Patent Application
20220257060
Automated cooking systems can be advantageous over conventional human-driven cooking for reducing an amount of human effort expended in preparing a meal, and for improving aspects of reliability, consistency, quality, and safety in prepared meals beyond reasonable human abilities. Robot arms employed in automated cooking systems with industry standard grippers, however, often face difficulty in establishing a functional grip on, and manipulating cooking hardware and utensils originally designed for human use. Consequently, there is demand for cooking hardware and utensils compatible with robot arms in automated cooking systems.
According to one aspect, a cooking system including an end effector and a cooking utensil configured for being maneuvered about a kitchen station through the end effector, the cooking utensil including a body and a grip. The body is configured for maneuvering food items. The grip is fixed with the body and extended from the body in a longitudinal direction of the cooking utensil. The grip includes a grip body, a knob disposed on a proximal end of the grip body, and a stop disposed on a distal end of the grip body such that the grip body is interposed between and separates the knob and the stop in the longitudinal direction of the cooking utensil. The knob and the stop extend beyond the grip body in a first lateral direction of the cooking utensil perpendicular to the longitudinal direction of the cooking utensil, and the knob forms a first inclined surface that is inclined outward from the grip body in the first lateral direction of the cooking utensil, and away from the stop in the longitudinal direction of the cooking utensil. The end effector includes a hand, and a first finger mounted on the hand, and configured for being actuated with respect to the hand and engaging the grip in the first lateral direction of the cooking utensil. The first finger includes a first inclined surface configured for engaging and extending along the first inclined surface of the knob in the longitudinal direction and the first lateral direction of the cooking utensil, and a first longitudinal end surface extended from the first inclined surface of the first finger in the longitudinal direction of the cooking utensil, and configured for extending along the grip body and engaging the stop in the longitudinal direction of the cooking utensil.
A method of engaging an end effector with a cooking utensil, the method including fixing a grip with a body included in the cooking utensil and configured for maneuvering food items such that the grip extends from the body in a longitudinal direction of the cooking utensil, where the grip includes a grip body, a knob disposed on a proximal end of the grip body, and a stop disposed on a distal end of the grip body such that the grip body is interposed between and separates the knob and the stop in the longitudinal direction of the cooking utensil, the knob and the stop extending beyond the grip body in a first lateral direction of the cooking utensil perpendicular to the longitudinal direction of the cooking utensil. The method also includes mounting a first finger on a hand included in the end effector such that the first finger is configured for being actuated with respect to the hand in a first lateral direction of the cooking utensil perpendicular to the longitudinal direction of the cooking utensil. The method also includes actuating the first finger with respect to the hand in the first lateral direction of the cooking utensil to engage the first finger with the grip in the first lateral direction of the cooking utensil, where a first inclined surface of the first finger that is inclined toward the grip body in the first lateral direction of the cooking utensil, and toward the stop in the longitudinal direction of the cooking utensil, engages the knob in the longitudinal direction and the first lateral direction of the cooking utensil, and where a first longitudinal end surface of the first finger that extends from the first inclined surface of the first finger and toward the stop in the longitudinal direction of the cooking utensil engages the grip between the knob and the stop in the longitudinal direction of the cooking utensil.
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,
As shown in
While the depicted kitchen station 100 includes a first stove 114 and a second stove 132, any number of stoves similar to the first stove 114 and the second stove 132, and any number of corresponding pans similar to the first pan 102 and the second pan 120 can be incorporated into the kitchen station 100 without departing from the scope of the present disclosure, where the robot arm 134 with the spatula 140 is otherwise configured to access an interior of each pan at each stove of the kitchen station 100 for maneuvering food contents therein. In an embodiment, the base 142 is mobilized and configured to transport the robot arm 134 to multiple stoves across the kitchen station 100.
The knob 150 has a cylindrical shape with a circular face extended in the longitudinal direction of the spatula and a first lateral direction 156 of the spatula 140 perpendicular to the longitudinal direction of the spatula 140, and a body extended in a second lateral direction 158 of the spatula 140 perpendicular to the longitudinal direction and the first lateral direction 156 of the spatula 140. The cylindrical shape of the knob 150 defines a first inclined surface 164 and a second inclined surface 166 formed on opposite sides of the knob 150 in the longitudinal direction of the spatula 140. In this manner, the first inclined surface 164 and the second inclined surface 166 of the knob 150 are rounded toward the grip body 152 in the first lateral direction 156 of the spatula 140. The first inclined surface 164 and the second inclined surface 166 of the knob 150 extend continuously with each other in the longitudinal direction of the spatula 140.
