatus and the cookware11may be referred to as a second cookware. Said second cooking apparatus103comprises a motion mechanism104. Said motion mechanism104may comprise: a stirring motion mechanism, referred to as a first motion mechanism, and an unloading motion mechanism, referred to as a second motion mechanism. The stirring motion mechanism can move the cookware11of the second cooking apparatus103to stir or mix the food or food ingredients in the cookware11of the second cooking apparatus103during a cooking process. The unloading motion mechanism may turn the cookware11to dispense a second cooked food from the cookware11to a food container182which is gripped by the transfer apparatus670in the receiving system690.

The computer system99is connected to the mechanisms and apparatuses103,402,403,301,301b,860,480,501,502. The computer system99is also connected to the transport system302to control the movements of the vehicles790and760of the transport system302, and the computer system99is also connected to the receiving system690to control the movements of the food containers182that is gripped by the transfer apparatus670in the receiving system690.

It should be noted that in the cooking system901, a food cooked by the first cooking apparatus860can be dispensed to a food container and a food cooked by the second cooking apparatus103can be dispensed to the same food container. The food container182can be transferred by transfer apparatus670in the receiving system690to a position next to the first cooking apparatus to receive a cooked food from the first cooking apparatus and then to a position next to the second cooking apparatus to receive a cooked food from the second cooking apparatus.

In the cooking system901, the cooking apparatus860is positioned near the following mechanisms and apparatuses: the receiving system690; the cooking apparatus103; and the ingredient dispensing apparatus301b. The cooking apparatus103is positioned near the following mechanisms and apparatuses: the cleaning apparatus402; the liquid dispensing apparatus403, the ingredient dispensing apparatus301which is also next to the transport system302; and the cooking apparatus860.

The computer system99comprises a memory. The computer system is configured to store various data in the computer system's memory.

As shown inFIG.26, the following tasks are performed by the computer system99prior to the operation of the cooking system901.

In Step711, the computer system99stores (in the computer system's memory) a program, configured to send or receive signals to and from the motion mechanisms, inductive stoves, temperature sensors and pumps of the cooking system901.

In Step712, a database is installed in the computer system99.

In Step713, each of the cooking apparatuses, liquid dispensing apparatuses, ingredient dispensing apparatuses, transport system, and cleaning apparatus are assigned a unique ID. The computer system99stores the IDs of these apparatuses and mechanisms.

In Step714, the computer system99stores the information of the structure of each vehicle of the transport system302, including the ingredient container types that can be placed on the holders of the vehicle790.

In Step715, the computer system99stores programs for controlling the transport system302. The programs are configured to control a vehicle790so that the vehicle790may move and stop at a pre-scheduled time at a position near the cooking apparatus103(or respectively860) of the cooking system901, where an ingredient container on a given holder of the vehicle is at a dispensing position relative to the cooking apparatus103(or respectively860). The programs are also configured to control a vehicle760so that the vehicle760may move and stop at a pre-scheduled time at a position where the transfer apparatus670can transfer a food container containing a cooked food to the container holder of the vehicle760.

In Step716, the computer system99stores a list of foods which may be cooked by the cooking system901.

In Step717, for each food item in the list of Step716, the computer system99stores a cooking program configured to control the motion mechanisms, inductive stoves, pumps, and devices in the cooking system901.

In Step718, for each food item in the list of Step716, the computer system99stores types and quantities of food or food ingredients, relative timing of their dispensing and the respective ID of the destination cooking apparatus for each ingredient to be dispensed into; wherein the relative timing refers to the timing relative to the timing of the program of Step717corresponding to the food. Food or food ingredients contained in an ingredient container is to be dispensed into a basket or cookware in the destination cooking apparatus or a food container.

As shown inFIG.27, the following tasks are routinely performed by the computer system99during the operation of the cooking system901.

In Step721, the computer system99takes an order of a food item. The order may be placed by a human either at the computer system99, or at a computer which sends the order to the computer system99.

In Step722, for the ordered food item of Step721, the computer system99finds the information on the types and quantities of the ingredients needed for cooking the ordered food item. Such information was stored by the computer system99in Step718.

In Step723, the computer system99locates the ingredient containers that contain the food or food ingredients found in Step722. The ingredients may be dispensed from some larger containers into said ingredient containers. Alternatively, ingredients may already be in the ingredient containers, and their locations stored in the memory of the computer system99.

