Patent Publication Number: US-2023133039-A1

Title: Automated Food Preparation System

Description:
BACKGROUND 
     Preparing individually ordered and customized dishes often requires resting, lifting, and maneuvering food items and ingredients with respect to appliances and supporting surfaces for processing the food items or making kitchen resources available for other tasks in a recipe. As such, there is a need in automated kitchens employing robot arms to carry out recipes to provide detachable utensils adapted for robot arms configured to reliably engage robot arms and food items in appliances or on supporting surfaces. 
     BRIEF DESCRIPTION 
     According to one aspect, an end effector includes a handle having a proximal end portion and a distal end portion extended from the proximal end portion in a longitudinal direction of the handle, the handle being formed from a wall closed around the longitudinal direction of the handle with an interior side that defines an aperture configured for receiving a robot arm, and extended from the proximal end portion to the distal end portion, and a plate fixed with the distal end portion of the handle, and extended away from the proximal end portion of the handle. 
     According to another aspect, an automated food preparation system has an end effector including a handle having a proximal end portion and a distal end portion extended from the proximal end portion in a longitudinal direction of the handle, and a plate fixed with the distal end portion of the handle, and including at least one blade extended away from the proximal end portion of the handle, in the longitudinal direction of the handle. The automated food preparation system also has a base including a supporting surface and ejector pins arranged in the supporting surface, configured for being actuated to a retracted position where the ejector pins are flush with the supporting surface, and configured for being actuated to an extended position where the ejector pins are projected from the supporting surface, the ejector pins being offset from each other to define at least one gap therebetween along the supporting surface when actuated to the extended position, where the at least one gap is wider than the at least one blade such that the at least one blade is configured for being inserted in the at least one gap, the blade having a bottom surface configured for engaging or facing the supporting surface from a position interposed between and separating the ejector pins across the at least one gap along the supporting surface, and a top surface configured for engaging associated food items from a position between protruding ends of the ejector pins and the supporting surface in a direction in which the ejector pins are actuated. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a perspective view of an end effector. 
         FIG.  2    is an exploded perspective view of the end effector. 
         FIG.  3    is a top view of the end effector. 
         FIG.  4    is a side view of the end effector. 
         FIG.  5    is a front view of the end effector. 
         FIG.  6    is a perspective view of a plate and a stem of the end effector, assembled together. 
         FIG.  7    is a top view of the plate and the stem assembled together. 
         FIG.  8    is a side view of the plate and the stem assembled together. 
         FIG.  9    is a perspective view of a handle of the end effector. 
         FIG.  10    is a side view of the handle. 
         FIG.  11    is a back view of the handle. 
         FIG.  12    is an enlarged partial view of the handle. 
         FIG.  13    is a front view of the handle. 
         FIG.  14    is a cross-sectional side view of the handle. 
         FIG.  15    is a perspective view of a connector included in the handle. 
         FIG.  16    is a front view of the connector. 
         FIG.  17    is a side view of the connector. 
         FIG.  18    is a back view of the connector. 
         FIG.  19    is a perspective view of the plate, the stem, and the connector assembled together. 
         FIG.  20    is a top view of the plate, the stem, and the connector assembled together. 
         FIG.  21    is a side view of the plate, the stem, and the connector assembled together. 
         FIG.  22    is a front view of the plate, the stem, and the connector assembled together. 
         FIG.  23    is a perspective view of an alternative embodiment of the end effector. 
         FIG.  24    is an exploded view of the embodiment of the end effector of  FIG.  23   . 
         FIG.  25    is a side view of the embodiment of the end effector of  FIG.  23   . 
         FIG.  26    is a top view of the embodiment of the end effector of  FIG.  23   . 
         FIG.  27    is a front view of the embodiment of the end effector of  FIG.  23   . 
         FIG.  28    is a perspective view of an alternative embodiment of the end effector. 
         FIG.  29    is a top view of the embodiment of the end effector of  FIG.  28   . 
         FIG.  30    is a front view of the embodiment of the end effector of  FIG.  28   . 
         FIG.  31    is a side view of the embodiment of the end effector of  FIG.  28   . 
         FIG.  32    is a perspective view of a panel included in the embodiment of the end effector of  FIG.  28   . 