The first inclined surface 164 is inclined outward from the grip body 152 in the first lateral direction 156 of the spatula 140, and away from the stop 154 in the longitudinal direction of the spatula 140. The second inclined surface 166 is inclined toward the grip body 152 in the first lateral direction 156 of the spatula 140, and away from the stop 154 in the longitudinal direction of the spatula 140.
In the depicted aspect, the grip body 152 has a rectangular prism shape extended with the knob 150 in the second lateral direction 158 of the spatula 140. The knob 150, the grip body 152, and the stop 154 form a lateral surface 168 of the grip 144 facing the first lateral direction 156 of the spatula 140, and extending straight in the second lateral direction 158 of the spatula 140. The circular shape of the knob 150 extends in the first lateral direction 156 of the spatula 140 beyond the rectangular prism shape of the grip body 152 such that the knob 150 and the grip body 152 form a first knob incongruity 170 and a third knob incongruity 172 on the lateral surface 168. The grip body 152 extends in the longitudinal direction of the spatula 140 to the knob 150, forming the first knob incongruity 170 in the grip 144 directly between the first inclined surface 164 of the knob 150 on one side of the grip body 152, and forming the third knob incongruity 172 in the grip 144 directly between the knob 150 on an opposite side of the grip body 152.
The stop 154 includes a first flange 174 and a second flange 180 extended in the first lateral direction 156 of the spatula 140, extended from opposite sides of the grip 144 at the distal end 162 of the grip body 152, and extended in opposite directions as each other in the first lateral direction 156 of the spatula 140. The first flange 174 and the second flange 180 respectively extend beyond the grip body 152 in the first lateral direction 156 of the spatula 140, and extend along the second lateral direction 158 of the spatula 140 to form a second knob incongruity 182 and a fourth knob incongruity 184 with the grip body 152 along the lateral surface 168. The grip body 152 extends in the longitudinal direction of the spatula 140 to the stop 154, forming the second knob incongruity 182 and the fourth knob incongruity 184 in the lateral surface 168 of the grip 144, directly between the stop 154 and the grip body 152.
A shaft 190 extends from the grip 144 in the longitudinal direction of the spatula 140, where the grip 144 is fixed to a proximal end 192 of the shaft 190 by a utensil mount 194. A head 200 is fixed to a distal end 202 of the spatula 140 such that the shaft 190 is interposed between and separates the grip 144 and the head 200 along the longitudinal direction of the spatula 140. The head 200 is a body configured for maneuvering food items in the interior of the first pan 102 and the interior of the second pan 120. The grip 144 is fixed with the head 200 through the shaft 190 and extends from the shaft 190 and the head 200 in the longitudinal direction of the spatula 140. While, as depicted, the head 200 is integrally formed with the shaft 190, the head 200 may be otherwise fixed to the shaft 190 without departing from the scope of the present disclosure. In an embodiment, the head 200 is removably fixed with the shaft 190 and configured for being replaced with a variety of utensil end portions configured for maneuvering food items in the interior of the first pan 102 and the interior of the second pan 120.
The first finger 210 has a proximal end portion 214 fixed to a first plunger 220 supported on a first end portion 222 of a hand 224 included in the end effector 204, where the proximal end portion 214 extends from the first plunger 220 around the hand 224 from the first end portion 222 toward a front side 230 of the hand 224, forming a first shoulder 232 in the first finger 210. The first finger 210 extends from the first shoulder 232 toward a middle portion 234 of the hand 224 that is interposed between and separates the first end portion 222 and a second end portion 240 of the hand 224, the second end portion 240 being disposed on a side of the hand 224 opposite from the first end portion 222. A distal end portion 242 of the first finger 210 extends away from the front side 230 of the hand 224 at the middle portion 234, along the longitudinal direction of the spatula 140 when the end effector 204 is holding the grip 144.