In Step724, the computer system99schedules the cooking of the ordered food item at cooking system901. The schedule includes the timing for running the program of Step717corresponding to the ordered food item. The schedule also includes the timing of dispensing of the ingredients from each ingredient container into a cookware or a basket of the cooking system901, in accordance with the stored information by the computer system99in Step718.

In Step725, the computer system99controls the transport system302so that each ingredient container of Step722may be moved and stopped per the schedule of Step724.

In Step726, the computer system99runs the program of Step717corresponding to the ordered food item, according to the schedule of Step724, to send or receive signals to or from the motion mechanisms, inductive stoves, temperature sensors and pumps of the cooking system901.

After all these steps, the cooking of the food item, including dispensing of the semi cooked foods and other ingredient to a food container, is complete.

The 3-dimensional positioning of these mechanisms and apparatuses in the cooking system901can be done in various ways. For example, the receiving system690and the ingredient dispensing apparatus301b, may be respectively positioned on the southern, and northern sides of the first cooking apparatus860, and the ingredient dispensing apparatus301may be positioned in the southeastern side of the first cooking apparatus860. The cleaning apparatus402, the second cooking apparatus103and the liquid dispensing apparatus403may be positioned on the southeastern of the first cooking apparatus860; seeFIG.28.

Referring toFIGS.29A-29B, a noodle making apparatus870comprises: a turntable875comprising a vertical rotational axis; a plurality of cylinder-shaped cups876a,876band876c; and a part869in the shape of a solid cylinder. The cup876ahas a plurality of oval holes at bottom; the cup876bhas a plurality of round holes at bottom; and the cup876chas a plurality of star-shaped holes at bottom (seeFIG.29B). The cups876a,876band876care cyclically and symmetrically positioned around the axis of the turntable875and are fixedly connected to the turntable875.

The noodle making apparatus870further comprises a vertical motion mechanism874and a rotational motion mechanism887. Said rotational motion mechanism887comprises a stationary member887aand a moving member887bwhich is constrained to rotate relative to the stationary member887a. The moving member887bis rigidly or fixedly connected to the turntable875, and the stationary member603ais fixedly connected to a support component865. The rotational motion mechanism887further comprises a motor887mreferred to as a driving member, which can drive a rotation of the moving member887b, and hence of the turntable875, relative to the stationary member887a(or equivalently, relative to the support component865). Said vertical motion mechanism874comprises a stationary member874aand a moving member874bwhich is configured to be moved vertically and linearly relative to the stationary member874a. The moving member874bis rigidly or fixedly connected to the part869, and the stationary member874ais fixedly connected to the support component865. The vertical motion mechanism874further comprises a motor874mreferred to as a driving member, which can drive a vertical linear motion of the moving member874band hence of the part869, relative to the stationary member874a(or equivalently, relative to the support component865). The motion mechanisms887and874may be connected to the computer system99ofFIG.1in the sense that the motors887mand874mare connected to the computer system99via wires or by wireless means, and the computer system99may be configured to control the motions produced by the motion mechanisms887and874of the noodle making apparatus870.

The noodle making apparatus870further comprises a plurality of wheels877. Each wheel877is mounted on a corresponding support component878which is fixedly connected to the support component865via a corresponding connector (hidden in figure). The wheels877are used to provide support to the turntable875.

In the noodle making apparatus870, the vertical motion mechanism874can produce a back-and-forth motion of the part869between two end-positions along a vertical direction: a first end-position at the lower height; and a second end-position at the higher height. When the part869is moved from the second end-position to the first end-position, the part869is pressed into a cup876a,876bor876c, and a dough in the cup876a,876bor876cis squeezed by the part869, then the noodles are extruded from the holes at bottom of said cup. At the second end-position of the part869in the back-and-forth motion, the part869is far away from the turntable875, and doughs in an ingredient container may be dispensed into said cup.

It should be noted that the vertical motion mechanism874may be substituted by a linear actuator or other motion mechanism that can produce a linear motion.

It should be noted that the turntable875may be substituted by any rotatable component.