         FIG.  33    is a top view of the panel of the end effector of  FIG.  28   . 
         FIG.  34    is a side view of the panel of the end effector of  FIG.  28   . 
         FIG.  35    is a perspective view of a backing included in the embodiment of the end effector of  FIG.  28   . 
         FIG.  36    is a top view of the backing of the end effector of  FIG.  28   . 
         FIG.  37    is a front view of the backing of the end effector of  FIG.  28   . 
         FIG.  38    is a front view of the backing of the end effector of  FIG.  28    in an intermediate stage of manufacture. 
         FIG.  39    is a perspective view of a base. 
         FIG.  40    is a perspective view of an alternative embodiment of the end effector. 
         FIG.  41    is a perspective view of an alternative embodiment of the end effector. 
     
    
    
     DETAILED DESCRIPTION 
     It should, of course, be understood that the description and drawings herein are merely illustrative and that various modifications and changes can be made in the structures disclosed without departing from the present disclosure. Referring now to the drawings, wherein like numerals refer to like parts throughout the several views,  FIGS.  1 - 5    respectively depict an end effector  100  for a robot arm (not shown) including a handle  102  connected to a plate  104  through a stem  110 . As depicted, the handle  102  includes a handle proximal end portion  112  and a handle distal end portion  114  extended from the handle proximal end portion  112  in a longitudinal direction of the handle  102 . The stem  110  includes a stem proximal end portion  120  fixed to the handle  102 , and a stem distal end portion  122  extended from the stem proximal end portion  120  in a longitudinal direction of the stem  110  that is parallel with the longitudinal direction of the handle  102 . The plate  104  includes a plate proximal end portion  124  fixed to the stem  110 , and a plate distal end portion  130  extended from the plate proximal end portion  124  in a longitudinal direction of the plate  104  directed along the longitudinal direction of the handle  102  and the longitudinal direction of the stem  110 , away from the handle proximal end portion  112 . As shown in  FIG.  4   , the longitudinal direction of the plate  104  is angled offset from the longitudinal direction of the handle  102  and the longitudinal direction of the stem  110 . 
       FIGS.  6 - 8    depict the plate  104  assembled with the stem  110 . As shown, the stem proximal end portion  120  and the stem distal end portion  122  are integrally formed with each other across a continuous body shaped, for example, as a cylinder extended in the longitudinal direction of the stem  110 . The stem proximal end portion  120  includes a stem proximal end  132  that is the farthest extended portion of the stem  110  backward in the longitudinal direction of the stem  110 , and can have a circular profile taken from the longitudinal direction of the stem  110 . The stem distal end portion  122  includes a stem distal end  134  that is the farthest extended portion of the stem  110  forward in the longitudinal direction of the stem  110  and tapers from, for example, a cylindrical profile taken from the longitudinal direction of the stem  110  into a flat brace  140  fixed to the plate  104  via, for example, fasteners  142 . 
     The plate proximal end portion  124  has a raised surface  144  fixed with the stem distal end portion  122  via the fasteners  142 , and the plate distal end portion  130  includes a blade  150  fixed with the handle distal end portion  114  through the stem  110  and extended away from the handle proximal end portion  112 , where the blade  150  forms a peel configured to separate food items (not shown) from a supporting surface (not shown). As shown in  FIG.  7   , the blade  150  has a bottom surface  152  configured for engaging the supporting surface, a top surface  154  for engaging food items resting on the supporting surface, and a leading edge  160  configured for separating food items from the supporting surface, where the leading edge  160  is located around the plate proximal end portion  124 , and at the plate distal end portion  130 , at an end of the blade  150  opposite the handle  102 , at the farthest extended portion of the blade  150  from the handle  102 . The leading edge  160  is interposed between and separates the bottom surface  152  and the top surface  154  of the blade  150  for separating food items from the supporting surface along the bottom surface  152  and the top surface  154 . As shown in  FIG.  8   , the blade  150  can have a rectangular shape taken from a top view of the plate  104 , the leading edge  160  is rounded at corners between a front periphery  162  and lateral side peripheries  164  of the plate  104  located with respect to the longitudinal direction of the plate  104 , and the leading edge  160  is substantially straight and oriented orthogonal to the longitudinal direction of the plate  104 . 