A first inner surface 244 of the first finger 210 includes a rounded portion 250 complementary with the lateral surface 168 of the grip 144 at the cylindrical shape of the knob 150, and a flat portion 252 complementary with the lateral surface 168 of the grip 144 at the rectangular prism shape of the grip body 152. The rounded portion 250 and the flat portion 252 are extended in the second lateral direction 158 of the spatula 140 with the knob 150 and the grip body 152 when the end effector 204 is holding the grip 144. In this manner, the first inner surface 244 is complementary with the lateral surface 168 of the grip 144 such that when the end effector 204 is holding the grip 144, the rounded portion 250 of the first inner surface 244 contacts the lateral surface 168 of the grip 144 at the knob 150 and the flat portion 252 of the first inner surface 244 contacts the grip body 152. With this construction, the first inner surface 244 of the first finger 210 contacts the lateral surface 168 of the grip 144 on each side of the first knob incongruity 170 in the longitudinal direction of the spatula 140, with contact between the first inner surface 244 and the lateral surface 168 made along the second lateral direction 158 of the spatula 140 when the end effector 204 is holding the grip 144.
With continued reference to
Further, because the rounded portion 250 of the first inner surface 244 is complementary with the lateral surface 168 of the grip 144 at the knob 150, and because the first inner surface 244 terminates at the first flange 174 of the stop 154, the first finger 210 is obstructed from rotating in the first lateral direction 156 of the spatula 140 relative to the grip 144 when the end effector 204 is holding the grip 144. Also because the flat portion 252 of the first inner surface 244 is complementary with the lateral surface 168 of the grip 144 at the grip body 152, and because the rounded portion 250 of the first inner surface 244 is complementary with the lateral surface 168 of the grip 144 in the circular shape of the knob 150, in the second lateral direction 158 of the spatula 140, the first finger 210 is obstructed from rotating in the longitudinal direction of the spatula 140 relative to the grip 144 when the end effector 204 is holding the grip 144. Also because the flat portion 252 of the first inner surface 244 is complementary with the lateral surface 168 of the grip 144 at the grip body 152, and because the first inner surface 244 terminates at the first flange 174, the first finger 210 is obstructed from rotating relative to the grip 144 in the second lateral direction 158 of the spatula 140 when the end effector 204 is holding the grip 144.
With continued reference to
A second inner surface 270 of the second finger 212 includes a rounded portion 272 complementary with the lateral surface 168 of the grip 144 at the circular shape of the knob 150, and a flat portion 274 complementary with the lateral surface 168 of the grip 144 in the rectangular prism shape of the grip body 152, the rounded portion 272 and the flat portion 274 being extended in the second lateral direction 158 of the spatula 140 with the knob 150 and the grip body 152 when the end effector 204 is holding the grip 144. In this manner, the second inner surface 270 is complementary with the lateral surface 168 of the grip 144 such that when the end effector 204 is holding the grip 144, the rounded portion 272 of the second inner surface 270 contacts the lateral surface 168 of the grip 144 at the knob 150 and the flat portion 274 of the second inner surface 270 contacts the grip body 152. With this construction, the second inner surface 270 of the second finger 212 contacts the lateral surface 168 of the grip 144 on each side of the third knob incongruity 172 in the longitudinal direction of the spatula 140, with contact between the second inner surface 270 and the lateral surface 168 made along the second lateral direction 158 of the spatula 140 when the end effector 204 is holding the grip 144.
With continued reference to
Further, because the rounded portion 272 of the second inner surface 270 is complementary with the lateral surface 168 of the grip 144 in the circular shape of the knob 150, the knob 150 is configured to obstruct the rounded portion 272, and by extension the second finger 212 as a whole, from movement in the longitudinal direction of the spatula 140 relative to the grip 144. Because the rounded portion 272 of the second inner surface 270 is complementary with the lateral surface 168 of the grip 144 at the knob 150, and because the second inner surface 270 terminates at the second flange 180 of the stop 154, the second finger 212 is obstructed from rotating in the first lateral direction 156 of the spatula 140 relative to the grip 144 when the end effector 204 is holding the grip 144. Also because the flat portion 274 of the second inner surface 270 is complementary with the lateral surface 168 of the grip 144 at the grip body 152, and because the rounded portion 272 of the second inner surface 270 is complementary with the lateral surface 168 of the grip 144 in the circular shape of the knob 150, in the second lateral direction 158 of the spatula 140, the second finger 212 is obstructed from rotating in the longitudinal direction of the spatula 140 relative to the grip 144 when the end effector 204 is holding the grip 144. Also because the flat portion 274 of the second inner surface 270 is complementary with the lateral surface 168 of the grip 144 at the grip body 152, and because the second inner surface 270 terminates at the second flange 180, the second finger 212 is obstructed from rotating relative to the grip 144 in the second lateral direction 158 of the spatula 140 when the end effector 204 is holding the grip 144.
