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WO2024243703A1 - Systèmes, procédés et dispositifs de distribution d'aliments - Google Patents

Systèmes, procédés et dispositifs de distribution d'aliments Download PDF

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Publication number
WO2024243703A1
WO2024243703A1 PCT/CA2024/050731 CA2024050731W WO2024243703A1 WO 2024243703 A1 WO2024243703 A1 WO 2024243703A1 CA 2024050731 W CA2024050731 W CA 2024050731W WO 2024243703 A1 WO2024243703 A1 WO 2024243703A1
Authority
WO
WIPO (PCT)
Prior art keywords
dispensing
storage housing
dispensing device
substance
food
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CA2024/050731
Other languages
English (en)
Inventor
Daryoush SAHEBJAVAHER
Soroush SEFIDKAR
Ashkan MIRNABAVI
Spencer PICKARD
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Cibotica Inc
Original Assignee
Cibotica Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Cibotica Inc filed Critical Cibotica Inc
Publication of WO2024243703A1 publication Critical patent/WO2024243703A1/fr
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47F—SPECIAL FURNITURE, FITTINGS, OR ACCESSORIES FOR SHOPS, STOREHOUSES, BARS, RESTAURANTS OR THE LIKE; PAYING COUNTERS
    • A47F1/00—Racks for dispensing merchandise; Containers for dispensing merchandise
    • A47F1/02—Racks for dispensing merchandise; Containers for dispensing merchandise for granulated or powdered materials, i.e. bulk materials
    • A47F1/03—Dispensing means, e.g. with buttons or handles
    • A47F1/035—Dispensing means, e.g. with buttons or handles having measuring devices

Definitions

  • the following relates generally to dispensing systems, methods, and devices, and more particularly to systems, methods, and devices for dispensing food stuff.
  • Automation is an increasing trend in the food services industry from front-end customer service to back-end kitchen workflow.
  • Automating aspects of kitchen workflow has many advantages including reducing labour cost, improving quality control, and boosting efficiency.
  • One aspect of the kitchen workflow includes dispensing food stuff. Dispensing food stuff may be desirable in many different types of kitchen workflows. For example, in an automated salad make line, it may be desirable to dispense food stuff into a container from one or more dispensing devices to assemble the salad.
  • One type of conventional automated food dispenser utilizes robotic arms to retrieve food stuff stored in a container.
  • a robotic arm often does not operate fast enough to meet the demand of the speed of operation in most kitchen workflows. This is a material limitation to its usefulness in real applications.
  • a robotic arm often requires a lot of space to operate in. This prevents its deployment to kitchens with limited space.
  • robotic arms are difficult to maintain and clean.
  • Another type of conventional automated food dispensers utilizes storage containers and simple release mechanism to release food stuff.
  • simple release mechanisms may lack quality control in the quantity dispensed.
  • simple release mechanisms do not allow for precise control of the quantity of food stuff being dispensed and therefore cannot dispense a smaller quantity if a smaller quantity is desired.
  • simple release mechanisms are not adaptable to dispense different kinds of food stuff with varying properties and may therefore be limited in their applications.
  • a dispensing device for dispensing a substance including a storage component, the storage component including a storage housing shaped to define an interior to store the substance, an inlet to facilitate a flow of the substance into the interior, and an outlet to facilitate the flow of the substance out of the interior.
  • the dispensing device further includes a baffle located in the interior for directing the flow of the substance, and a vibration actuator configured to apply a vibration to the storage housing.
  • the substance may be a food stuff selected from the group consisting of: carrots, apples, cucumbers, peppers, salsa, guacamole, mixed greens, romaine, spinach, cherry tomato, broccoli, arugula, mushrooms, croutons, pecans, corn, celery, cilantro, peanuts, red cabbage, kale, chickpeas, sharp white Cheddar, beets, brown rice, tortilla chips, mozzarella, crunchy onions, edamame (shelled or unshelled), dried cranberries, shaved parmesan cheese, cotija cheese, grilled pepper and onion mix, pita chips, Pepper Jack cheese, picked red onion, almonds, roasted mushrooms, roasted seeds, beans, salsa, pickled olives, chopped or sliced meat, chopped or sliced tofu, chopped or sliced chicken or other proteins.
  • the food stuff may be cooked, chopped or sliced.
  • the dispensing device may further include a removable open-top container positioned above the storage housing, the removable open-top container being configured to allow manual addition or removal of a substance stored in the open-top container.
  • the storage housing may include first and second housing portions in hinged engagement to allow the storage housing to be placed into an unfolded configuration.
  • the first and second housing portions may be integrally formed, and a living hinge may provide the hinged engagement.
  • Each of the first and second housing portions may further include incision lines defining separable portions thereof, the separable portions being secured together with fasteners.
  • the baffle may be positioned at a longitudinal location, the longitudinal location being on an axis extending from a centre of the area of the inlet to a centre of the area of the outlet.
  • the baffle may extend transversely along a transverse axis between an inner surface of a first wall and an inner surface of a second wall of the storage housing such that the baffle may define first and second passageways respectively on first and second longitudinal sides of the baffle.
  • the baffle may be removably affixed to the first and second walls of the storage housing, the baffle may be integrally formed with the walls of the storage housing, or the baffle may be supported within the storage housing by a support mount.
  • the baffle may extend transversely along a transverse axis between an inner surface of a first wall and an inner surface of a second wall of the storage housing such that the baffle may define a passageway on one longitudinal side of the baffle.
  • the baffle may be removably affixed to the first wall of the storage housing, the baffle may be integrally formed with the wall of the storage housing, or the baffle may be supported within the storage housing by a support mount.
  • a cross section of the baffle may have a shape in a plane perpendicular to the transverse axis that is: generally diamond, generally pentagonal, generally pentagonal with rounded corners, generally elliptical, teardrop shaped, pentagonal with sloped top sides and square bottom sides, generally circular, generally triangular, rectangular, arch shaped, ring shaped, sloped-rectangle shaped, or “ A ” shaped.
  • the dispensing device may further include a plurality of baffles spaced apart within the storage housing.
  • the plurality of baffles may define a winding passageway through the storage housing.
  • the baffle may be mounted within the storage housing by a support mount, together with an automatic release system and/or the outlet, or the baffle may be supported by outlet defining elements.
  • the vibration actuator may include an electromagnetic vibration actuator configured to vibrate the storage housing without being in mechanical contact with the storage housing.
  • the vibration actuator may include a force applicator, the force applicator being in contact with a wall of the storage housing.
  • the force applicator may be in detachable contact with the storage housing.
  • the vibration actuator may include a force transmitter extending along a longitudinal direction and coupled to the force applicator, the longitudinal direction may be perpendicular to an axis parallel to an axis extending from the inlet to the outlet, or the longitudinal direction may be parallel to an axis extending from the inlet to the outlet.
  • the vibration actuator may include a plurality of force transmitters extending along multiple directions in three-dimensional space and coupled to the force applicator, the longitudinal direction may be perpendicular to an axis parallel to an axis extending from the inlet to the outlet, or the longitudinal direction may be parallel to an axis extending from the inlet to the outlet.
  • the vibration actuator may be configurable to vibrate the storage housing in waveforms, the waveforms including one or more of: an on/off pulse waveform, a sinusoidal waveform, a square shaped waveform, a trapezoid shaped waveform, a sawtooth shaped waveform, a frequency switching waveform, a waveform switching waveform, and an amplitude switching waveform, a predetermined timing sequence may be provided to switch between different waveforms and/or to turn the waveforms on or off, or a controller may be configured to dynamically switch between different waveforms and/or to turn the waveforms on or off.
  • the vibration actuator may be controlled by a controller so that vibrational waves produced by the vibration actuator may have a predetermined range of one or more of frequency, wavelength, time period, time intervals, wave speed, waveform or amplitude.
  • the vibrational waves may have a frequency in the range of about 0.5Hz to about 100Hz or may have a time interval in the range of about 0.1 seconds to about 10 seconds.
  • the parameters of the vibrational waves produced by the vibration actuator may be dynamic and/or may be adaptively controlled by the controller to respond to properties of the substance or a state of the dispensing device, and the state of the dispensing device may include a level of the substance present in the dispensing device at a particular time.
  • the dispensing device may further include a weighing mechanism configured to measure a weight of the substance exiting the outlet.
  • the weighing mechanism may include a plurality of weight gates, the weight gates shaped to define a pocket and positioned at a location proximate to the outlet for receiving the substance exiting the outlet.
  • the weighing mechanism may include a weighing assembly configured to measure a weight of the substance received in the pocket of the weight gates.
  • the weighing assembly may be configured to open the weight gates to release the substance when a desired weight is met and close the weight gates after the substance is released.
  • the weight gates may include removable flaps.
  • the weighing mechanism may include a pliable tube shaped to define a tube inlet and a tube outlet, and a through-bore extending from the tube inlet to the tube outlet.
  • the tube may be cone-shaped, and a top opening of the cone may be larger than a bottom opening of the cone.
  • the weighing assembly may include a frame, and the pliable tube may be affixed to the frame and positioned at a location proximate to the outlet for receiving the substance exiting the outlet of the storage housing.
  • the weighing assembly may include a clamping mechanism for regulating release of the substance by pinching the pliable tube at a location between the tube inlet and the tube outlet.
  • Pinching the pliable tube may seal off the through-bore and may define a pocket for retaining the substance exiting the outlet of the storage housing.
  • the weighing assembly may be configured to un-pinch the pliable tube to release the substance when a desired weight is met and seal the through-bore to create the pocket after the substance is released.
  • the weighing mechanism may include a floating design so that the weight of the weighing mechanism may bear on a load cell.
  • the storage housing may include a floating design so that the weight or substantially all of the weight of the storage housing may bear on a load cell.