       FIGS.  9 - 14    depict the handle  102 . As shown in  FIG.  9   , the handle  102  is formed from a wall  170  having an interior side  172  that defines an aperture  174  configured for receiving a robot arm (not shown). The wall  170  extends from the handle proximal end portion  112  to the handle distal end portion  114 , and in this manner the handle proximal end portion  112  is integrally formed with the handle distal end portion  114 , such that the handle  102  defines a one-piece, unitary part. 
     As shown in  FIG.  10   , the handle  102  includes a first flange  180  extended from an exterior side  182  of the wall  170  opposite the interior side  172  of the wall  170  and defining an exterior of the handle  102 , such that the first flange  180  extends in a direction away from the aperture  174  (i.e., a direction oriented orthogonal to the longitudinal direction of the handle  102 ). The handle  102  includes a second flange  184  extended from the exterior side  182  of the wall  170  in a direction away from the aperture  174  (i.e., a direction oriented orthogonal to the longitudinal direction of the handle  102 ), and located on the handle  102  offset from the first flange  180  along the longitudinal direction of the handle  102 . 
       FIG.  11    depicts a front view of the handle  102 . As shown in  FIG.  11   , the handle  102  defines a notch  190  in the first flange  180 , in a handle proximal end face  192  of the handle  102  at the handle proximal end portion  112  where the second flange  184  is located behind the notch  190  in the longitudinal direction of the handle  102 . The handle  102  defines the notch  190  in the handle proximal end portion  112  along the longitudinal direction of the handle  102 , the notch  190  being formed in an exterior surface of the handle  102  on the exterior side  182  of the wall  170 , and recessed inwardly toward the aperture  174 . 
     The interior side  172  of the wall  170  is chamfered with the handle proximal end face  192  around a perimeter of the aperture  174 . In this manner, the handle proximal end portion  112  is configured to receive a finger (not shown) of a robot arm in the aperture  174  with a reduced chance of the robot finger being caught on the proximal end face  192  at the aperture  174 . 
       FIG.  12    depicts a partial front view of the handle  102  including the notch  190  defined in the first flange  180 . As shown in  FIG.  12   , the notch  190  features chamfers  194  formed along the notch  190  and the first flange  180  in the longitudinal direction of the handle  102 . In this manner, the notch  190  is configured for receiving a finger (not shown) of a robot arm inserted therein from a direction orthogonal to the longitudinal direction of the handle  102  with reduced chance of the robot finger being caught on the first flange  180  at the notch  190 . It should be appreciated that the handle  102  is obstructed from moving in a direction orthogonal to the longitudinal direction of the handle  102  against the finger of the robot arm when the finger of the robot arm is pressed against the exterior surface of the handle  102  at the notch  190 . 
       FIG.  13    depicts a back view of the handle  102 . As shown in  FIG.  13   , the wall  170  defines the aperture  174  through the handle  102  from the handle proximal end portion  112  to the handle distal end portion  114  in the longitudinal direction of the handle  102 . In this manner, the wall  170  defines a first opening  200  in the handle proximal end portion  112  and a second opening  202  in a handle distal end portion  114 , where the first opening  200  and the second opening  202  each open the aperture  174  to the exterior side  182  of the wall  170 . Taken from the longitudinal direction of the handle  102 , the first opening  200  can be shaped as a rectangle and the second opening  202  can also be shaped as a rectangle having elongated straight sides interposed between rounded, convex sides at opposite ends. The convex sides of the second opening  202  extend further than the first opening  200  in opposite lateral directions of the handle  102  that are perpendicular to the longitudinal direction of the handle  102 . 
       FIG.  14    depicts a cross-sectional side view of the handle  102 . As shown in  FIG.  14   , the wall  170  defines the first opening  200  in the handle proximal end face  192  and the second opening  202  in a handle distal end face  204 , where the first opening  200  and the second opening  202  each open the aperture  174  to the exterior side  182  of the wall  170 . The wall  170  includes an inwardly extending ledge, such that in cross-section the ledge defines a first step  210  and a second step  212  having a same position along the longitudinal direction of the handle  102 , on the interior side  172  of the wall  170 , at opposite sides of the aperture  174 , and extending in opposite directions orthogonal to the longitudinal direction of the handle  102 . With this arrangement, a cross-sectional area of the aperture  174  taken in the longitudinal direction of the handle  102  from the handle proximal end portion  112  to the handle distal end portion  114  is larger after the first step  210  and the second step  212 . 