The first inclined surface 276 of the first finger 210 is inclined toward the grip body 152 in the first lateral direction 156 of the spatula 140, and toward the stop 154 in the longitudinal direction of the spatula 140. With this construction, because the first inclined surface 164 of the knob 150 is inclined outward from the grip body 152 in the first lateral direction 156 of the spatula 140, and away from the stop 154 in the longitudinal direction of the spatula 140, the knob 150 is configured to press the flat portion 252 of the first finger 210 at a first longitudinal end surface 280 the first finger 210, toward the stop 154 in the longitudinal direction of the spatula 140 when the first finger 210 engages the grip 144 in the first lateral direction 156 of the spatula 140.
The second inclined surface 278 of the first finger 210 is inclined toward the grip body 152 in the first lateral direction 156 of the spatula 140, and away from the stop 154 in the longitudinal direction of the spatula 140. With this construction, because the second inclined surface 166 of the knob 150 is inclined toward the grip body 152 in the first lateral direction 156 of the spatula 140, and away from the stop 154 in the longitudinal direction of the spatula 140, the knob 150 is configured to press the flat portion 252 of the first finger 210 at the first longitudinal end surface 280 the first finger 210, away from the stop 154 in the longitudinal direction of the spatula 140 when the first finger 210 engages the grip 144. In this manner, the first inclined surface 164 and the second inclined surface 166 of the knob 150, and the first inclined surface 276 and the second inclined surface 278 of the first finger 210 are configured for locating the flat portion 252 on the grip body 152 between the knob 150 and the stop 154 in the longitudinal direction of the spatula 140.
The first inclined surface 276 and the second inclined surface 278 of the first finger 210 extend straight in the second lateral direction 158 of the spatula 140. With this construction, the first inclined surface 276 and the second inclined surface 278 of the first finger 210 are complementary to the lateral surface 168 of the grip 144 in the second lateral direction 158 of the spatula 140, and configured for engaging the lateral surface 168 of the grip 144 along the second lateral direction 158 of the spatula 140.
As shown in
As shown between
The first longitudinal end surface 280 is configured to engage the stop 154 and the first inclined surface 164 of the knob 150 in the longitudinal direction of the spatula 140, along the grip body 152 in the second lateral direction 158 of the spatula 140. The first flange 174 forms a planar surface extended in the first lateral direction 156 and the second lateral direction 158 of the spatula 140 such that the planar surface of the first flange 174 engages the first longitudinal end surface 280 in the longitudinal direction of the spatula 140, along the second lateral direction 158 of the spatula 140.
The first longitudinal end surface 280 of the first finger 210 extends to the first inclined surface 276 of the first finger 210 in the longitudinal direction of the spatula 140, forming a first finger incongruity 282 in the first finger 210 directly between the first inclined surface of the knob 150 and the first longitudinal end surface 280. The first finger incongruity 282 is defined in the first inner surface 244 of the first finger 210 at the first inclined surface 276, and configured for engaging the first knob incongruity 170 defined in the lateral surface 168 of the grip 144 at the knob 150.
With continued reference to
The second finger 212 forms a third inclined surface 286 and a fourth inclined surface 288 on the rounded portion 272 of the second inner surface 270. The third inclined surface 286 and the fourth inclined surface 288 of the second finger 212 are respectively configured for engaging and extending along a third inclined surface 290 and a fourth inclined surface 292 of the knob 150 in the longitudinal direction and the first lateral direction 156 of the spatula 140. The third inclined surface 286 and the fourth inclined surface 288 of the second finger 212 are rounded toward the toward the grip body 152 in the first lateral direction 156 of the spatula 140 so as to extend along and engage the first inclined surface 164 and the second inclined surface 166 of the knob 150 in the longitudinal direction and the first lateral direction 156 of the spatula 140.