  • the dispensing device may further include a controller that may be configured to receive a measured weight of the substance exiting the outlet and based on the measured weight may send a control signal to the vibration actuator to adjust a vibration setting of the vibration actuator, and the vibration setting may include one or more of frequency, wavelength, amplitude, time period, time interval, wave speed or wave form.
  • the dispensing device may further include a substance compactor configured to press on the substance in a receptacle receiving the substance after exiting the outlet.
  • the substance compactor may be the flaps of the weight gate.
  • the dispensing device and the controller may be provided as a modular unit.
  • the dispensing device may further include an automatic release system operable to move to a closed configuration when the dispensing device is removed from an operational position, and to move to an open configuration when the dispensing device is placed in an operational position.
  • An apparatus for preparing food stuff including a plurality of dispensing devices as hereinabove defined is provided, each one of the controllers of each one of the plurality of dispensing devices being in wired or wireless communication with one or more control devices.
  • the plurality of dispensing devices may be modular so that each one of the plurality of dispensing devices may be configured to be readily insertable into and removable from the apparatus.
  • One or more of the dispensing device, the weight gate, the weighing mechanism, the automatic release system or the baffle may each be provided as a modular unit, and the modular units may be interchangeable so that each dispensing unit, weight gate, weighing mechanism, automatic release system and baffle may be configurable to be used with each of the other modular units to provide a dispensing assembly.
  • the baffle may be provided as part of a modular support mount, the modular support mount further including the outlet.
  • a modular sub-assembly including any two or more of the modular units may be provided.
  • the baffle may be provided as part of a support mount further including the automatic release system.
  • the apparatus may further include a conveyor unit, the conveyor unit configured to move empty food receptacles to one or more of the plurality of dispensing devices to receive a food stuff from each corresponding one of the plurality of dispensing devices to prepare a food dish.
  • the empty food receptacles may include plates, bowls, bread, pita bread, tortillas, or any sub-assembly capable of holding food.
  • the conveyor unit may include a magnetically driven conveyor mechanism
  • the empty food receptacles may include or may be placed on corresponding magnetic elements allowing the empty food receptacles to be moved by the magnetically driven conveyor mechanism
  • the empty food receptacles may be rotatable by the magnetically driven conveyor mechanism to facilitate dispensing of the food stuff directly onto a desired portion of a surface of the empty food receptacles to prepare the food dish.
  • the magnetic conveyor system may be disposed below a food-safe covering, and the corresponding magnetic elements and food receptacles may be disposed above the food-safe covering.
  • the weighing assembly may be configured to open the weight gates to release the food stuff when it is determined that the conveyor unit is in a suitable position below a corresponding dispensing device.
  • the apparatus may further include a food receptacle dispensing unit for supplying empty food receptacles to the conveyor unit.
  • the apparatus may further include a food receptacle retrieval unit for transferring the prepared food dish to a location convenient for retrieval by an operator.
  • the control device may be in wired or wireless connection with an order management system.
  • the apparatus may include a standard line cooler.
  • a method of dispensing a substance including placing a substance in a dispensing unit, the dispensing unit having a storage housing having a bottom outlet for releasing the substance, vibrating the storage housing to cause a flow of the substance within the storage housing past a deflecting baffle disposed within an interior of the storage housing, and releasing the substance through the bottom outlet.
  • Releasing the substance through the bottom outlet may include applying vibration to the storage housing according to a dispensing algorithm.
  • Vibrating the storage housing may include applying a vibrational waveform having predetermined parameters to the storage housing.
  • the predetermined parameters may be one or more of frequency, wavelength, amplitude, time period, time interval, wave speed or wave form.
  • the method may include holding the released substance with a weight gate and allowing the released substance to exit the weight gate only after a predetermined weight of the substance has been released from the storage housing.
  • the method may further include stopping the vibration after a target weight of the substance has been released from the storage housing.
  • the method may further include tracking a weight of the substance released from the dispensing unit as the substance is dispensed.
  • the method may further include, when it is determined that more than a predetermined amount of the substance has been released from the dispensing unit, providing a signal to an operator to refill the dispensing unit.
  • the method may further include manually refilling the storage housing or manually refilling a storage tray positioned above the storage housing to release the substance from the storage tray to the storage housing, or may further include removing a modular unit or sub-assembly including the storage housing and replacing the modular unit or sub-assembly including the storage housing with a pre-filled modular unit or subassembly including the storage housing.
  • the method may further include automatically refilling the storage housing or automatically refilling the storage tray.
  • the method may further include manually removing the substance from the storage tray to prepare a food dish.
  • the method may further include selecting the dispensing algorithm or the vibrational waveform based on the nature of the substance.
  • the method may further include selecting the dispensing algorithm or the vibrational waveform based on a measured weight of the substance that has been dispensed.
  • the method may further include adjusting the dispensing algorithm or the vibrational waveform based on a quantity of the substance remaining in the storage housing.
  • the method may further include waiting to release the substance from the weight gate until a determination is made that a food receptacle is appropriately positioned to receive the substance.
  • the method may further include providing a food preparation apparatus having a plurality of dispensing devices, at least one of the dispensing devices including a different ingredient than the other dispensing device(s), and a conveyor unit, and using the conveyor unit to move a food receptacle between the plurality of dispensing devices to release first desired amounts of at least a first subset of the different ingredients onto the food receptacle to produce a finished food dish or finished packaged food product.
  • the method may further include providing a food preparation assembly line including the plurality of dispensing devices and the conveyor unit, and using the conveyor unit to move the food receptacle between the plurality of dispensing devices to release second desired amounts of at least a second subset of the different ingredients onto the food receptacle to produce the finished food dish or the finished packaged food product.
  • the plurality of dispensing devices may be bundled together to form a dispensing station.
  • Each of the dispensing devices may be detachably engageable with the food preparation apparatus and may have an automatic release system.
  • the method may further include moving the automatic release system to an open configuration when the automatic release system or a sub-assembly including the automatic release system is moved into a deployed position and moving the automatic release system to a closed configuration when the automatic release system or a sub-assembly including the automatic release system is removed from the deployed position.
  • the conveyor unit may be a magnetic conveyor unit, and the food receptacle may be provided with or placed on a magnetic element movable by the magnetic conveyor unit.
  • the method may further include using the conveyor unit to move the food receptacle in an X-Y plane and/or rotate the food receptacle so that each ingredient is deposited at a desired location on the food receptacle.
  • the method may further include using a bowl dispenser to release the food receptacle onto the conveyor unit.
  • the method may further include using a bowl elevator to move the food receptacle from the conveyor unit to a desired location for convenient retrieval.
  • the conveyor unit may move the food receptacle in a substantially closed loop between the bowl dispenser and the bowl elevator.
  • the method may further include receiving a customer order, via the Internet or other wired or wireless means of communication, and using a controller to cause the plurality of dispensing devices and the conveyor unit to dispense ingredients into a food receptacle to fulfill the customer order.
  • the method may further include evaluating whether the food preparation apparatus has available all of the ingredients required to fulfill the customer order or there is a missing ingredient in the customer order, and skipping any missing ingredients and/or substituting a different ingredient for the missing ingredient.
  • the food preparation apparatus may prepare a portion of the customer order, and a user may manually complete preparation of the customer order by taking one or more ingredients from a storage tray positioned above the storage housing.
  • the substance may be a food stuff.
  • FIG. 1 is a cross-sectional view of a dispensing device, according to an embodiment
  • FIG. 1A is a perspective view of part A of the dispensing device as shown in FIG. 1 ;
  • FIG. 2 is a flow chart of a method for dispensing food stuff, according to an exemplary embodiment
  • FIGs. 3A and 3B are perspective views of baffles, according to exemplary embodiments.
  • FIGs. 3C-K are cross-sectional views of baffles, according to exemplary embodiments.