     A cross-sectional area of the aperture  174  taken in the longitudinal direction of the handle  102  is longer in a first transverse direction in which the first step  210  and the second step  212  extend, the first transverse direction being orthogonal to the longitudinal direction of the handle  102 , as compared to a second transverse direction orthogonal to each of the longitudinal direction of the handle  102  and the first transverse direction. In this manner, the aperture  174  is configured for receiving fingers (not shown) of a robot arm in the longitudinal direction of the handle  102 , accommodating the fingers of the robot arm actuating in the opposite directions in which the first step  210  and the second step  212  extend the interior side  172  of the wall  170 , and catching the fingers of the robot arm on the first step  210  and the second step  212  such that the handle  102  is obstructed from motion relative to the robot arm in the longitudinal direction of the handle  102 . 
       FIGS.  15 - 18    depict a connector  214  configured to close the second opening  202  in the handle  102  and connect the handle  102  to the stem  110 . As shown in  FIG.  16   , the connector  214  includes a plug  220  shaped for being inserted into and filling the aperture  174  at the handle distal end portion  114  to close the aperture  174  at the handle distal end portion  114 . Taken from a front view, the plug  220  can be shaped as a rectangle having elongated straight sides interposed between rounded, convex sides at opposite ends, and having a size fit to the second opening  202 . In this manner, the plug  220  is complementary to the second opening  202  for filling the second opening  202  when the plug  220  is inserted therein, and being fixed with the handle  102  such that the connector  214  is obstructed from rotating in any direction relative to the handle  102  or translating in any direction perpendicular to the longitudinal direction of the handle  102 . 
     As shown in  FIG.  17   , the plug  220  is extended from a stop  222  in a longitudinal direction of the connector  214  that is parallel with the longitudinal direction of the handle  102  when the plug  220  is inserted in the second opening  202 . The stop  222  is a plate that extends beyond an outer perimeter  224  of the plug  220  in any direction perpendicular to the longitudinal direction of the connector  214 . In this manner, the stop  222  is configured to engage the wall  170  at the handle distal end face  204  and obstruct the connector  214  from passing through the aperture  174  when the plug  220  is inserted in the second opening  202 . In an embodiment, the stop  222  is welded to the wall  170  once the plug  220  is inserted into the aperture  174  and the stop  222  is engaged with the handle distal end face  204 . 
     As shown in  FIG.  18   , the stop  222  includes a protrusion  230  extended from a side of the stop  222  opposite the plug  220  in the longitudinal direction of the connector  214 . The protrusion  230  has an outer perimeter  232  located inward of the stop  222  in a lateral direction of the connector  214  orthogonal to the longitudinal direction of the connector  214 . The protrusion  230  defines holes  234  extended into the stop  222  and configured for receiving fasteners. In an embodiment, the holes  234  are through holes extended through the stop  222  and the plug  220  for receiving fasteners and fixing the connector  214  to the handle  102 . While the depicted protrusion  230  defines two holes  234  therein, the protrusion  230  may define more or fewer holes having similar features and functioning in a similar manner as the holes  234  without departing from the scope of the present disclosure. 
       FIGS.  19 - 22    depict the plate  104 , the stem  110 , and the connector  214  assembled together, with the stem proximal end portion  120  fixed to the connector  214  at the protrusion  230 , and the stem distal end portion  122  fixed to the plate  104  at the plate proximal end portion  124 . As shown in  FIG.  19   , the connector  214  is fixedly attached (i.e., welded) with the stem  110  between the stem proximal end portion  120  and the protrusion  230 , and the plate  104  is fixed with the stem distal end portion  122  via the fasteners  142 . While the depicted fasteners  142  are rivets, the fasteners may additionally or alternatively include screws, bolts, nails, or other types of fasteners without departing from the scope of the present disclosure. While the depicted connector  214  is welded to the stem  110  and the depicted plate  104  is fixed to the stem  110  via the fasteners  142 , the connector  214  may additionally or alternatively be fixed to the stem  110  via fasteners that have similar features and function in a similar manner as the fasteners, and the plate  104  may additionally or alternatively be welded to the stem  110 . 