The knob 150 forms the third inclined surface 290 and the fourth inclined surface 292 on a side of the grip 144 opposite the first inclined surface 164 and the second inclined surface 166 in the first lateral direction 156 of the spatula 140. The third inclined surface 290 of the knob 150 is inclined outward from the grip body 152 in the first lateral direction 156 of the spatula 140, and away from the stop 154 in the longitudinal direction of the spatula 140. The fourth inclined surface 292 of the knob 150 is inclined outward from the grip body 152 in the first lateral direction 156 of the spatula 140, and toward the stop 154 in the longitudinal direction of the spatula 140.
The third inclined surface 290 and the fourth inclined surface 292 of the knob 150 respectively include similar features and function in a similar manner as the first inclined surface 164 and the second inclined surface 166 of the knob 150, with like features having opposite orientations in the first lateral direction 156 of the spatula 140. The third inclined surface 286 and the fourth inclined surface 288 of the second finger 212 respectively include similar features and function in a similar manner as the first inclined surface 276 and the second inclined surface 278 of the first finger 210, with like features having opposite orientations in the first lateral direction 156 of the spatula 140.
With continued reference to
The second longitudinal end surface 294 is complementary with the lateral surface 168 of the grip 144 at the grip body 152 for engaging the grip body 152 in the first lateral direction 156 of the spatula 140. The second longitudinal end surface 294 of the second finger 212 includes similar features and functions in a similar manner as the first longitudinal end surface of the first finger 210 for engaging the lateral surface 168 of the grip 144, with like features having opposite orientations in the first lateral direction 156 of the spatula 140.
The second longitudinal end surface 294 of the second finger 212 extends to the third inclined surface 286 of the second finger 212 in the longitudinal direction of the spatula 140, forming a third finger incongruity 300 in the second finger 212 directly between the third inclined surface 290 of the knob 150 and the second longitudinal end surface 294. The third finger incongruity 300 is defined in the second inner surface 270 of the second finger 212 at the third inclined surface 286, and configured for engaging the third knob incongruity 172 defined in the lateral surface 168 of the grip 144 at the knob 150.
With continued reference to
The first knob incongruity 170, the third knob incongruity 172, the second knob incongruity 182, and the fourth knob incongruity 184 formed in the grip 144 are corners of the lateral surface 168 of the grip 144 which extend to opposite sides of the grip 144 in the second lateral direction 158 of the spatula 140. The first finger incongruity 282, the second finger incongruity 284, the third finger incongruity 300, and the fourth finger incongruity 302 formed in the first finger 210 and the second finger 212 are corners in the first inner surface 244 and the second inner surface 270 which extend to opposite sides of the first finger 210 and the second finger 212 in the second lateral direction 158 of the spatula 140.
The first finger incongruity 282 in the first finger 210 is configured for engaging the first knob incongruity 170 in the first lateral direction 156 of the spatula 140, and being aligned with the first knob incongruity 170 in the second lateral direction 158 of the spatula 140. The second finger incongruity 284 in the first finger 210 is configured for engaging the second knob incongruity 182 in the first lateral direction 156 of the spatula 140, and being aligned with the second knob incongruity 182 in the second lateral direction 158 of the spatula 140. The third finger incongruity 300 in the second finger 212 is configured for engaging the third knob incongruity 172 in the first lateral direction 156 of the spatula 140, and being aligned with the third knob incongruity 172 in the second lateral direction 158 of the spatula 140. The fourth finger incongruity 302 in the second finger 212 is configured for engaging the fourth knob incongruity 184 in the first lateral direction 156 of the spatula 140, and being aligned with the fourth knob incongruity 184 in the second lateral direction 158 of the spatula 140.
The shaft 190 and the first inclined surface 276 of the first finger 210 are rounded with respect to the longitudinal direction of the spatula 140 such that the first inclined surface 276 of the first finger 210 is configured to extend around and engage the shaft 190 in the first lateral direction 156 of the spatula 140. The first inclined surface 276 and the second inclined surface 278 of the first finger 210 are formed with a radius of curvature at least as large as the shaft 190 with respect to the longitudinal direction of the spatula 140. In an embodiment, the first inclined surface 276 and the second inclined surface 278 of the first finger 210 are formed with a radius of curvature larger than the shaft 190 with respect to the longitudinal direction of the spatula 140. With this construction, the rounded portion 250 of the first inner surface 244 is configured for receiving and gripping the shaft 190 between the first inclined surface 276 and the second inclined surface 278 of the first finger 210.