It should be noted that the rotational motion mechanism887may produce an intermittent rotation of the turntable875and the accessories attached to it. The rotation angle in any intermittent rotation may be the same, although this is not a strict requirement. At each stop of the intermittent rotation, following processes are completed: (1) some ingredient dispensing apparatuses may dispense doughs into a cup876a,876bor876c; (2) the vertical motion mechanism874moves the part869to the first end-position to squeeze doughs in the cup directly under the part869, so that the noodles are extruded from the holes of the cup; and (3) the vertical motion mechanism874moves the parts869to the second end-positions.

It should be noted that the noodle making apparatus870may be combined with a dough making apparatus comprising one or more of the following: a flour dispensing apparatus, a liquid dispensing apparatus, other ingredient dispensing apparatus; a mixer configured to mix flour with liquid and other ingredients as to make a dough; and a dispensing mechanism configured to dispense the dough from the mixer to a cup876a,876b, or876cin the noodle making apparatus470. There are many known ways to build such a dough making apparatus.

The noodle making apparatus870may be substituted by another known noodle making apparatus. The noodle making apparatus870may be substituted by a pasta making apparatus, dumpling making apparatus, or other known apparatus configured to process food or food ingredients or food items.

In some embodiments, referring toFIGS.30-32D, a cooking system902comprises (from left to right): a cooking apparatus860(as inFIGS.14D-14E); a noodle making apparatus870(as inFIGS.29A-29B); a computer system99(as inFIG.1); a receiving system690a(as inFIG.22E); an ingredient dispensing apparatus301c; a transport system302(as inFIG.9A); an ingredient dispensing apparatus301(as inFIG.8); a cooking apparatus103(as inFIG.4); a cleaning apparatus402; a liquid dispensing apparatus403(as inFIG.4B); a storage apparatus501(as inFIG.11); and a loading apparatus502(as inFIG.12). The liquid dispensing apparatus403can dispense liquid ingredients into the cookware11(as shown inFIG.5A). The ingredient dispensing apparatus301is positioned next to the cooking apparatus103, to dispense food or food ingredients into the cookware11of the cooking apparatus103(as shown inFIG.11). The ingredient dispensing apparatus301cis a copy of the ingredient dispensing apparatus301but is positioned next to the noodle making apparatus870, to dispense doughs into a cup of the noodle making apparatus470(as shown inFIG.31B). The part numbers in the mechanism301care the same as the components in the mechanism301. The noodle making apparatus870is positioned next to the cooking apparatus860, so that the noodles produced by the noodle making apparatus870may be dispensed into a basket801of the cooking apparatus860(as shown inFIG.31B). The ingredient dispensing apparatus301in the cooking system902may be referred to as a first ingredient dispensing apparatus, and the ingredient dispensing apparatus301cin the cooking system902may be referred to as a second ingredient dispensing apparatus. The liquid dispensing apparatus403may dispense liquid ingredients into the cookware11(as shown inFIG.6C).

Said loading apparatus502is positioned next to the transport system302and may load an ingredient container81containing food or food ingredients from the storage apparatus501to a vehicle790in the transport system302. The vehicle790in the transport systems302may move to a location next to the cooking apparatus103so that the food or food ingredients in the ingredient container on the vehicle790are dispensed into the cookware of the cooking apparatus103by the ingredient dispensing apparatus301. The vehicle790of the transport systems302may move to a location next to the noodle making apparatus870so that doughs in the ingredient container on the vehicle790are dispensed into a cup of the noodle making apparatus870by the ingredient dispensing apparatus301c. The timing of arrival of the vehicle790at said location is controlled by the computer system99.

As shown inFIGS.31A-31B, the gripping devices of the ingredient dispensing apparatus301cin the cooking system902may grip an ingredient container81containing doughs and then the gripping devices and the ingredient container are rotated to dispense doughs from the ingredient container81into a cup of the noodle making apparatus870. The noodles produced by the noodle making apparatus870may be dispensed into a basket801of the cooking apparatus860held by a lower basket holder811a. Meanwhile the basket801is at a certain position relative to the support component349of the ingredient dispensing apparatus301c, and the noodles in the basket801may be fried, boiled, or otherwise cooked in the heated liquid in the liquid container814of the cooking apparatus860, to produce a first cooked food. Then, the basket801is rotated to a certain position relative to the support component829of the transfer apparatus820, and the transfer apparatus820may grip the basket801and move it to a certain position relative to the spraying and soaking apparatus850, so that the first cooked food in the basket801may be immersed in a liquid in the liquid container858of the spraying and soaking apparatus850, and the sprayer851aof the spraying and soaking apparatus850can spray liquid on the first cooked food in the basket801. Next, the transfer apparatus820may move the basket801and release it, to let the basket801be held by an upper basket holder811b. The basket801may be left at this position for a period of time, to let the excessive liquid on the first cooked food drip down into the liquid container814.