     As shown in  FIGS.  21  and  22   , the stem  110  and the connector  214  are angled toward the top surface  154  of the blade  150 , forming an angular offset between the longitudinal direction of the plate  104  and each of the longitudinal direction of the stem  110  and the longitudinal direction of the connector  214 . 
       FIGS.  23 - 27    depict an alternate embodiment of the end effector  100  of  FIGS.  1 - 22   . In the embodiment of  FIGS.  23 - 27   , like elements with the end effector  100  of  FIGS.  1 - 22    are denoted with the same reference numerals but followed by a primed suffix (′). 
       FIGS.  23 - 27    depict an embodiment of the end effector  100  including a plate  300  fixed with the stem distal end portion  122 ′ through the stem  110 ′. As shown in  FIGS.  23  and  24   , the plate  300  includes a backing  302  fixed with the stem  110 ′ and a plurality of blades  304  integrally formed with the backing  302  and extended away from the stem  110 ′ and the handle  102 ′, including the handle proximal end portion  112 ′ configured for receiving a robot arm (not shown). The plurality of blades  304  extend from the backing  302  in a longitudinal direction of the plate  300  that is parallel with the longitudinal direction of the handle  102 ′ and the longitudinal direction of the stem  110 ′, such that the plurality of blades  304  extend in parallel with each other and are offset from each other in a lateral direction of the plate  300  perpendicular to the longitudinal direction of the plate  300 . 
     In an embodiment, the backing  302  and the plurality of blades  304  are formed together from a single piece of pressed sheet metal. In an alternative embodiment, the plate  300  includes the backing  302  and the plurality of blades  304  welded together. While, as depicted, the backing  302  and the plurality of blades  304  are integrally formed with each other in the plate  300 , the backing  302  and the plurality of blades  304  may be alternatively fastened together from distinct elements without departing from the scope of the present disclosure. 
     As shown in  FIG.  25   , the plurality of blades  304  forms a peel  306  configured to separate food items from a supporting surface, where each blade  304  in the plurality of blades  304  respectively includes a bottom surface  310  configured for engaging the supporting surface, a top surface  312  for engaging food items resting on the supporting surface, and a leading edge  314  configured for separating food items from the supporting surface at a front periphery  320  of the peel  306 . The plurality of blades  304  extend parallel to each other, approximately straight from the backing  302  in the longitudinal direction of the handle  102 ′ such that the bottom surface  310  and the top surface  312  of each blade  314  are flat and arranged in parallel with each other. 
     The top surfaces  312  of the plurality of blades  304  are located below the stem  110 ′ when the end effector  100  is oriented in an upright position where the top surfaces  314  have a horizontal orientation and face vertically upward. In this manner, the plate  300  is configured to retain food items with a center of mass located below the stem  110 , stabilizing the handle  102 , the stem  110 , and the plate  300  from rotating around the stem  110  in a circumferential direction of the stem due to weight of the food items, and the plate  300  is configured to support the peel  306  with the backing  302  in suspension between the stem  110  and the peel  306  when the end effector  100  is oriented in the upright position. 
     Each leading edge  314  in the plurality of blades  304  is respectively located at an end of a corresponding blade  304  opposite the handle  102 ′, and is the farthest extended portion of the blade  304  from the handle  102 ′. Taken from a top view depicted in  FIG.  26   , blades  304  in the plurality of blades  304  which are arranged closer to the handle  102 ′ in the lateral direction of the handle  102 ′ extend farther in the longitudinal direction of the handle  102 ′ as compared to blades arranged farther from the handle  102 ′ in the lateral direction of the handle  102 ′. Each blade  304  in the plurality of blades  304  extends in the longitudinal direction of the handle  102 ′ and is rounded at corners formed between the leading edge  314  and lateral side peripheries  322  of the blade  304  extended from the back periphery  330  to the front periphery  320  in the longitudinal direction of the plate  300 . As shown in  FIG.  26   , each leading edge  314  in the plurality of blades  304  is substantially straight and angled such that the front periphery  320  of the peel  306  follows a curve in the longitudinal direction of the handle  102 ′ that has a semicircular shape. 