  • FIGs. 3L-Q are cross-sectional views of storage housings with different baffle configurations, according to exemplary embodiments
  • FIG. 3R is a perspective view of a support mount according to an exemplary embodiment
  • FIG. 3S is a side profile view of the support mount of FIG. 3R;
  • FIGs. 3T-V are front, side, and plan cross-sectional views, respectively, of storage housings with one baffle configuration, according to an exemplary embodiment;
  • FIG. 4 is a perspective view of a dispensing device, according to an embodiment;
  • FIG. 5 is another perspective view of the dispensing device of FIG. 4;
  • FIG. 6 is a top view of the dispensing device of FIG. 4;
  • FIG. 7 is an enlarged perspective view of a portion of the top of the dispensing device of FIG. 4;
  • FIG. 8 is a perspective view of a weighing mechanism, according to an embodiment
  • FIG. 9 is a side view of the weighing mechanism of FIG. 8;
  • FIG. 9A is a perspective view of weight gates in a CLOSED configuration according to an embodiment
  • FIG. 9B is perspective view of the weight gates of FIG. 9A in an OPEN configuration
  • FIGs. 9C, 9D and 9E are respectively top views of an embodiment of a weight gate in the fully OPEN, partially OPEN and fully CLOSED configuration, respectively;
  • FIG. 10 is an enlarged perspective view of the dispensing device of FIG. 4;
  • FIG. 11 is a perspective view of a vibration actuator, according to an embodiment
  • FIG. 12 is an exploded perspective view of the vibration actuator of FIG. 11 ;
  • FIG. 13 is a perspective view of the dispensing device of FIG. 4;
  • FIG. 14 is a perspective view of a sliding plate assembly of the dispensing device of FIG. 13, according to an embodiment;
  • FIG. 15 is a perspective view of a dispensing device, according to an embodiment
  • FIG. 16 is a perspective view of the dispensing device of FIG. 15;
  • FIG. 17 is a perspective view of the dispensing device of FIG. 15;
  • FIG. 18 is an enlarged perspective view of the dispensing device of FIG. 15;
  • FIG. 19 is a perspective view of a vibration actuator, according to an embodiment
  • FIG. 20 is an exploded perspective view of the vibration actuator of FIG. 19;
  • FIG. 21 is a perspective view of a weighing mechanism, according to an embodiment
  • FIG. 22 is a perspective view of a weighing mechanism in a first configuration, according to an embodiment
  • FIG. 23 is a top view of the weighing mechanism of FIG. 22;
  • FIG. 24 is a perspective view of the weighing mechanism of FIG. 22 in a second configuration
  • FIG. 25 is a top view of the weighing mechanism of FIG. 24;
  • FIG. 26 is a front view of the weighing mechanism of FIG. 24;
  • FIG. 27 is a perspective view of a dispensing device, according to an embodiment
  • FIG. 28 is a perspective view of a vibration actuator, according to an embodiment
  • FIG. 29 is an exploded perspective view of the vibration actuator of FIG. 28;
  • FIG. 30 is a side view of a dispensing device, according to an embodiment
  • FIG. 31 is a top view of the dispensing device of FIG. 30;
  • FIG. 32 is a perspective view of an automatic release system in a CLOSED configuration, according to an embodiment
  • FIG. 33 is a perspective view of the automatic release system of FIG. 32;
  • FIG. 34 is a perspective view of the automatic release system of FIG. 32 in an
  • FIG. 35 is a perspective view of the automatic release system of FIG. 34;
  • FIG. 35A is a perspective view of the automatic release system of FIG. 34;
  • FIG. 35B is a perspective view of a dispensing device with an automatic release system, according to an embodiment
  • FIG. 36A is a perspective view of a dispensing device, according to an embodiment
  • FIG. 36B is a side view of the dispensing device of FIG. 36A;
  • FIG. 36C and 36D are perspective views of the dispensing device of FIG. 36A;
  • FIG. 36E and 36F are exploded perspective and side views, respectively, of the dispensing device of FIG. 36A;
  • FIG. 36G is a perspective view of a weight gate assembly of the dispensing device of FIG.36A in CLOSED position;
  • FIG. 36H is a perspective view of a weight gate assembly of the dispensing device of FIG.36A in OPENED position;
  • FIG. 36I is an exploded perspective view of the storage housing of the dispensing device of FIG. 36A;
  • FIG. 36J is a perspective view of the storage housing of the dispensing device of FIG. 36A;
  • FIG. 36K is a partial perspective view of the storage housing of FIG. 36A showing a substance funnel for the storage housing of FIG. 36A, according to an embodiment
  • FIG. 36L is a perspective view of the storage housing of FIG. 36A showing the substance funnel of FIG. 36K in assembled state;
  • FIG. 37A to 37F are a series of paired perspective and side views of the dispensing device of FIG. 36A with a weight gate assembly to compact substances, according to an embodiment
  • FIG. 37G to 37L are a series of paired perspective and side views of a dispensing device with a substance compactor, according to an embodiment
  • FIG. 38A to 38D are a series of perspective, side, plan, and perspective views, respectively, of a weighing mechanism, according to an embodiment
  • FIG. 39 is a schematic diagram of a dispensing system, according to an embodiment
  • FIG. 39A is a top schematic diagram of a conveyor system according to an embodiment
  • FIG. 39B is a perspective view of a dispensing system according to an embodiment
  • FIG. 39C is a perspective cross section view of the dispensing system of FIG. 39C;
  • FIG. 40 is a schematic diagram showing a main controller of a dispensing system according to an embodiment
  • FIG. 40A is a schematic diagram of a data model of the main controller of FIG. 40;
  • FIG. 41 A is a flow chart of a method for executing an order with a dispensing system, according to an embodiment
  • FIG, 41 B is a flowchart of a dispensing method for a dispensing unit, according to an embodiment
  • FIG. 41 C is a flow chart of a method for executing an order with a dispensing system, according to an embodiment
  • FIG. 42A and 42B are perspective views of a dispensing station according to an embodiment
  • FIG. 42C is a side view of the dispensing station of FIG. 42A;
  • FIG. 42D is a plan view of the dispensing station of FIG. 42A;
  • FIG. 43A and 43B are perspective views of a dispensing system according to an embodiment
  • FIG. 43C and 43D are side views of the dispensing system of FIG. 43A;
  • FIG. 44A and 44B are perspective and side views, respectively, of a dispensing system, according to an embodiment
  • FIG. 45A and 45B are perspective and side views, respectively, of a dispensing system, according to an embodiment
  • FIG. 46 is a perspective view of a dispensing system, according to an embodiment.
  • FIG. 47 is a perspective view of a dispensing unit, according an embodiment.
  • FIGs. 48A to 48F are a series of paired perspective and side views showing a distance sensor for measuring fill level of substances in a storage housing, according to an embodiment.
  • the disclosure is versatile and encompasses dispensing a wide range of substances, including but not limited to chemicals, pharmaceuticals, natural products, cleaning agents, cosmetics, adhesives, lubricants, paints, coatings, and biological samples, in liquid, solid, or combination forms thereof. This flexibility broadens the invention's applicability, making it relevant and useful across various industries such as medical, chemical, agricultural, manufacturing, and consumer goods, thereby enhancing its commercial and practical value.
  • the terms ‘substance’, ‘ingredient’, and ‘food stuff’ have been used interchangeably throughout the disclosure, except where context indicates otherwise.
  • the dispensing device includes a storage component configured to store food stuff and a dispensing mechanism for dispensing the food stuff.
  • the dispensing mechanism includes at least one baffle located within a storage housing of the storage component for directing a flow of the food stuff, a release mechanism for releasing the food stuff from the storage component, and a vibration actuator configured to apply a vibration to the storage housing of the storage component.
  • a weighing mechanism may be provided to measure the weight of the food stuff and release the food stuff in desired quantity based on a desired weight.
  • the dispensing devices disclosed herein provide a number of advantages: first, they are adaptable to dispense a wide variety of food stuff with varying qualities, making the dispensing devices very versatile to food service providers; second, they are configurable to track the quantity of food stuff being dispensed, facilitating high standards of quality control; third, they are configurable to dispense food stuff with high accuracy and fine control, allowing highly customizable dispensing of the ingredients in both quantity and manner; fourth, they may be designed to be in a form factor that is operable in a standard fridge or line maker, thus efficient in its use of space and not changing the atmosphere or look of a food service provider; fifth, they may be modularly designed to be easily replaceable or interchangeable, ensuring little downtime for a food service operator in running its food service operations and also providing versatility in serving a variety of food; sixth, they may be easily assembled and disassembled to allow easy and efficient cleaning that conform with existing industry standard cleaning protocols; seventh, they may coordinate with any other modules, such as a conveyor module, a food recept
  • the present disclosure may provide precise control of quantity of food stuff being dispensed, may be capable of dispensing a wide range of food stuff, may be efficient in use of space, and may be easy to clean, maintain, and assemble and disassemble.
  • FIG. 1 is a cross-sectional view of a dispensing device 100, according to an embodiment.
  • FIG. 1A is a perspective view of part A of dispensing device 100 as shown in FIG. 1. To better illustrate the features of dispensing device 100, the surfaces in FIG. 1 A are shown as being transparent.
  • the dispensing device 100 includes a storage component 101.
  • Storage component 101 includes a storage housing 101 A shaped to define an interior 103, an inlet 105, and an outlet 113.
  • a baffle 107 is located in the interior 103 of the storage housing 101 A.
  • the dispensing device 100 may be applied to store and dispense a wide range of food stuff of various sizes, shapes, densities, textures, viscosities, and adhesiveness.
  • ingredients may be dispensed by any dispensing devices disclosed herein in any form including cooked, chopped, and/or sliced in any shape or form: carrots, apples, cucumbers, peppers, salsa, guacamole, mixed greens, romaine, spinach, cherry tomato, broccoli, arugula, mushrooms, croutons, pecans, corn, celery, cilantro, peanuts, red cabbage, kale, chickpeas, sharp white Cheddar, beets, and brown rice.
  • ingredients include, but are not limited to: tortilla chips, mozzarella, crunchy onions, edamame (shelled or unshelled), dried cranberries, shaved parmesan cheese, cotija cheese, grilled pepper and onion mix, pita chips, Pepper Jack cheese, picked red onion, almonds, roasted mushrooms, roasted seeds, beans, salsa, pickled olives, chopped or sliced meat, chopped or sliced tofu, chopped or sliced chicken or other proteins, and a mixture of any of the foregoing ingredients.
  • the dispensing device 100 and any other dispensing device disclosed herein may be applied in a dispensing system configured to assemble a salad using multiple different types of ingredients.
  • Food stuff enters interior 103 at inlet 105 and is disposed into the interior 103 along a general direction indicated by arrow 102-1. Inside interior 103, food stuff may flow along a general direction indicated by arrow 102-2 towards outlet 113. Food stuff exits the interior 103 at outlet 113.
  • at least a portion of the storage housing 101 A is made of a flexible material, for example, plastics or silicone.
  • the storage housing 101 A includes a portion of relatively rigid construction proximate to outlet 113 and a portion of relatively flexible construction between inlet 105 and outlet 113.
  • the portion of relatively rigid construction may perform any suitable function for dispensing device 100, for example, providing a baffle subassembly, defining an opening, providing an automatic release mechanism, etc.
  • the storage housing 101 A includes a relatively rigid portion proximate to the inlet 105 for providing a form to the portion of relatively flexible construction and facilitating coupling of the storage housing 101 A to other components, such as a frame.