The gripping devices of the ingredient dispensing apparatus301may grip an ingredient container81containing food or food ingredients and then the gripping devices and the ingredient container are rotated to dispense the food or food ingredients from the ingredient container81into the cookware11of the cooking apparatus103(seeFIG.10). Meanwhile the cookware11is at a certain position relative to the support component349of the ingredient dispensing apparatus301; and the motion mechanism104of the cooking apparatus103may move the cookware11of the cooking apparatus103to stir or mix the food or food ingredients in the cookware11, to produce a second cooked food.

It should be noted that the gripping devices of the ingredient dispensing apparatus301cmay also be moved to grip an ingredient container81containing doughs and then the gripping devices and the ingredient container are rotated to dispense doughs from the ingredient container81to a cup of the noodle making apparatus870. The noodles produced by the noodle making apparatus870may be dispensed into a basket801which is held by an upper basket holder811b. Then, the basket801is rotated to a certain position relative to the support component829of the transfer apparatus820, and the transfer apparatus820may grip and move the basket801to a position so that the basket801can be held by a lower basket holder811a. At this position, the noodles in the basket801are fried, boiled, or otherwise cooked in the heated liquid contained in the liquid container814of the cooking apparatus860.

It should be noted that one may optionally configure the noodle making apparatus870to dispense the noodles into a basket801which is held by a lower basket holder811aor an upper basket holder811b.

Then, as shown inFIGS.32A-32D, when the basket801held by an upper basket holder811bis rotated a certain position relative to the support component842of the food dispensing apparatus830, and when a food container182in the transport apparatus890of the receiving system690ais transferred to a position next to the food dispensing apparatus830where the food container182is positioned right above the sink106of a wastewater disposal apparatus730, the food dispensing apparatus830may grip and move the basket801and turn it over, so that the first cooked food contained in the basket801may be dispensed into the food container182(seeFIG.32B). Then, the transport apparatus890of the receiving system690arotates the food container182to a position next to the cooking apparatus103where the food container182is positioned right above the sink106of another wastewater disposal apparatus730, and then the motion mechanism104of the cooking apparatus103can rotate the cookware11to dispense a cooked food from the cookware11to the food container182(seeFIG.32D). The transport apparatus890of the receiving system690arotates the food container182to a position next to the ingredient dispensing apparatus680, the ingredient dispensing apparatus680may grip an ingredient container81containing food or food ingredients and then rotate the ingredient container to dispense the food or food ingredients from the ingredient container81into the food container182. Then the transport apparatus890of the receiving system690arotates the food container182to a position next to the liquid dispensing apparatus702, the liquid dispensing apparatus702may dispense liquid food ingredients from the liquid container714to the food container182. All these foods or food or food ingredients dispensed into the food container182may together form a food product that can be served to customers. Then the transfer apparatus670can transfer said food container182from the transport apparatus890to a transport apparatus or a vehicle, and said transport apparatus or vehicle may move said food container182to an area accessible by humans.

The cooking apparatus860in the cooking system902is referred to as a first cooking apparatus and the basket801may be referred to as a first cookware. The first cooking apparatus860comprises: a cooking apparatus810; a transfer apparatus820; a food dispensing apparatus830; and a spraying and soaking apparatus850. The food dispensing apparatus830may move and turn the basket801to dispense a first cooked food from the basket801of the cooking apparatus860into a food container182.

The cooking apparatus103in the cooking system902may be referred to as a second cooking apparatus. Said second cooking apparatus103comprises a motion mechanism comprising: a stirring motion mechanism, referred to as a first motion mechanism; and an unloading motion mechanism, referred to as a second motion mechanism. The stirring motion mechanism can move the cookware11of the second cooking apparatus103to stir or mix the food or food ingredients in the cookware11of the second cooking apparatus103during a cooking process. The unloading motion mechanism may rotate and turn the cookware11to dispense a second cooked food from the cookware11into a food container182in the transport apparatus890of the receiving system690a.