     As shown in  FIGS.  25 - 27   , the backing  302  is arranged perpendicular to the longitudinal direction of the plate  300  and the lateral direction of the plate  300  in which the plurality of blades  304  are offset from each other, and arranged along outermost lateral side peripheries  324  of the peel  306  in the lateral direction of the plate  300 . With reference to  FIG.  26   , the backing  302  is arranged along back peripheries  330  of the plurality of blades  304 , connecting the plurality of blades  304  to each other, the back peripheries  330  being located closer to the handle  102 ′ as compared to the front periphery  320 , at a side of the plurality of blades  304  opposite the front periphery  320  in the longitudinal direction of the plate  300 . In this manner, the backing  302  is configured to support the plurality of blades  304  in the peel  306  and retain food items on the peel  306  by catching the food items on the top surfaces  312  of the plurality of blades  304  and obstructing the food items from sliding off the top surfaces  312  from the back peripheries  330  in the longitudinal direction of the plate  300 , and from sliding off the top surfaces  312  from the outermost lateral side peripheries  324  in the lateral direction of the plate  300 . 
     As shown in  FIG.  27   , the backing  302  includes a plurality of projections  332  extended in a direction perpendicular to the longitudinal direction of the plate  300  and the lateral direction of the plate  300 , the plurality of projections  332  being sized and arranged to extend gaps  334  defined between the plurality of blades  304  in the lateral direction of the plate  300  into the backing  302 , around a corner formed between the backing  302  and the plurality of blades  304 . To this end, the plurality of projections  332  each have widths in the lateral direction of the plate  300  equal to corresponding blades  304  in the plurality of blades  304  and are offset from each other in the lateral direction of the plate  300  to match lateral positions of blades  304  in the plurality of blades  304 . With the plurality of blades  304  fixed to the plurality of projections  332  and offset from each other in the lateral direction of the plate  300 , the plurality of blades  304  and the plurality of projections  332  define the gaps  334  therebetween in the lateral direction of the plate  300 . In this manner, the plate  300  is configured for separating food items from a support surface, and retaining food items in the plate  300  against the backing  302  while dropping crumbs or other relatively small portions of the food items in the plate  300  between the gaps  334 , preventing the crumbs or other portions of the food items from collecting in the plate  300 . 
       FIGS.  28 - 31    depict an alternate embodiment of the end effector  100  of  FIGS.  23 - 27   . In the embodiment of  FIGS.  28 - 31   , like elements with the end effector  100  of  FIGS.  23 - 27    are denoted with the same reference numerals but followed by a primed suffix (′). 
       FIGS.  28 - 31    depict an embodiment of the end effector  100  including a plate  400  with the backing  302 ′ fixed to the stem distal end portion  122 ′ through the stem  110 ′. The plate  400  includes a panel  402  forming the plurality of teeth  304 ′ fixed to the backing  302 ′. As depicted in  FIGS.  28  and  29   , the panel  402  extends the plurality of teeth  304 ′ beyond the backing  302 ′, backward in a longitudinal direction of the plate  400 , in parallel with the longitudinal direction of the stem  110 ′. The plurality of blades  304 ′ are connected to each other in a lateral direction of the plate  400  across the backing  302 ′ and a flange  404  integrally formed with the plurality of blades  304 ′. While the depicted backing  302 ′ is welded to the plurality of blades  304 ′, the backing  302 ′ may additionally or alternatively be fixed to the plurality of blades  304 ′ by brazing, soldering, or fasteners such as screws, bolts, or rivets without departing from the scope of the present disclosure. 