  • the dispensing device 100 includes outlet defining elements 111 A and 111 B (collectively outlet defining elements 111) shaped and positioned to define the outlet 113 such that the outlet 113 extends along longitudinal axis 131 for an outlet length 121.
  • the outlet defining elements 111 may be of any suitable shape.
  • the shape of outlet defining elements 111 as shown in FIG. 1 is one of many possible shapes for the outlet defining elements 111.
  • the outlet defining elements 111 include affixed plates or removable plates.
  • the outlet defining elements 111 are sloped relative to the longitudinal axis 131.
  • the outlet defining elements 111 or portions of the outlet defining elements 111 are triangularly shaped.
  • the outlet defining elements 111 or portions of the outlet defining elements 111 include curved surfaces.
  • the outlet defining elements 111 include flat portions substantially parallel to the longitudinal axis 131 and lip portions defining a contour of the outlet 113.
  • the outlet defining elements 111 may be located at any suitable locations to define the outlet 113.
  • the position of the outlet defining elements 111 as shown in FIG. 1 is one of many possible positions for the outlet defining elements 111.
  • the outlet defining elements 111 or portions of the outlet defining elements 111 are located less proximate to the baffle 107 than depicted in Figure 1 and in directions substantially parallel to vertical axis 145.
  • the outlet defining elements 111 or portions of the outlet defining elements 111 are located more proximate to the baffle 107 than depicted in Figure 1 and in directions substantially parallel to the vertical axis 145.
  • the outlet 113 is defined on a side (e.g. one of the walls 104A or 104B hereinbelow discussed) of the storage housing 101 A.
  • the outlet defining elements 111 are shaped to define more than one outlet 113.
  • Each of the outlets 113 may be respectively defined at any suitable location to facilitate the flow of food stuff.
  • each of the outlets 113 may be vertically and/or horizontally spaced apart and/or defined on a bottom or a side of the storage housing 101 A.
  • the outlet defining elements 111 are adjustable in a length along the longitudinal axis 131 such that adjusting the length of the outlet defining elements 111 along the longitudinal axis 131 varies the outlet length 121 of the outlet 113.
  • the outlet defining elements 111 may each include a retractable plate (not shown) configured to be moveable along axis 131 to vary outlet length 121 of outlet 113.
  • the outlet defining elements 111 are of fixed length and the dispensing device 100 includes a sliding plate (not shown in FIG.
  • the sliding plate is controllable to vary the outlet length 121 to any desirable length by adjusting a position of the sliding plate along a direction substantially parallel to the longitudinal axis 131.
  • the baffle 107 is positioned in the interior 103 to define a first passageway 109A and a second passageway 109B such that the flow of food stuff is diverted onto the first and second passageways 109A and 109B by the baffle 107 prior to the flow of food stuff arriving at the outlet 113.
  • the flow of food stuff passing through the first passageway 109A flows in general directions indicated by arrows 102-3 and 102-5.
  • the flow of food stuff passing through the second passageway 109B flows in general directions indicated by arrows 102-4 and 102-6.
  • the baffle 107 may be located at any suitable location in the interior 103.
  • the position of the baffle 107 as shown in FIG. 1 is one of many possible positions for the baffle 107.
  • the baffle 107 is located in interior 103 proximate to the outlet 113.
  • the baffle 107 is located less proximate to the outlet 113 compared to the baffle 107 shown in FIG. 1.
  • the baffle 107 is located more proximate to the outlet 113 compared to the baffle 107 shown in FIG. 1.
  • the dispensing device 100 includes two or more baffles 107.
  • Each of the two or more baffles 107 may be respectively located at any suitable location in the interior 103 to facilitate the flow of food stuff.
  • each of the two or more baffles 107 may be vertically and/or horizontally spaced apart to define one or more passageways through a corresponding storage housing 101A.
  • Each of the two or more baffles 107 may respectively be of any suitable shape to facilitate the flow of food stuff.
  • at least one of the two or more baffles 107 has a shape different from the shape(s) of the other baffle(s) 107.
  • the two or more baffles 107 all have the same shapes.
  • each of the two or more baffles 107 has a shape different from shape(s) of the other baffle(s) 107. It is to be understood that any reference to “baffle” in the singular form in this application includes both reference to singular baffle and reference to plural baffles.
  • the baffle 107 extends along an axis 137 (axis 137 extends into and out of the page in FIG. 1) between an inner surface of a first wall 104A of the storage housing 101 A and an inner surface of a second wall 104B of the storage housing 101A, opposite to the first wall 104A, and is secured against the first and second walls 104A and 104B.
  • the baffle 107 is integrally formed with the storage housing 101 A.
  • the storage housing 101 A and the integrally formed baffle 107 may be made as a unitary piece through injection moulding.
  • the baffle 107 is removably attached to the storage housing 101 A and detachable from the storage housing 101 A.
  • the detachable baffle 107 may be secured against the first and second walls 104A and 104B of the housing 101 A by any suitable means.
  • the detachable baffle 107 is secured against the first and second walls 104A and 104B of housing 101 A through a form-fitting mechanical coupling.
  • the storage housing 101A is shaped to define apertures 118A and 118B respectively on the first and second walls 104A and 104B of the storage housing 101A.
  • the apertures 118A and 118B (collectively “apertures 118”) respectively extend through the first and second walls 104A and 104B along the axis 137.
  • the baffle 107 includes a baffle body 117 and projecting portions 127A and 127B (collectively projecting portions 127) projecting out of the baffle body surfaces 117A and 117B respectively along the axis 137 such that the projecting portions 127 respectively extend into and through the respective apertures 118 such that the baffle body surfaces 117A and 117B of baffle body 117 are respectively adjacent to inner surfaces of the first and second walls 104A and 104B.
  • the baffle 107 is detachable and removable from the housing 101 A.
  • housing 101 A may include a mechanism for adjusting a distance of separation between first and second walls 104A and 104B such that at least one of the projecting portions 127 may extend out of and be disengaged from the corresponding aperture 118 such that the baffle 107 may be released from the form-fitting mechanical coupling within the housing 101 A.
  • the baffle 107 is secured to and supported by a supporting mount.
  • the supporting mount is integrally formed with outlet defining elements 111.
  • the supporting mount is detachable and removable from the housing 101 A of the dispensing device 100.
  • the baffle 107 may be detachable and removable from the supporting mount.
  • the baffle body 117 may be of any suitable shape(s) and/or size(s) to facilitate a flow of any particular food stuff.
  • the shape of the baffle body 117 as shown in FIG. 1 is one of many possible shapes for the baffle body 117. In the embodiment shown in FIG.
  • the baffle body 117 is substantially diamond-shaped with rounded corners 119 in the cross-sectional plane and sized to have a diagonal length 123 longer than outlet length 121 of the outlet 113 along the axis 131.
  • the diagonal length 123 of the baffle body 117 is shorter than the length of the outlet 113 along the axis 131.
  • the diagonal length 123 of baffle body 117 is of the same length as the length of the outlet 113 along the axis 131.
  • the baffle body 117 may be any suitable shape to facilitate the flow of food stuff.
  • the baffle body 117 may be any suitable three-dimensional shape.
  • the baffle body 117 extends transversely across the storage housing 101 A with a uniform cross-sectional area in planes orthogonal to the transverse direction.
  • the baffle body 117 extends transversely across storage housing 101A with variable cross-sectional areas in planes orthogonal to the transverse direction.
  • the baffle body 117 is shaped to define a cavity or bore and is hollow in its centre.
  • FIGs. 3A and 3B are perspective views of baffles 207-1 and 207-2, according to exemplary embodiments.
  • FIGs. 3C-K are cross-sectional views of baffles 207-3 to 207-11 , according to exemplary embodiments.
  • FIGs. 3L-Q are cross-sectional views of storage housing 201A-1 to 201A-6 with different baffle configurations, according to exemplary embodiments.
  • Like numerals denote like references with respect to FIGs. 1 , 1A.
  • baffle 207-1 includes a baffle body 217-1 with baffle body surfaces 217-1 A and 217-1 B in planes orthogonal to axis 237.
  • the baffle body surfaces 217-1 A and 217-1 B are generally curved with rounded corners.
  • Baffle 207-2 includes a baffle body 217-2 with baffle body surfaces 217-2A and 217-2B in planes orthogonal to axis 237.
  • Baffle body surfaces 217-2A and 217-2B are generally elliptical-shaped.
  • FIGs. 3A and 3B illustrate the primary shapes and features of the corresponding example baffles 207-1 and 207-2 such that additional features such as projecting portions are omitted from FIGs. 3A and 3B. It is to be understood that baffles 207-1 and 207-2 may include any suitable projecting portions similar to projecting portions 127.
  • baffle 207-3 of FIG. 3C includes a baffle body 217-3 that is generally teardrop-shaped in planes orthogonal to axis 237 (axis 237 extends into and out of the page in FIGs. 3C to 3N).
  • Baffle body 207-4 of FIG. 3D includes a baffle body 217-4 that is generally shaped as a pentagon with sloped top sides and square bottom sides in planes orthogonal to axis 237.
  • Baffle body 207-5 of FIG. 3E includes a baffle body 217-5 that is generally circular in planes orthogonal to axis 237.
  • 3F includes a baffle body 217-6 that is generally triangular in planes orthogonal to axis 237.
  • Baffle body 207-7 of FIG. 3G includes a baffle body 217-7 that is generally a horizontally extending rectangle in planes orthogonal to axis 237.
  • Baffle body 207-8 of FIG. 3H includes a baffle body 217-8 that is generally shaped as an arch in planes orthogonal to axis 237.
  • Baffle body 207-9 of FIG. 3I includes a baffle body 217-9 that is generally shaped as a ring in planes orthogonal to axis 237.