The computer system99is connected to the mechanisms and apparatuses103,402,403,301,301c,860,870,501, and502. The computer system99is also connected to the transport system302to control the movements of the vehicles790of the transport system302, and the computer system99is also connected to the receiving system690ato control the movements of the food container182in the transport apparatus890of the receiving system690a.

It should be noted that in the cooking system902, the food container182can be moved by the transport apparatus890of the receiving system690ato a position next to the first cooking apparatus to receive a cooked food by the first cooking apparatus and then to a position next to the second cooking apparatus as to receive a cooked food by the second cooking apparatus. There is not a strict requirement on the sequence of receiving the cooked food.

In the cooking system902, the cooking apparatus860is positioned near the following mechanisms and apparatuses: the receiving system690a; the cooking apparatus103; and the noodle making apparatus870which is also next to the ingredient dispensing apparatus301c. The cooking apparatus103is positioned near the following mechanisms and apparatuses: the cleaning apparatus402; the liquid dispensing apparatus403, the ingredient dispensing apparatus301which is also next to the transport system302; and the cooking apparatus860.

The computer system99comprises a memory. The computer system configured to store various data in the computer system's memory.

As shown inFIG.33, the following tasks are performed by the computer system99prior to the operation of the cooking system902.

In Step731, the computer system99stores (in the computer system's memory) a program, configured to send or receive signals to and from the motion mechanisms, inductive stoves, temperature sensors and pumps of the cooking system902.

In Step732, a database is installed in the computer system99.

In Step733, each of the cooking apparatuses, liquid dispensing apparatuses, ingredient dispensing apparatuses, transport system, and cleaning apparatus are assigned a unique ID. The computer system99stores the IDs of these apparatuses and mechanisms.

In Step734, the computer system99stores the information of the structure of each vehicle of the transport system302, including the ingredient container types that can be placed on the holders of the vehicle.

In Step735, the computer system99stores programs for controlling the transport system302and the receiving system690a. The programs are configured to control a vehicle of the transport system302so that the vehicle may move and stop at a pre-scheduled time at a position near the cooking apparatus103(or respectively860) of the cooking system902, where an ingredient container on a given holder of the vehicle is at a dispensing position relative to the cooking apparatus103(or respectively860). The programs are also configured to control the transport apparatus890of the receiving system690aso that a food container may move and stop at a pre-scheduled time at a position where a food container on a holder of the transport apparatus890is at a receiving position relative to the cooking apparatus860or103, the ingredient dispensing apparatus680and the liquid dispensing apparatus702.

In Step736, the computer system99stores a list of foods which may be cooked by the cooking system902.

In Step737, for each food item in the list of Step736, the computer system99stores a cooking program configured to control the motion mechanisms, inductive stoves, pumps, and devices in the cooking system902.

In Step738, for each food item in the list of Step736, the computer system99stores types and quantities of food or food ingredients, relative timing of their dispensing and the respective ID of the destination cooking apparatus for each ingredient to be dispensed into; wherein the relative timing refers to the timing relative to the timing of the program of Step737corresponding to the food. Food or food ingredients contained in an ingredient container are to be dispensed into a basket or cookware in the destination cooking apparatus or a food container of the receiving system690a.

Referring toFIG.34, the following tasks are routinely performed by the computer system99during the operation of the cooking system902.

In Step741, the computer system99takes an order of a food item. The order may be placed by a human either at the computer system99, or at a computer which sends the order to the computer system99.

In Step742, for the ordered food item of Step741, the computer system99finds the information on the types and quantities of the ingredients needed for cooking the ordered food item. Such information was stored by the computer system99in Step738.

In Step743, the computer system99locates the ingredient containers that contain the food or food ingredients found in Step742. The ingredients may be dispensed from some larger containers into said ingredient containers. Alternatively, ingredients may already be in the ingredient containers, and their locations stored in the memory of the computer system99.

In Step744, the computer system99schedules the cooking of the ordered food item at cooking system902. The schedule includes the timing for running the program of Step737corresponding to the ordered food item. The schedule also includes the timing of dispensing of the ingredients from each ingredient container into a cookware or a basket of the cooking system902, in accordance with the stored information by the computer system99in Step738.

In Step745, the computer system99controls the transport system302so that each ingredient container of Step742may be moved and stopped per the schedule of Step744.

In Step746, the computer system99runs the program of Step737corresponding to the ordered food item, according to the schedule of Step744, to send or receive signals to or from the motion mechanisms, inductive stoves, temperature sensors and pumps of the cooking system902.