With reference to
While the first finger 210 and the second finger 212 extend toward the middle portion 234 of the hand 224 and respectively include the first shoulder 232 and the second shoulder 262, the first finger 210 and the second finger 212 may alternatively extend toward the first end portion 222 of the hand 224 such that the first finger 210 and the second finger 212 are configured for holding the grip 144 while the first finger 210 lacks a shoulder, or alternatively extend toward the second end portion 240 of the hand 224 such that the first finger 210 and the second finger 212 are configured for holding the grip 144 while the second finger 212 lacks a shoulder without departing from the scope of the present disclosure. In an embodiment where the first finger 210 and the second finger 212 extend from the first end portion 222 of the hand 224, the first finger 210 extends straight outward from the hand 224 and does not include a shoulder. In an embodiment where the first finger 210 and the second finger 212 extend from the second end portion 240 of the hand 224, the second finger 212 extends straight outward from the hand 224 and does not include a shoulder.
The first finger 210 and the second finger 212 are mounted on the hand 224 and configured for being actuated with respect to the hand 224 and engaging the grip 144 in the first lateral direction 156 of the spatula 140, where the first inner surface 244 of the first finger 210 and the second inner surface 270 of the second finger 212 directly engage the lateral surface 168 of the grip 144. The hand 224 is configured to actuate the first finger 210 through the first plunger 220 by extending and retracting the first plunger 220, and by extension the first finger 210, in the first lateral direction 156 of the spatula 140 when the end effector 204 is holding the grip 144. The hand 224 is configured to actuate the second finger 212 through the second plunger 260 by extending and retracting the second plunger 260, and by extension the second finger 212, in the first lateral direction 156 of the spatula 140 when the end effector 204 is holding the grip 144. In this manner, the grip 144 is configured for receiving the first inner surface 244 of the first finger 210 and the second inner surface 270 of the second finger 212 at the lateral surface 168 of the grip 144 when the end effector 204 is holding the spatula 140. In an embodiment, the first plunger 220 and the second plunger 260 are respectively driven by the hand 224 with a servomechanism disposed in the hand 224, however alternative driving mechanisms, such as solenoids, may be employed for driving the first plunger 220 and the second plunger 260 in the lateral direction of the hand 224 without departing from the scope of the present disclosure.
In an embodiment, the hand 224 is configured to independently actuate each of the first plunger 220 and the second plunger 260. In an alternative embodiment, the hand is configured to actuate one of the first finger 210 and the second finger 212 for holding the grip 144 between the first finger 210 and the second finger 212.
As shown in
The utensil mount 194 has a width greater than the gap 312 defined between the first projection 308 and the second projection 310 in the second lateral direction of the kitchen station 100. The first projection 308 and the second projection 310 are spaced from each other in the second lateral direction of the kitchen station 100 so as to catch the utensil mount 194, obstructing the utensil mount 194 and by extension the spatula 140 from moving downward beyond the intermediate holder 304 with respect to the top-bottom direction of the kitchen station 100. In this manner, the intermediate holder 304 is configured to support the spatula 140 by the utensil mount 194 at the front side 306 of the kitchen station 100 between the first projection 308 and the second projection 310 in the second lateral direction of the kitchen station 100.
The utensil mount 194 is fixed with the grip 144 and the proximal end 192 of the shaft 190 such that the utensil mount 194 is interposed between and separates the grip 144 and each of the shaft 190 and the head 200 in the longitudinal direction of the spatula 140. The shaft 190 has a width smaller than the gap 312 defined between the first projection 308 and the second projection 310 such that the gap 312 is configured to receive the shaft 190 in the first lateral direction of the kitchen station 100 and support the spatula 140 at the utensil mount 194. The first projection 308 and the second projection 310 are spaced from each other in the left-right direction of the kitchen station 100 a distance corresponding to a width of the shaft 190 of the spatula 140 taken in the first lateral direction 156 of the spatula 140, such that the intermediate holder 304 is configured for receiving the shaft 190 in a front-back direction of the kitchen station 100, between the first projection 308 and the second projection 310 in the left-right direction of the kitchen station 100.