  • baffle body 217-10 that is generally shaped as a sloped rectangle relative to the horizontal level in planes orthogonal to axis 237.
  • Baffle body 207-11 of FIG. 3K includes a baffle body 217-11 that is generally “ A ” shaped in planes orthogonal to axis 237.
  • Storage housing 201 A-1 of FIG. 3L includes baffles 207-5A, 207-5B and 207-11.
  • Baffles 207-5A and 207-5B are spaced apart in the longitudinal direction and located more proximate to an inlet end than baffle 207-11.
  • the baffle 207-11 is located at about a longitudinal centre of storage housing 201 A-1.
  • Storage housing 201 A-2 of FIG. 3M includes baffles 207-10A, 207-10B and 207-10C.
  • the baffles 207-10A, 207- 10B and 207-10C are interlaced from an inlet end to an outlet end to define a winding passageway 202A through the storage housing 201 A-2.
  • Storage housing 201 A-3 of FIG. 3N includes baffles 207-7A, 207-7B and 207-3.
  • the baffles 207-7A and 207-7B are spaced apart in the longitudinal direction and located more proximate to an inlet end than baffle 207-3 and baffle 207-3 is located at about a longitudinal centre of storage housing 201A-3.
  • a rectangularly shaped baffle 207-12X is supported in such a way that the substance only flows through one passageway 202-12 on one side of a truncated storage housing 201A-4.
  • a vertical rectangularly shaped baffle 207-13 is vertically suspended inside storage housing 201 A- 5 in such a way that the food stuff is diverted to two passageways 202-13A and 202-13B in a left side and a right side of the storage housing, respectively.
  • FIG. 3Q is a perspective view of a support mount 250, according to an embodiment.
  • FIG. 3S is a side profile view of the support mount 250 of FIG. 3R.
  • the support mount 250 includes a support mount body 251 , the support mount body 251 including sides 204A and 204B spaced apart in directions along axis 237. Sides 204A and 204B may be made of any suitable material such that sides 204A and 204B may be bent to adjust a distance of separation between them in directions substantially along axis 237.
  • the support mount 250 includes a central portion 253 where central portion 253 is connected to sides 204A and 204B.
  • the central portion 253 is shaped to define the outlet 113 such that the support mount 250 defines the outlet 113 of the storage housing 101A instead of the outlet defining elements 111.
  • the central portion 253 is integrally formed with sides 204A and 204B.
  • the support mount 250 may be removably attachable to a storage housing (such as the storage housing 101 A).
  • the support mount 250 is of a dimension such that it extends into the interior 103 from either an end including the inlet 105 or an end including the outlet 113.
  • the support mount 250 may be secured against the storage housing 101 A by any suitable means.
  • the support mount 250 is secured against storage housing 101 A by a latching or locking mechanism.
  • the support mount 250 may be applied to engage with baffles.
  • a baffle 207-12 includes a baffle body 217-12 shaped to define recesses 218 at each of the transverse ends of the baffle body 217-12.
  • the support mount body includes extrusions 227 respectively on the sides 204A and 204B shaped to extend into and engage with the recesses 218 of the baffle body 217-12.
  • the baffle 207-12 may be installed in the support mount 250 and the support mount 250 together with the baffle 207-12 may be installed in the storage housing 101A in a sequential manner. For example, first, the baffle 207-12 is moved into the space defined between the sides 204A and 204B and positioned to allow the extrusions 227 of the support mount 250 to engage with the recesses 218 such that the baffle 207-12 is retained by the support mount 250.
  • the retaining of the baffle 207-12 by the support mount 250 may not be a perfectly snug fit.
  • the baffle 207-12 may shift along the axis 237 under the influence of external forces.
  • a snug fit of the baffle 207-12 may be achieved upon installation of the support mount 250 together with the baffle 207-12 into the storage housing 101 A by applying forces to one or both of the sides 204A and 204B of the support mount 250 along the axis 237 such that the sides 204A and 204B are forced towards each other, consequently forcing each of the sides 204A and 204B against the baffle 207-12, thereby achieving a snug fit.
  • the sides 204A and 204B may be forced towards each other upon installation in the storage housing 101 A by any suitable means.
  • the support mount 250 includes shoulders 254 on each of the sides 204A and 204B extending away from the support mount 250 in directions along the axis 237 such that, when the support mount 250 extends into the interior 103, inner surfaces of the storage housing 101 A force the shoulders 254 towards each other, and the sides 204A and 204B are forced towards each other due to being connected to the shoulders 254.
  • the side 204A includes extrusions 227 shaped as a cross or a “plus” sign to engage with the recesses 218 of the baffle body 217-12. It will be appreciated that this shape is purely exemplary and that the extrusions 227 and the recesses 218 may be shaped in any suitable way to engage with each other.
  • the support mount 250 is made of a material such that the sides 204A and 204B can be forced apart or towards each other along transverse directions substantially parallel to the axis 237.
  • FIG. 3T shows a frontal cross-sectional view of storage housing 201 A- 7 with a T-shape baffle 207-15 that reduces the inner width of storage housing in direction 231 and enables substance flow through passageways 202-15A and 202-15B in left and right sides, respectively of the storage housing 201 A-7.
  • the smaller width of the storage housing 201A-7 improves passage and dispensing of relatively smaller substances that may require higher dispensing accuracy.
  • FIG. 3U shows a side cross- sectional view of the storage housing 201A-7
  • FIG. 3V shows a planar view of the storage housing 201 A-7 with the baffle 207-15.
  • the projecting portions 127 may be of any suitable size and/or construction.
  • the projecting portions 127 are substantially square-shaped in planes perpendicular to the axis 137.
  • the projecting portions 127 have a substantially circular shape in a plane perpendicular to axis 137.
  • the projecting portions 127 have a substantially diamond shape in a plane perpendicular to axis 137. It will be appreciated that the projecting portions 127 may have any suitable shape.
  • the baffle 107 does not include the projecting portions 127 and the storage housing 101 A is not shaped to define recesses. In this embodiment, the baffle 107 is shaped to define recesses such that the baffle 107 may engage with any suitable counterpart components.
  • dispensing device 100 includes a vibration actuator 115 positioned proximate to the storage housing 101 A and configured to apply vibration to the storage housing 101A.
  • Vibration actuator 115 includes a force applicator 133 mechanically engaged with a wall 104C of the storage housing 101A.
  • the mechanical engagement between the force applicator 133 and the storage housing 101A is disconnectable.
  • the storage housing 101A may be connected to the force applicator 133 when the storage housing 101 A is moved into an operational position for dispensing and disconnected from the force applicator 133 when the storage housing 101 A is removed from the operational position for dispensing.
  • the force applicator 133 is coupled to the vibration actuator 115 through a force transmitter 134, but it will be appreciated that the force transmitter 134 may be replaced with one or more other suitable components or omitted entirely.
  • the vibration actuator 115 further includes a driver 139 configured to drive the force applicator 133 to move along an axis 135.
  • the driver 139 includes one or more motor(s).
  • the force generated by the driver 139 is transmitted to the force applicator 135 through the force transmitter 134.
  • the vibration actuator 115 is configured to transmit force to the force applicator 133 directly without an intervening force transmitter 134.
  • the force applicator 133 includes magnetic or ferromagnetic portions and the vibration actuator 115 includes an electro-magnet or a motor with magnetic couplings such that the force applicator 133 can be driven by electromagnetic forces.
  • An advantage of a magnetic force applicator 133 being driven by an electromagnetic vibration actuator 115 is the ability to transmit force without mechanical contact.
  • the dispensing device 100 alternatively or additionally includes another set of force applicator and force transmitter configured to apply vibration along axis 145. The driver 139 and/or another driver may drive the additional set of force applicator and force transmitter along the axis 145.
  • the vibration actuator 115 is configurable to generate vibration to the housing 101 A of the dispensing device 100 by the driver 139 driving the force applicator 133 in waveforms.
  • the force may be any one of or any combination of: an on/off pulse waveform, a sinusoidal waveform, a square shaped waveform, a trapezoid shaped waveform, a sawtooth shaped waveform, a frequency switching waveform, a waveform switching waveform, an amplitude switching waveform, a combination of waveforms with a predetermined timing sequence to switch between the waveform(s) or to turn them on/off, etc.
  • the dispensing device 100 includes a controller 125 configured to adjust a vibrational setting of the vibration actuator 115. It will be appreciated that the dispensing device 100 may be provided without the controller 125.
  • the controller 125 may apply control signal S125 to the vibration actuator 115 to generate vibrational waves over a range of frequency, wavelength, time period, time intervals, wave speed, waveform and amplitude.
  • the controller 125 may be applied to any dispensing devices disclosed herein.
  • the vibrational wave(s) has a frequency in the range of about 0.5Hz to about 100Hz. In an embodiment, the vibrational wave(s) has a frequency in the range of about 1 Hz to about 40Hz.
  • the vibrational wave(s) has a time interval in the range of about 0.1 seconds to about 10 seconds. In an embodiment, the vibrational wave(s) has a time interval in the range of about 0.2 seconds to about 5 seconds.
  • the time interval may be: (i) time between start and stop sequences with the same waveform, (ii) time between frequency changes, (iii) time between switching waveform types, or (iv) time interval as a result of any combination of (i)-(iii), etc.
  • a vibrational form including a square wave pulse for 0.3 seconds at 30Hz at 50 percent actuation power, then switched off for 0.5 seconds before switching to 7Hz with 90 percent actuation power. The cycle may be repeated until dispensing is complete.
  • Actuation power may be adjusted by applying voltage to the vibration actuator 115 or by the controller 125 through adjusting PWM duty cycle.
  • Another exemplary vibrational waveform may include a 10Hz mechanical output for 0.2 seconds, then reversing for 0.2 seconds to act as a quick brake, then switched off for 0.2 seconds and then actuated at 5Hz for 1 second. The cycle may be repeated until dispensing is complete.