After all these steps, the cooking of the food item, including dispensing of the semi cooked foods and other ingredient to a food container, is complete.

The 3-dimensional positioning of these mechanisms and apparatuses in the cooking system902can be done in various ways. For example, the receiving system690aand the noodle making apparatus870may be respectively positioned on the southern, and northern sides of the first cooking apparatus860, and the ingredient dispensing apparatus301may be positioned in the southeastern side of the first cooking apparatus860. The cleaning apparatus402, the second cooking apparatus103and the liquid dispensing apparatus403may be positioned on the southeastern of the first cooking apparatus860; seeFIG.35.

It should be noted that the cooking apparatus810of the cooking apparatus860may be configured to comprise only lower basket holders811abut not upper basket holders811b.

The transport system302may be substituted by another transport system to move ingredient containers; e.g., a transport system comprising a robot arm.

The ingredient dispensing apparatuses301and301b(or301and301c) may be combined into one. The ingredient dispensing apparatuses may be substituted by mechanisms each comprising a robot arm.

It should be noted that the ingredient dispensing apparatuses301,301b, and301c, and the food dispensing apparatus830, may be substituted by another type of dispensing apparatus, such as the robotic apparatus222(ofFIG.7), which is a combination of robot arm and robot fingers. Similarly, the motion mechanism104of the cooking apparatus103may be substituted by the robot arm218(ofFIG.2I), wherein the moving member217bis fixedly connected to the cookware11. The transfer apparatus820or670may be substituted by the robotic apparatus222.

It should be noted that the transport system302in the above cooking systems may comprise a single connected system or a plurality of disconnected sub-systems. The transport system may comprise different types of vehicles. The ingredient containers may be configured differently for different types or quantities of ingredients.

The transport system302may be substituted by a transport system comprising a cyclic motion mechanism, a turntable or rotatable rigid component, a chain fixed to chain wheels, or a conveyor mechanism, etc.

In the cooking system901(or902), the ingredient dispensing apparatuses301and301b(or301and301c) may be configured differently. Two or more ingredient dispensing apparatuses may be substituted by a single ingredient dispensing apparatus which may dispense food or food ingredients into any of the cookware, baskets or food containers; wherein said ingredient dispensing apparatus may comprise a robot arm configured to move an ingredient container.

The container holders of the vehicles of the transport system302may be configured to have different sizes. The ingredient containers81on different holders may be configured to have different sizes. The transport system302may comprise two or more sub-systems which are not connected to each other, and the vehicles may be configured differently on different sub-systems.

It should be noted that the drawings in the present patent application are schematic and may not be to scale. The distances between various mechanisms and apparatuses may not be drawn to scale. The 3-dimensional positioning of various mechanisms and apparatuses in a cooking system may be done in various other ways.

For the purpose of the present patent application, the terms “cookware” and “cooking container” have the same meaning.

The baskets in our cooking system may be substituted by other types of cooking containers that are “porous” in the sense that oil can leak out from the cooking container.

A motor may be an AC or DC motor, stepper motor, servo motor, inverter motor, pneumatic or hydraulic motor, etc. A motor may optionally further comprise a speed reducer, encoder, and/or proximity sensor.

A rigid component described in the present patent application can be any type of solid component which has some degree of rigidity in an application, and there is no strict or quantitative requirement for the degree of rigidity. It should be noted that there is no perfect rigid component in our world, as there are always elastic, thermal, and other deformations in any physical subject. A rigid component may comprise one or more of the following: a bar, a tube, a beam, a plate, a board, a frame, a structure, a bearing housing, a shaft. A rigid component can be made of metal such as steel or aluminum, or a mixture of metals, an alloy, a reasonably rigid plastic, wood, or other materials, or a combination of different types of materials.

Similarly, a rigid connection of two or more components can be a connection which has some degree of rigidity in an application, and there is no strict quantitative requirement for the degree of rigidity. A rigid connection may be a welding of two or more metal components. A rigid connection may be a bolting of two or more components; and so on. Clearly, a typical connection of a shaft and a bearing housing by a bearing (and accessories), for example, is not a rigid connection, since the shaft can rotate relative to the bearing housing.

Most common bearings are ball bearings and roller bearings. However, a bearing in the present patent application can be of any type.