       FIGS.  32 - 34    depict the panel  402 . As depicted between  FIGS.  33  and  34   , the flange  404  is a pane extended in the longitudinal direction of the plate  400  along the stem  110 ′ and the lateral direction of the plate  400 . Taken from a top view shown in  FIG.  33   , the flange  404  can be shaped as a rectangle elongated in the lateral direction of the plate  400 . Taken from a side view shown in  FIG.  34   , the flange  404  extends straight in the longitudinal direction of the plate  400  to form the bottom surface  310 ′ of the plurality of blades  304 ′, a bottom surface  410  of the flange  404  continuous with the bottom surface  310 ′ of the plurality of blades  304 ′, the top surface  312 ′ of the plurality of blades  304 ′, and a top surface  412  of the flange  404  continuous with the top surface  312 ′ of the plurality of blades  304 ′ flat and parallel with each other in the longitudinal direction of the plate  400 . 
       FIGS.  35 - 37    depict the backing  302 ′. As depicted between  FIGS.  35  and  36   , the backing  302 ′ includes lateral side portions  414  extended in parallel with each other in the longitudinal direction of the plate  400 , offset from each other in the lateral direction of the plate  400  a distance equal to a distance between the outermost lateral side peripheries  324 ′ of the plurality of blades  304 ′ in the lateral direction of the plate  400 . The lateral side portions  414  are each integrally formed with an intermediate portion  420  extended backward in the longitudinal direction of the plate  400 , toward a center of the plate  400  in the lateral direction of the plate  400 . The intermediate portions  420  are integrally formed with and connected to each other by a back portion  422  extended in the lateral direction of the plate  400 . 
       FIG.  37    depicts a front view of the backing  302 ′. As shown in  FIG.  37   , the back portion  422  includes a plurality of projections  424  extended in a direction perpendicular to the longitudinal direction of the plate  400  and the lateral direction of the plate  400 , and configured for being attached to the plurality of blades  304 ′. The plurality of projections  424  each have widths in the lateral direction of the plate  400  equal to corresponding blades  304 ′ and are offset from each other in the lateral direction of the plate  400  to match lateral positions of the plurality of blades  304 ′. As shown in  FIG.  28   , with the plurality of blades  304 ′ fixed to the plurality of projections  424  and offset from each other in the lateral direction of the plate  400 , the plurality of blades  304 ′ and the plurality of projections  424  define gaps  430  therebetween in the lateral direction of the plate  400 . In this manner, the plate  400  is configured for separating food items from a support surface, and retaining food items in the plate  400  against the backing  302 ′ while dropping crumbs or other portions of the food items in the plate  400  between the gaps  430 , preventing the crumbs or other portions of the food items from collecting in the plate  400 . 
       FIG.  38    depicts the backing  302 ′ in an intermediate stage of manufacture, as a flat plate formed from a single band of material where the lateral side portions  414 , the intermediate portions  420 , and the back portion  422  extend in a same direction. In a method of forming the backing  302 ′ from the flat plate shown in  FIG.  38   , the backing  302 ′ is bent along a first fold line  432  to form a corner interposed between a first lateral side portion  434  of the lateral side portions  414  and a first intermediate portion  440  of the intermediate portions  420 , the backing  302 ′ is bent along a second fold line  442  to form a corner interposed between the first intermediate portion  440  and the back portion  422 , the backing  302 ′ is bent along a third fold line  444  to form a corner interposed between the back portion  422  and a second intermediate portion  450  of the intermediate portions  420 , and the backing  302 ′ is bent along a fourth fold line  452  to form a corner interposed between the second intermediate portion  450  and a second lateral side portion  454 . In this manner, as shown in  FIG.  23   , the backing  302 ′ is formed with a bent U shape matching an arrangement of the outermost lateral side peripheries  324 ′ and back peripheries  330 ′ of the plurality of blades  304 ′. 
       FIG.  39    depicts a perspective view of a base  460  for an automated food preparation system configured for supporting food items thereon, the base  460  including a supporting surface  462  and ejector pins  464 , where the plurality of blades  304 ′ are configured to separate food items from the supporting surface  462 . The ejector pins  464  are configured for being actuated to a retracted position (not shown) where the ejector pins  464  are flush with the supporting surface  462 , and configured for being actuated to an extended position where, as shown in  FIG.  39   , where the ejector pins  464  are projected beyond the supporting surface  462  in a direction orthogonal to a direction along the supporting surface  462 , and offset from each other in a lateral direction of the base  460  along the supporting surface  462  to define at least one gap  470  configured for receiving a corresponding blade  304  in the plurality of blades  304  therebetween when the ejector pins  464  are actuated to the extended position. 