The first projection 308 and the second projection 310 are each formed with a wedge shape extended in the front-back direction of the kitchen station such that the first projection 308 includes a first inclined face 314 that faces upward with respect to the top-bottom direction of the kitchen station 100 and is inclined in the left-right direction of the kitchen station toward the second projection 310, and such that the second projection 310 includes a second inclined face 316 that faces upward with respect to the top-bottom direction of the kitchen station 100 and is inclined in the left-right direction of the kitchen station 100 toward the first projection 308. The utensil mount 194 includes inclined faces complementary with the first inclined face 314 and the second inclined face 316 of the intermediate holder 304 such that when the utensil mount 194 is placed in the intermediate holder 304, a weight of the spatula 140 centers the utensil mount 194 on the intermediate holder 304 with respect to the left-right direction of the kitchen station 100. To this end, the utensil mount 194 includes a third inclined face 318 inclined toward the longitudinal direction of the spatula 140, and a fourth inclined face 320 located on a side of the utensil mount 194 opposite the third inclined face 318, where the fourth inclined face 320 is inclined toward the third inclined face 318, and is inclined toward the longitudinal direction of the spatula 140.
With this construction, when the spatula 140 is placed on and resting in the intermediate holder 304, the first inclined face 314 on the first projection 308 contacts the third inclined face 318 on the utensil mount 194, and the second inclined face 316 on the second projection 310 contacts the fourth inclined face 320 on the utensil mount 194, where contact between the first inclined face 314 and the third inclined face 318 and contact between the second inclined face 316 and the fourth inclined face 320 centers the utensil mount 194 on the intermediate holder 304 in the left-right direction of the kitchen station 100. While the depicted utensil mount 194 and intermediate holder respectively include two faces complementary with each other for centering the utensil mount 194 on the intermediate holder in the left-right direction of the kitchen station 100, the utensil mount 194 and the intermediate holder 304 may face fewer or additional complementary inclined surfaces for locating the utensil mount 194 on the intermediate holder 304 when the utensil mount 194 is placed on the intermediate holder 304 without departing from the scope of the present disclosure.
With the robot arm 134 being configured for selectively holding the grip 144 to maneuver the spatula 140 about the kitchen station 100, the robot arm 134 is configured to maneuver the spatula 140 in the front-back direction of the kitchen station 100 with the shaft 190 positioned between the first projection 308 and the second projection 310 in the left-right direction of the kitchen station 100 such that the intermediate holder 304 receives the shaft 190, and the robot arm 134 is configured to release the grip 144 such that the spatula 140 is supported on the intermediate holder 304 at the utensil mount 194.
As shown in
A linkage 326 formed from a first spring 328 and a second spring 330 connects the hand 224 and a portion of the robot arm 134 to support the hand 224 from the robot arm 134.
The second spring 330 includes similar features, and functions in a similar manner as the first spring 328. To this end, a proximal end 340 of the second spring 330 is fixed to the base plate 334 and a distal end 342 of the second spring 330 is fixed to the hand 224 such that the second spring 330 connects the hand 224 and the robot arm 134, supporting the hand 224 from the base plate 334.
As depicted in
The knob 350 is disposed on a proximal end 360 of the grip body 352 and the stop 354 is disposed on a distal end 362 of the grip body 352 such that the grip body 352 is interposed between and separates the knob 350 and the stop 354 on the grip 348 along a longitudinal direction of the cup 344. The grip body 352 is a stem of the cup 344, where the grip body 352 has a circular shape extended in the longitudinal direction of the cup 344, the circular shape of the grip body 352 being complementary with the rounded portion 250 of the first inner surface 244 of the first finger 210 and the rounded portion 272 of the second inner surface 270 of the second finger 212 such that the grip body 352 is configured for being gripped by the first finger 210 and the second finger 212. In this manner, the robot arm 134 is capable of holding the cup 344 at the grip body 352 with the end effector 204, between the knob 350 and the stop 354 in the longitudinal direction of the cup 344.
The knob 350 is shaped as a spheroid which extends perpendicular to the longitudinal direction of the cup 344 beyond the grip body 352 such that the knob 350 obstructs the first finger 210 and the second finger 212 from moving away from the cup body 346 along the longitudinal direction of the cup 344 when the end effector 204 is holding the cup 344. The stop 354 is a circular plate which extends perpendicular to the longitudinal direction of the cup 344 beyond the grip body 352 such that the stop 354 obstructs the first finger 210 and the second finger 212 from moving toward the cup body 346 along the longitudinal direction of the cup 344 when the end effector 204 is holding the cup 344. As such, the rounded portion 250 of the first inner surface 244 and the rounded portion 272 of the second inner surface 270 are locked between the knob 350 and the stop 354 with respect to the longitudinal direction of the cup 344 when the end effector 204 is holding the grip 348.