A support component described in the present patent application can be any type of rigid component. A support component may be moved or fixed relative to the ground.

Only a few examples and implementations are described. Other implementations, variations, modifications and enhancements to the described examples and implementations may be made without deviating from the spirit of the present invention. For example, the term cookware is used to generally refer to a device for containing or holding food or food ingredients during cooking. For the purpose of present patent application, a cookware can be a wok, a pot, a pan, a basket, a bowl, a dish, a container, a board, a rack, a net, a mesh, or any object used to contain or otherwise hold food or food ingredients during a cooking process. The cooking also is not limited to any particular ethnic styles. The cooking may include but is not limited to: frying (including stir frying), steaming, boiling, roasting, baking, smoking, microwaving etc. The cooking apparatus may or may not use a heater.

Similarly, a food container, ingredient container, or container, can be a bowl, a plate, a cup, ajar, a bottle, a flat board, a basket, a net, a wok, a pan, or any object used to contain or otherwise hold a food or food ingredients. A container can have a rather arbitrary geometric shape. It is possible that different ingredient containers may have different shapes. It is possible that different food containers may have different shapes. It is possible that different cooking containers may have different shapes. It is possible that different cookware may have different shapes.

A gripper is a device used to touch and grip an object such as a container. A gripper can be a rigid or elastic object as inFIGS.6A-6E. In this patent application, a gripper may be pneumatic gripper, which is an actuating device that uses compressed air as power to pinch or grip an object. A gripper may be a vacuum chuck.

A gripping mechanism can be any mechanism that can be used to grip an object. A gripping mechanism may optionally comprise a gripper such as a vacuum chuck. A gripping mechanism may optionally comprise a plurality of rigid or elastic grippers which are moved to grip an object. A gripping mechanism may optionally comprise a robot hand. In fact, a robot hand may be used as a gripping mechanism for our purposes.

A motion mechanism can be any mechanism that can be used to produce a movement of an object, which may be a component of the motion mechanism or an object that is rigidly or fixedly connected to a component of the motion mechanism. A motion mechanism may produce a linear motion of a component. A motion mechanism may produce a rotation of a component. A motion mechanism may comprise a robot arm. A motion mechanism may be a combination motion mechanism comprising a plurality of motion sub-mechanisms. A motion mechanism may comprise: a crank rod mechanism; eccentric motion mechanism; etc. A motion mechanism may comprise one or more the following parts: motor; encoder; shaft; coupling; bearing housing; bearings and accessories; gear and rack; screw rod and screw nut; cylinder; hydraulic cylinder; electromagnet; cam; eccentric shaft; Geneva mechanism, etc. Motion mechanisms can be more complex and the motions produced by a motion mechanism can be a planar motion, a spherical motion, an oscillatory or vibratory motion; see e.g., U.S. patent application Ser. Nos. 16/997,196, 15/706,136 (in this application a motion mechanism may be referred to as a transport mechanism), Ser. Nos. 15/801,923, and 15/798,357. The entire contents of the above applications are hereby incorporated herein by reference.

It should be noted that the linear motion produced by the linear motion mechanism may be a linear motion between two end-positions or a linear motion with multiple stop positions. Any robot arm may be used as a motion mechanism for our purposes.

A transfer apparatus can be any apparatus that can be used to transfer an object (such as a container) from one position to another. A transfer apparatus may comprise: a gripping mechanism comprising a support component and one or more grippers; and a combination motion mechanism which is a combination of a plurality of motion sub-mechanisms, said combination motion mechanism being configured to move the support component of the gripping mechanism. A transfer apparatus may comprise a robot arm and a gripping mechanism. A robotic apparatus comprising a combination of a robot arm and a robot hand may be used as a transfer apparatus for our purposes.

An ingredient dispensing apparatus can be any apparatus that can be used to dispense food or food ingredients from an ingredient container into a cookware. A typical dispensing apparatus of food or food ingredients may comprise: a gripping mechanism configured to grip an ingredient container, and a motion mechanism configured to move a (support) component of gripping mechanism. There are more examples in U.S. Pat. No. 10,455,987 and U.S. patent application Ser. No. 15/798,357. In particular, a robotic apparatus comprising a robot hand and robot arm may be used as an ingredient dispensing apparatus. This is often used in prior art.