  • the shape of the waveform may change from a lower-frequency square wave to a higher-frequency sinusoidal wave.
  • the time interval(s) may be dynamic (i.e., the time interval(s) may change during dispensing through adjustment of the dispensing algorithm in real time).
  • the switching time i.e., time interval
  • the vibrational wave(s) has an amplitude in the range of about 1 mm to about 15mm.
  • the amplitude may be pre-set mechanically or adjustable during dispensing.
  • the vibrational settings may be adaptively controlled and adjusted by the controller 125 to respond to the properties of the food stuff and/or the state of the dispensing device 100 (e.g., the quantity of food stuff present in the dispensing device 100 at any given time).
  • the vibration actuator 115 may apply the vibration to the storage housing 101 A at any suitable positions relative to the storage housing 101 A.
  • the vibration actuator 115 is positioned proximate to the outlet 113 and a distance between the vibration actuator 115 and the baffle 107 in a direction substantially parallel to the axis 145 is greater than a distance between the vibration actuator 115 and the outlet defining elements 111 in the direction substantially parallel to the axis 145, but it will be appreciated that in other embodiments this condition does not obtain.
  • the vibration actuator 115 may be positioned at any location on any surface of the storage housing 101 A.
  • the vibration actuator 115 is positioned at a location between the baffle 107 and the outlet defining elements 111 in a direction substantially parallel to the axis 145. In an embodiment, the vibration actuator 115 is positioned at a location proximate to the inlet 105. In an embodiment, the vibration actuator 115 is positioned on other surfaces of the storage housing 101 A. In an embodiment, the vibration actuator 115 is positioned such that the vibration actuator 115 is oriented to drive the force transmitter 134 along a direction substantially parallel to the axis 137. In an embodiment the vibration actuator 115 is configured to apply a three-dimensional vibration to the storage housing 101 A, including a horizontal vibration component, a vertical vibration component, and a transverse vibration component, or a combination thereof.
  • a plurality of vibration actuators are provided, which are configured to vibrate the storage housing 101 A from various locations either in the same general axis, or in various axes to generate a three- dimensional vibration.
  • the vibration actuator 115 includes a mechanical brake or an electronic brake to stop vibrational motion immediately.
  • the vibration actuator 115, or a similar actuator instead of the vibration actuator 115 or in parallel thereto is coupled to the baffle 107 to vibrate the baffle 107 to assist in substance dispensing or prevent ingredient blockage on the baffle 107.
  • the vibration actuators are coupled with a magnetorheological shock absorber to allow passive or active adjustability on how much shock gets transferred to the storage housing 101 A while vibrating.
  • the dispensing device 100 includes a weighing mechanism 180 located at a position generally directly beneath the outlet 113.
  • the weighing mechanism 180 includes a weighing assembly 181 and weight gates 183. Food stuff exiting the interior 103 at the outlet 113 is retained by the weight gates 183 to be weighed by the weighing assembly 181.
  • the weighing assembly 181 may control the weight gates 183 to release the food stuff upon determining that a desired weight of the food stuff has been accumulated by the weight gates 183. Food stuff may be released by the weight gates 183 into containers to be served to customers.
  • the weighing mechanism 180 includes a “floating” structure design wherein all of the weight of the weight gates 183 and the weighing assembly 181 bear on a load cell (not shown in FIG. 1).
  • load cell 487 An example of a load cell is shown as load cell 487 in FIG. 21 of this application (as further discussed hereinbelow).
  • the load cell is configured to convert the weight bearing on the load cell into measurable output.
  • the load cell may be affixed to a housing or a frame.
  • the measurable output is processed and further transformed to provide data output (i.e., weight data).
  • the weighing assembly 181 and the weight gates 183 may be considered to be fully or substantially “floating” because all or nearly all of the entire weight of weighing assembly 181 and weight gates 183 bears on the load cell such that they are not supported by any other structures.
  • the weight of the fully or substantially “floating” structure may be set as the default weight on the load cell such that any additional weight bearing on the load cell (e.g., food stuff entering and being retained by the weight gates 183) may be measured and output by the load cell to a controller 125.
  • the “floating” structure design is applied to the entire storage housing 101 A such that all or substantially all of the entire weight of the storage housing 101 A, the baffle 107, and the outlet defining elements 111 bears on load cell(s) and can therefore be measured and tracked.
  • the weight of any food stuff that enters storage housing 101 A can be measured and tracked by the load cell(s) in to facilitate accurate dispensing.
  • the weighing mechanism 180 makes and collects real time weight measurement of food stuff being retained by the weight gates 183 and transmits the measurement data to the controller 125.
  • the controller 125 may, upon receiving the real time weight measurement data from the weighing mechanism 180, send corresponding control signals S125 to the vibration actuator 115 to adjust one or more vibrational settings of the vibration actuator 115.
  • a control signal S125 may be sent to the vibration actuator 115 to adjust one or more vibrational settings to cause the vibration being applied to the storage housing 101 A to be more suitable for dispensing of a desired precise quantity of food stuff from the interior 103 (e.g. lowering amplitude of vibration, lowering frequency of vibration, lowering interval of vibratory pulses, etc.).
  • This allows precise control of quantity of food stuff being dispensed as well as ensuring high quality control of the quantity of food stuff being dispensed.
  • FIG. 2 is a flow chart showing a method 200 for dispensing food ingredients, according to an embodiment.
  • the method 200 may be performed by or with the dispending device 100 or any other dispensing device disclosed herein.
  • operational parameters are entered as inputs into an operational device.
  • the operational parameters may include any one or more of: ingredient type, desired quantity, e.g., weight, desired accuracy of quantity being dispensed, etc.
  • a user enters some or all of the operational parameters as inputs to the operational device based on order(s) of one or more customers.
  • some or all of the operational parameters are automatically generated based on the orders and then provided to the operational device.
  • the operational device may be any suitable device that is configurable to manage the dispensing operation.
  • the operational device may be a computer or a network of computers interconnected to perform the dispensing operation.
  • a dispensing algorithm and a vibrational waveform are selected corresponding to the input operational parameters.
  • a plurality of dispensing algorithms may be stored in a memory storage (such as a lookup table or a formula) and retrievable by the operational device during operation.
  • the dispensing algorithm includes portions of instructions that are predetermined and portions of instructions that are adjustable depending on the input operational parameters.
  • dispensing algorithms may be generally categorized corresponding to ingredient types, and the specific vibrational waveforms or vibrational settings may be customized corresponding to the input desired weight and/or desired accuracy.
  • the vibrational settings are customized based on one or more formulas.
  • the operational device can determine and/or retrieve the dispensing algorithm and vibrational waveform and send corresponding commands to a controller (e.g., the controller 125) for generating vibration based on the selected dispensing algorithm and vibrational waveform.
  • a controller e.g., the controller 125
  • the dispensing algorithms and vibrational waveforms are developed, modelled and/or refined through training of machine learning and/or any suitable artificial intelligence (Al) programs on data collected from the operation of the dispensing devices and/or dispensing system disclosed herein.
  • the machine learning and/or Al programs may be adapted to be applied to dispensing devices and/or the dispensing system disclosed herein through specific parameterization and data training on data obtained from sensors in the dispensing devices and/or the dispensing system disclosed herein.
  • the machine learning and/or Al programs may further be configured to optimize for an Al generated dispensing algorithm based on the input operational parameters.
  • the Al system accepts high-level user parameters such as desired throughout and accuracy, and then based on the ingredient type, the baffle type, the storage housing type, and the vibration actuator type, generates an optimized dispensing algorithm and/or vibrational waveforms.
  • the ingredient type, the baffle type, the storage housing type, and the vibration actuator type may be stored as predetermined settings, or provided via user inputs, or detected by any one or more built-in sensors such as RFID, colour sensors, barcode readers, camera(s) and/or visual processing devices.
  • a vibration actuator applies vibration to the storage housing according to the dispensing algorithm.
  • the vibration actuator may be any vibration actuator disclosed herein.
  • the vibration actuator may be controlled by the controller. While the vibration actuator is applying vibration to the storage housing to facilitate dispensing by the dispensing device, the weight of the ingredients being dispensed is being tracked.
  • the weight of the ingredients may be tracked by any weighing mechanism as disclosed herein. Any weighing mechanism disclosed herein may be used as part of a dispensing system.
  • the weight sensor of the weighing mechanism may be located at any suitable locations in a dispensing system (e.g. dispensing system 3900).
  • the weight sensor(s) may be located on the dispensing unit, the weight gates of the weighing mechanism, conveyor, and/or trays.
  • the dispensed ingredients may be deposited into and retained by any weight gates disclosed herein before being released into a food receptacle.
  • the dispensing algorithm and vibrational waveform are adjusted based on the tracked measured dispensed weight of the ingredients. After adjusting the dispensing algorithm and vibrational waveform, S205 loops back to S203 for applying more vibration. It may be desirable to adjust the dispensing algorithm and vibrational waveform in some use cases. For example, to dispense 100g of an ingredient, the dispensing device may initially apply a dispensing algorithm and vibrational waveform suitable for quickly dispensing a relatively larger quantity and then adjust to another dispensing algorithm and another vibration waveform suitable for precise control dispensing for dispensing the last, e.g., 5g of ingredients, especially when accuracy requirement is high.
  • the dispensing algorithm and vibrational waveform are adjusted based on the tracked measured weight of the quantity of ingredients remaining in the storage housing.