Because the knob 350 and the stop 354 feature circular profiles taken from the longitudinal direction of the cup 344, the knob 350 and the stop 354 are configured for obstructing movement of the first finger 210 and the second finger 212 from any radial angle of the grip body 352 at which the first finger 210 and the second finger 212 are configured to hold the grip body 352. While the depicted knob 350 is formed with a spheroid shape, the knob 350 may be otherwise formed to extend beyond the grip body 352 in a direction perpendicular to the longitudinal direction of the cup 344 for similarly obstructing the first finger 210 and the second finger 212 without departing from the scope of the present disclosure. Also, while the depicted stop 354 is a circular disk, the stop 354 may be otherwise formed to extend beyond the grip body 352 in a direction perpendicular to the longitudinal direction of the cup 344 for similarly obstructing the first finger 210 and the second finger 212 without departing from the scope of the present disclosure.
Because the rounded portion 250 of the first inner surface 244 and the rounded portion 272 of the second inner surface 270 are complementary with the grip body 352, which has a circular shape extended in the longitudinal direction of the cup 344, the first finger 210 and the second finger 212 are obstructed from moving in a direction perpendicular to the longitudinal direction of the cup 344 relative to the grip body 352 when the end effector 204 is holding the cup 344. Also, the first finger 210 and the second finger 212 are obstructed from rotating in a direction offset from the longitudinal direction of the cup 344 at the grip body 352 when the end effector 204 is holding the cup 344. Further, the grip body 352 is configured for being held by the end effector 204 such that the first finger 210 and the second finger 212 extend in a direction perpendicular to the longitudinal direction of the cup 344. In an embodiment where the grip body 352 is formed from a shape extended in the longitudinal direction of the cup 344 that deviates from the circular shape, and the rounded portion 250 portion of the first inner surface 244 and the rounded portion 272 of the second inner surface 270 are complementary to the non-circular shape, the first finger 210 and the second finger 212 are further obstructed from rotating in the longitudinal direction of the cup 344 at the grip body 352.
As depicted in
A method of engaging the end effector 204 with one of the spatula 140 and the cup 344 includes fixing the grip 144, 348 with a body included in the spatula 140 and the cup 344 and configured for maneuvering food items such that the grip 144, 348 extends from the body in the longitudinal direction of the spatula 140 and the cup 344, where the grip 144, 348 includes the grip body 152, 352, the knob 150, 350 disposed on the proximal end 160, 360 of the grip body 152, 352, and the stop 154, 354 disposed on the distal end 162, 362 of the grip body 152, 352 such that the grip body 152, 352 is interposed between and separates the knob 150, 350 and the stop 154, 354 in the longitudinal direction of the spatula 140 and the cup 344, the knob 150, 350 and the stop 154, 354 extending beyond the grip body 152, 352 in the first lateral direction 156 of the spatula 140 and the cup 344. The method also includes mounting the first finger 210 on the hand 224 included in the end effector 204 such that the first finger 210 is configured for being actuated with respect to the hand 224 in the first lateral direction 156 of the spatula 140 and the cup 344. The method also includes actuating the first finger 210 with respect to the hand 224 in the first lateral direction 156 of the spatula 140, the cup 344 to engage the first finger 210 with the grip 144, 348 in the first lateral direction 156 of the spatula 140 and the cup 344.
In the method, the first inclined surface 276 of the first finger 210 is inclined toward the grip body 152, 352 in the first lateral direction 156 of the spatula 140 and the cup 344, and toward the stop 154, 354 in the longitudinal direction of the spatula 140 and the cup 344, and engages the knob 150, 350 in the longitudinal direction and the first lateral direction 156 of the spatula 140 and the cup 344. In the method, the first longitudinal end surface of the first finger 210 extends from the first inclined surface 276 of the first finger 210 and toward the stop 154, 354 in the longitudinal direction of the spatula 140 and the cup 344 engages the grip 144, 348 between the knob 150, 350 and the stop 154, 354 in the longitudinal direction of the spatula 140 and the cup 344.
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. Also 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 present disclosure.
| Number | Date | Country | |
|---|---|---|---|
| 63149772 | Feb 2021 | US |