A food dispensing apparatus can be any apparatus that can be used to dispense a cooked (or semi-cooked) food from a cookware into another container. A food dispensing apparatus may comprise a motion mechanism which moves the cookware. A food dispensing apparatus may alternatively comprise a robotic apparatus comprising a robot arm and a robot hand that moves the cookware, and this is often the case when the cookware is not fixedly attached to another (relatively heavy) mechanism.

There is a difference between transfer apparatus and ingredient (or food) dispensing apparatus, as follows. A dispensing apparatus needs to turn (or rotate) a gripped container upside down or by some angle of say, 90 to 180 degrees, to dispense the food or food ingredients contained in the container into another container. In comparison, a transfer apparatus does not need to turn (or rotate) a gripped container, since the food or food ingredients are not to be dispensed from the container. Indeed, it is advantageous (though not always a strict requirement) for the transfer apparatus to keep the gripped container in an upright or nearly upright position, to not let the food or food ingredients drop out. Even if the container is sealed by a lid, there is no need for the food or food ingredients to touch the lid.

Each vertical motion mechanism as described above may be substituted by a motion mechanism which can produce a linear or non-linear motion in an upward or downward direction, where an upward direction needs not to be exactly vertical. It can have an inclination angle between 0 and 90 degrees. The same applies to each horizontal motion mechanism described above.

A liquid dispensing apparatus can be any apparatus that can be used to dispense a liquid ingredient from a container into a cookware. A liquid dispensing apparatus may comprise liquid pipes, a liquid pump, a valve, and/or flow sensors, etc. There are more examples in U.S. Pat. No. 10,455,987.

A cooking apparatus can be any apparatus comprising a cookware. A cooking apparatus may optionally further comprise a motion mechanism configured to move the cookware. The motion mechanism may optionally comprise a motion sub-mechanism configured to move the cookware to stir food or food ingredients in the cookware. The motion mechanism may optionally comprise a motion sub-mechanism configured to move the cookware to dispense a cooked (or semi-cooked) food from the cookware. A cooking apparatus may optionally comprise a transfer apparatus configured to move the cookware. Said transfer apparatus may optionally grip and turn the cookware to dispense a cooked (or semi-cooked) food from the cookware. Examples of cooking apparatuses are given in U.S. Pat. No. 10,455,987 and U.S. patent application Ser. Nos. 16/997,196, 15/706,136, 16/155,895, 15/801,923, and 15/869,805, the entire disclosures of which are hereby incorporated herein by reference.

A cleaning apparatus can be any apparatus that can be used to clean an object, e.g., a funnel, or a container such as cookware, food container, or ingredient container. A cleaning apparatus comprises a liquid source (e.g., tap water, or a water tank) and a liquid pipe to transfer the liquid from the source to the object; wherein the liquid flow may be controlled by a valve, a liquid pump, and/or by other known techniques; wherein the liquid may be referred to as a cleaning liquid, such as hot water, for the purpose of cleaning the object. In some applications, the liquid may be sprayed on the object at high speed but this is not a requirement. A cleaning apparatus may optionally further comprise a stirrer which is rotated to stir the cleaning liquid in the object, e.g., a container, which is cleaned by the cleaning apparatus. A cleaning apparatus may optionally comprise a motion mechanism configured to move the water pipes and stirrers away from or towards the object, which is cleaned or to be cleaned by the cleaning apparatus.

A transport system can be any system that can be used to transfer a container (such as an ingredient container, a food container, a cookware, or a cooking container). In some applications (but not always), a transport system can move a container after said container is placed on a member of the transport system. For example, a transport system may include a plurality of vehicles each configured to carry and transport a container; wherein the vehicles may optionally move on rail tracks. A transport system may optionally comprise a rotating turntable, or a cyclic motion mechanism, a chain, and/or a belt. Examples of transport system are given in U.S. Pat. No. 10,455,987 and U.S. patent application Ser. Nos. 15/798,357, 16/997,933, and 16/155,895, the entire disclosures of which are hereby incorporated herein by reference. A transport system may only comprise a transfer apparatus.

A container holder is a solid which has an adequate shape so as to position or hold a container of a certain shape.

A container transfer apparatus can be any transfer apparatus used to move a container to a (different) member of a transport system. The container transfer apparatus can optionally be a part of said transport system.

A heater for the purpose of cooking in the known technique may substitute any stove and heater disclosed in the present application.