  • the weight is sampled several times a second (or at a few KHz depending on desired accuracy/speed) and processed via a "moving average” filter or a "peak filter” or a filter that calculates a median based on several maxima and minima points in the weight data and which may facilitate accurately tracking the weight in almost real-time even during vibration. Tracking the measured weight of the ingredients remaining in the storage housing provides important information for determining whether to adjust the dispensing algorithm.
  • the dispensing algorithm may be adjusted to account for the low stock.
  • the adjustment may be one or more of: stopping vibration, applying vibration, increasing vibration, decreasing vibration, changing waveform, etc.
  • S207 After adjusting the dispensing algorithm and vibrational waveform, S207 also loops back to S203 for applying adjusted vibration.
  • a weight of the ingredients being retained in the weight gates is measured.
  • the weight may be measured by any weighing methods disclosed herein.
  • the weight is measured by weighing assembly of a weighing mechanism that includes the weight gates.
  • the weight is calculated from a change in the measurement of the weight of the storage housing as described above.
  • the weight is calculated by volumetric measurements such as measuring the volume of a substance inside the storage housing and then using the substance's given density to calculate the weight.
  • the volume may be measured by a distance sensor placed on the top opening of the storage housing to measure the fill level of the storage housing, may be measured by a visual camera looking from the side of the storage housing, or may be measured by any other volumetric measurement of the substances.
  • the controller based on the tracked weight data received from the weighing mechanism, adjusts the dispensing algorithm and the vibrational waveform.
  • the adjustment may be any one or more of: stopping vibration, applying vibration, increasing vibration, decreasing vibration, changing waveform, etc.
  • S209 further loops back to S203 for applying adjusted vibration. Otherwise, if the target weight in the weight gates is reached, the method 200 proceeds to S211.
  • the controller sends a signal to the vibration actuator to stop vibration and therefore cease dispensing. Additionally, the weight gates are then manipulated according to a release algorithm to release the ingredients into a food receptacle.
  • the position of the food receptacle may be controlled by a conveyor system based on the dispensing algorithm or by a network computer or conveyor system.
  • the release algorithm is determined by the ingredient type and the position of the food receptacle in the conveyor system.
  • the food receptacle may be translated and/or rotated by the conveyor system.
  • the weight gates may be controlled to open, close, or open to any desired degree between fully open and fully closed.
  • the weight gates may also be controlled to open and close in succession to help with sticky ingredients to fall out quickly, or for regular ingredients to fall out in a controlled manner.
  • the flaps of the weight gates only partially open and then vibrate back and forth to accurately drop ingredients onto the food receptacle while the food receptacle is being controlled by the conveyor system to move in a way such that the ingredients are distributed as desired, e.g., evenly or in a specific section of the food receptacle.
  • the weight gates may also be controlled to open for any desired period of time between any desired intervals.
  • the weight gates may be controlled to release portions of the ingredients as the food receptacle is being rotated by the conveyor system so that the ingredients are distributed in the food receptacle in a desired pattern.
  • the food receptacle may be a bowl.
  • Method 200 can be applied with any dispensing devices disclosed herein. In an embodiment, the method 200 does not include one or more of the mentioned S205, S207, and S209.
  • FIG. 4 is perspective view of a dispensing device 300 according to an example embodiment.
  • FIG. 5 is another perspective view of the dispensing device 300.
  • FIG. 6 is a plan view of the dispensing device 300.
  • the dispensing device 300 includes a storage component 301 including a storage housing 301A shaped to define an interior 303, an inlet 305, and an outlet 313.
  • a baffle 307 (shown in FIG. 6) is located in the interior 303 of the storage housing 301A.
  • the baffle 307 includes projecting portions 327 and may be secured to storage housing 301A in a manner similar to the manner in which the baffle 107 of the dispensing device 100 is secured to the storage housing 101 A.
  • the dispensing device 300 may be applied to store and dispense any food stuff that may be stored and dispensed by the dispensing device 100.
  • the storage housing 301 A may be added to or removed from a dispensing system in a user-friendly manner.
  • the storage housing 301 A is shaped to define first and second recesses 351 A and 351 B respectively on first and second walls 304A and 304B (collectively “wall(s) 304”) of the storage housing 301 A.
  • a support member 353 extending along a transverse axis 337 extends through the first and second recesses 351 A and 351 B (collectively “recesses 351”) and is secured against both the first and second walls 304A and 304B.
  • the support member 353 includes a supporting body 355 and first and second end portions 357A and 357B (collectively, “end portion(s) 357”).
  • the supporting body 355 is located in the interior 303 of the storage housing 301A.
  • the supporting body 355 may be coupled to the first and second end portions 357A and 357B by any suitable means.
  • the supporting body 355 is coupled to the first and second end portions 357A and 357B through a threadable connection.
  • the supporting body 355 is coupled to the first and second end portions 357A and 357B through a pin connection.
  • the supporting body 355 is permanently secured to the first and second end portions 357A and 357B.
  • the supporting body 355 is welded to the first and second end portions 357A and 357B.
  • the supporting body 355 may be secured against the first and second walls 304A and 304B by any suitable means.
  • the support member 353 is integrally formed with the storage housing 301 A.
  • the storage housing 301 A and the support member 353 may be formed out of a one-piece plastic.
  • the support member 353 may be applied to any dispensing devices disclosed herein.
  • FIG. 7 is an enlarged perspective view of a portion of the dispensing device 300 showing a portion of the support member 353.
  • the wall 304 includes shoulders 352 and is shaped to define the recesses 351A-B such that the recesses 351A-B has a narrow portion 354 defined by the shoulders 352 and a wide portion 356.
  • a distance between the shoulders 352 i.e., a length of the narrow portion 354 is smaller than a diameter of the wide portion 356 of the recesses 351 A-B.
  • the end portions 357A- B includes an end body 358 and a connector portion 360.
  • the end body 358 of the end portions 357A-B is located outside of the interior 303 and outside of the recesses 351 A- B.
  • the connector portion 360 extends into and through the recesses 351A-B and connects to the supporting body 355.
  • the connector portion 360 has a diameter smaller than the diameter of the wide portion 356 but larger than the length of the narrow portion 354 such that once the connector portion 360 extends into and through the recesses 351A-B, the connector portion 360 is restricted by the shoulders 352 from moving along the axis 345 and thus prevented from extending away from the recesses 351A-B along the axis 345.
  • the end body 358 has a diameter larger than the diameter of the wide portion 356 and is restricted by the wall 304 to enter the recesses 351 A-B along the axis 337.
  • the support member 353 may be secured against the walls 304 as the first and second end portions 357 extend into the respective recesses 351 and are connected to the supporting body 355.
  • the support member 353 may be easily disassembled and detached from the storage housing 301A of the dispensing device 300. To detach the support member 353 from the storage housing 301 A, the end portions 357 are detached from the supporting body 355 such that the end portions 357 may extend out and away from the recesses 351 and the supporting body 355 may extend out of and away from the interior 303. It is to be understood that FIG.
  • the dispensing device 300 may include any other suitable means for securing the support member 353 to the walls 304.
  • the support member 353 may be used as a handle for ease of retrieving the dispensing device 300.
  • the support member 353 as shown in FIGs. 4-7 is positioned at about a longitudinal centre of the storage housing 301 A. However, the support member 353 may be positioned at any suitable location on the storage housing 301 A to be used as a handle.
  • the support member 353 as shown in FIGs. 4-7 includes a supporting body 355 with substantially circular cross sections in planes perpendicular to the axis 337. However, the support member 353 may be of any suitable shape.
  • the support member 353 serves as a pivot for the dispensing device 300 when vibration is applied to the storage housing 301 A.
  • a first support member serves as the handle and a second support member serves as the pivot.
  • a single support member serves as both the handle and the pivot.
  • the support member 353 is an integral feature of the storage housing 301A where the support member 353 may be extended and/or bent inwards or outwards to be useful as a handle.
  • the first and second end portions 357A and 357B of the support member 353 respectively abut against, for example under the influence of gravitational force, and are supported by mounts 359A and 359B (shown in FIG. 4 and FIG. 5 respectively).
  • Mounts 359A and 359B may be shaped to define recesses that receive and abut against the first and second end portions 357A and 357B of the support member 353.
  • the mounts 359A and 359B may be supported by load cell(s) housed within either or both of load cell housings 362A and 362B. In an embodiment, only one load cell is included for measurement.
  • the one load cell may be housed in either load cell housing 362A or 362B.
  • each load cell housing 362A, 362B includes a load cell.
  • the load cell housings 362A and 362B may be secured to frames (not shown) by fasteners 361 .
  • the load cell housings 362A and 372B are restricted by the fasteners 361 to be moveable substantially in directions along the axis 345.
  • the frames may be part of a larger support structure (not shown).
  • load cells housed within the load cell housing 362A and 362B are configured to support a fully or substantially “floating” structure that includes the mounts 359A and 359B, the support member 353, the storage housing 301A, and components attached to the storage housing 301A, including the baffle 307 and outlet control assembly 341 (shown in FIG. 13) such that the entire weight of the fully or substantially “floating” structure bears on load cells housed within the load cell housings 362A and 362B.
  • a weighing sensor (not shown in Figures) may be installed on either or both of the sides 304A and 304B to measure the weight of the fully or substantially “floating” structure including the storage housing 301A.
  • the weight of the fully or substantially “floating” structure allows tracking of the quantity of food stuff being dispensed by keeping track of the initial weight of the fully or substantially “floating structure” including the storage housing 301A loaded with ingredients and subsequent weight measurements of the fully or substantially “floating” structure such that the quantity of the food stuff being dispensed can be derived at any time based on the existing measurements of the weighing sensor.
  • the weight of the food stuff in the storage housing 301A may be measured using a distance sensor (e.g. distance sensor 4820 shown in FIG. 48A), a volumetric sensor placed on top of the storage housing, or a camera to measure and track the amount of food stuff by visual inspections (e.g.