     The at least one gap  470  is wider than the corresponding blade  304  in the lateral direction of the base  460  such that the corresponding blade  304  is configured for being inserted in the at least one gap  470 , where the bottom surface  310  is configured for engaging the supporting surface  462  or extending along and spaced from the supporting surface  462  interposed between and separating the ejector pins  464  across the at least one gap  470  in a direction parallel to the supporting surface  462 , and the top surface  312  is configured for engaging food items from a position between protruding ends  472  of the ejector pins  464  and the supporting surface  462  in a direction in which the ejector pins  464  are actuated. According to one aspect, the depicted base  460  is a pressing machine base configured to shape dough into a pizza crust, and the supporting surface  462  has a circular shape complementary with the semicircular shape of the peel  306  along the front periphery  320  of the plate  300 . 
       FIG.  40    depicts an embodiment of the end effector  100  of  FIGS.  1 - 22   . In the embodiment of  FIG.  40   , like elements of the end effector  100  of  FIGS.  1 - 22    are denoted with the same reference numerals but followed by a primed suffix (′).  FIG.  40    depicts a plate  500  fixed directly with the handle  102 ′, without a stem connecting the plate  500  and the handle  102 ′. The plate  500  includes a plate main body  502  and a rim  504  integrally formed with the plate main body  502  and fixed with the handle distal end portion  114 ′, extended in the longitudinal direction of the handle  102 ′, and extended in a direction orthogonal to the longitudinal direction of the handle  102 ′. The plate  500 , including each of the plate main body  502  and the rim  504 , is circular with respect to a central axis  510  oriented orthogonal to the longitudinal direction of the handle  102 ′ and the lateral direction of the handle  102 ′. 
     The rim  504  extends from an outer periphery  512  of the plate main body  502  in a direction orthogonal to the plate main body  502 , along the central axis  510  of the plate  500 . In this manner, the rim  504  is configured to retain food items on a top surface  514  of the plate main body  502  by obstructing the food items from traveling off the plate  500  in the radial direction of the plate  500 . The plate  500  is fixed to the handle distal end portion  114 ′ at an outer periphery  514  of the rim  504  with respect to a radial direction of the plate  500  orthogonal to the central axis  510  of the plate  500 . 
       FIG.  41    depicts an embodiment of the end effector  100  of  FIGS.  1 - 22   . In the embodiment of  FIG.  41   , like elements of the end effector  100  of  FIGS.  1 - 22    are denoted with the same reference numerals but followed by a primed suffix (′).  FIG.  41    depicts a plate  600  connected to the handle  102 ′ through the stem  110 ′, the stem distal end portion  122 ′ being fixed directly with a plate proximal end portion  602 . A plate distal end portion  604  extends from the plate proximal end portion  602  in a longitudinal direction of the plate  600  parallel with the longitudinal direction of the handle  102 ′. 
     The plate includes a blade  610  that is a flat pane extended from the plate proximal end portion  602  to the plate distal end portion  604 , and a side wall  612  located along lateral side peripheries  614  and a back periphery  620  of the blade  610 , and extended from the blade  610  in a direction perpendicular to the longitudinal direction of the plate  600  and a lateral direction of the plate  600 . 
     In this manner, the side wall  612  is configured to retain food items on a top surface  622  of the blade  610  by obstructing the food items from traveling off the plate  600  in the radial direction of the plate  600 , over either of the lateral side peripheries  614  or the back periphery  620 . The side wall  612  defines a plate opening  624  across a front periphery  630  in the lateral direction of the plate  600  between portions of the side wall  612  at the lateral side peripheries  614 , where the front periphery  630  of the blade  610  forms a leading edge of the blade  610  configured to separate food items from a supporting surface such that the food items are retained on the top surface  622  by the side wall  612 . 
     It will be appreciated that various embodiments of the above-disclosed and other features and functions, or alternatives or varieties thereof, may be desirably combined into many other different systems or applications. It will also be appreciated that various presently unforeseen or unanticipated alternatives, modifications, variations or improvements therein may be subsequently made by those skilled in the art which are also intended to be encompassed by the following claims.