  • the weight may be sampled several times per second (or at a few KHz depending on desired accuracy/speed) and processed via a "moving average” filter or a "peak filter” or a filter that calculates a median based on several maxima and minima points in the weight data and which may facilitate accurately tracking the weight in almost real-time even during vibration.
  • a "moving average” filter or a "peak filter” or a filter that calculates a median based on several maxima and minima points in the weight data and which may facilitate accurately tracking the weight in almost real-time even during vibration.
  • the dispensing algorithm and vibrational waveform may be adjusted based on quantity of ingredients in the storage housing 301A, which is measurable in the storage housing “floating” structure. Additionally, the measurement enables providing alerts to an operator such that the operator may re-fill the storage housing 301A with ingredients when the quantity of food stuff within the storage housing 301A gets low.
  • the weight measurement further facilitates tracking and checking a status of the storage housing 301A, e.g. whether the storage housing 301A is installed or removed. For example, when a removable storage housing 301A is deposited into the supporting frames and bears on the load cells 362A and 362B, the weight measurement may be used to ascertain that the storage housing 301A has been installed. Similarly, when the removable storage housing 301 A is removed from the frames, the weight measurement may be used to ascertain that the storage housing 301A has been removed.
  • the dispensing device 300 may include modular components such that the dispensing device 300 may be easily disassembled into the modular components.
  • a “modular component” means a component that can be independently installed in a system for operation and can also be independently detached from a system to be replaced.
  • the system may be any of the dispensing devices disclosed herein or a dispensing system that includes the dispensing device as a component.
  • a vibration module in any of the dispensing devices disclosed herein may include the vibration actuator 115 and force applicator 133 of Figure 1 where the vibration module can be independently attached and detached to a supporting frame and independently connected to an electrical source with a corresponding electrical connector such that the vibration module can be installed and operated without interfering with any other components of the dispensing device.
  • some or all of the modular components are independently remotely connectable to one or more control devices and are independently controllable.
  • some or all of the modular components are controllable via Wi-FiTM.
  • the modular components may be internet-of-things (loTs) in a larger system.
  • various components of the dispensing devices and apparatus disclosed herein may be provided as modular components that are interchangeable with one another.
  • the storage housing may be provided with an integral baffle as a module, or the storage housing may be combined with a baffle provided as a component of a support mount or an automatic release system as a subassembly that acts as a modular component.
  • components such as the weight gates, weighing mechanism, automatic release system, vibration actuator and so on may be provided as modular components that may be interchangeably attached and detached to the storage housing and/or to each other as disclosed herein for use in any desired combinations, and further may be readily detached from one another for ease of cleaning.
  • modular units or sub-assemblies including the storage housing may be pre-filled and maintained in storage by an establishment in which an apparatus utilizing the dispensing device described herein is deployed, so that as one storage housing runs out of an ingredient, a fresh storage housing may be rapidly swapped in.
  • modular components facilitate easier process for cleaning the dispensing device 300 and also allow interchangeability of parts, which provides convenience in replacing parts.
  • the storage housing 301A includes an upper housing portion 363 and a lower housing portion 365.
  • the upper housing portion 363 When assembled, the upper housing portion 363 is joined with and makes contact with the lower housing portion 365 along circumferential contact line 367.
  • the upper housing portion 363 and the lower housing portion 365 are hingedly joined by hinges 369 (shown in FIG. 5) on wall 304D.
  • the hinges 369 facilitate relative hinged rotation between the upper housing portion 363 and the lower housing portion 365 about hinge axis 370 (shown in FIGs. 5 and 6). Hinged action from the hinges 369 allows the storage housing 301 A to open up and fold such that the storage housing 301A may more easily fit into a standard dishwasher for cleaning.
  • the hinged connection along the axis 370 are provided by a living hinge whereby both the upper and lower housing portions 363, 365 are integrally formed with a continuous piece of material extending therebetween to act as the living hinge.
  • Fasteners 371 (shown in FIG. 4) are attached to wall 3040 of the storage housing 301A configured to secure the upper housing portion 363 to the lower housing portion 365 when the upper housing portion 363 and the lower housing portion 365 make contact along the circumferential contact line 367 in an assembled configuration.
  • the fasteners 371 include buckles.
  • each of the upper housing portion 363 and the lower housing portion 365 are shaped to respectively define incision lines 373 and 375 (shown in FIG. 5) such that a first upper housing portion 363A may be separated from a second upper housing portion 363B along the incision line 373 and a first lower housing portion 365A may be separated from a second lower housing portion 365B along the incision line 375. Separation of the first and second lower housing portions 356A and 365B along the incision line 375 may facilitate attachment and detachment of the baffle 307 as well as the outlet defining elements 311A and 311 B (shown in FIG. 13) to and from housing the 301A through the use of the fasteners 377.
  • the fasteners 377 may be fastened to attach the first and second lower housing portions 356A and 365B along the incision line 375 such that the first and second lower housing portions 356A and 365B abut each other along the incision line 375.
  • the fasteners 377 may be unfastened to allow the first and second lower housing portions 356A and 365B to separate along the incision line 375 such that a slit forms between the first and second lower housing portions 356A and 365B.
  • the baffle 307 Similar to the baffle 107 of the dispensing device 100, the baffle 307 includes projecting portions 327 that extend into and out of apertures 318.
  • the baffle 307 is placed into the interior 303 when the fasteners 377 are unfastened.
  • the projecting portions 327 of the baffle 307 are then aligned to the apertures 318 of the housing 301 A.
  • the fasteners 377 are fastened to attach the first and second lower housing portions 356A and 365B along the incision line 375 during which the projecting portions 327 of the baffle 307 extend respectively into the corresponding apertures 318.
  • the projecting portions 327 of the baffle 307 are restricted by the apertures 318 from moving in directions along the axis 345.
  • Baffle body 317 (shown in FIG. 6) of the baffle 307 abuts inner surfaces of the walls 304A and 304B such that the baffle body 317 is prevented from moving in directions along the axis 337.
  • the dispensing device 300 includes a weighing mechanism 380 configured to measure a weight of food stuff exiting the interior 303 of the dispensing device 300.
  • the weighing mechanism 380 includes a weighing assembly 381 and weight gates 383.
  • the weighing assembly 381 may be attached to supporting frames (not shown) by nuts and bolts 385.
  • the weight gates 383 are located at a position beneath the outlet 313 of the housing 301 A such that food stuff exiting the interior 303 of the housing 301 A from the outlet 313 enters the weight gates 383.
  • FIG. 8 is a perspective view of the weighing mechanism 380, according to an embodiment.
  • FIG. 9 is a side view of the weighing mechanism 380.
  • the weighing assembly 381 includes first and second weight gate shafts 389A and 389B (collectively, “weight gate shafts 389”).
  • First and second weight gates 383A and 383B are respectively removably attached to the weight gate shafts 389A and 389B.
  • the weight gate shafts 389A and 389B are respectively rotatable about shaft rotational axes 390A and 390B such that the weight gates 383A and 383B are also respectively rotatable about shaft rotational axis 390A and 390B by virtue of being attached to the weight gate shafts 389.
  • the first weight gate shaft 389A may rotate along direction 392A and the second weight gate shaft 389B may rotate along direction 392B such that the first weight gate 383A also rotates along direction 392A and the second weight gate 383B also rotates along direction 392B.
  • the weight gates 383 are configurable to be in a CLOSED configuration, an OPEN configuration, or any other position between the CLOSED configuration and the OPEN configuration.
  • the weight gates 383 are in a CLOSED configuration such that the weight gates 383 define a pocket 387.
  • the pocket 387 receives and holds food stuff exiting from the outlet 313 of the housing 301 A.
  • the weight gates 383 are in an OPEN configuration when the first weight gate 383A rotates along the direction 392A and the second weight gate 383B rotates along the direction 392B such that the pocket 387 creates a passageway therethrough that allows food stuff to exit the pocket 387 at an exit end 391.
  • the weight gates 383A and 383B are easily removable from the shafts 389A and 389B through application of an upward force. Easy removability of the weight gates 383A and 383B allows easy disassembling and ease of cleaning the weight gates 383 (e.g. in a dishwasher).
  • the weight gates 383A and 383B may be controlled to respectively rotate about the axes 390A and 390B for any angles of rotation and any desired speed, and open for any desired time period and open and close for any desired intervals to facilitate accurate and controlled release of food stuff into a food receptacle.
  • the weight gates 383A and 383B may be opened and closed in succession to create a vibration or back-and-forth motion such that food stuff is released at a controlled rate.
  • the weight gates 383 are removably attachable to the weight gate shafts 389.
  • the weight gates 383 may be removably attached to the weight gate shafts 389 by any suitable means.
  • the weight gates 383 may each include a connection sleeve shaped to define a through-bore such that the weight gate shaft 389 may extend into and through the through-bore.
  • the weight gate shafts 389 may each include an attachment slot such that when the weight gate shaft 389 extends into and through through-bore of the connection sleeve of the weight gates 383, the connection sleeve slots into the attachment slot of the weight gate shafts 389.
  • the weighing assembly 381 may include any suitable means for measuring a weight of food stuff disposed into the pocket 387.
  • the weighing assembly 381 includes a load cell configured to support the weight of a fully or substantially “floating” structure including the weight gates 383, the weight gate shafts 389, and all other components of the weighing assembly 381 such that the weight of the weighing assembly 381 bears on the load cell such that the load cell may make an accurate weight measurement of food stuff in the pocket 387 by setting weight of the fully or substantially “floating” structure to default.
  • the weighing assembly 381 is positioned generally proximate to the load cell such that the weight of the weighing assembly 381 bears on the load cell directly.
  • the weight of the weight gates 383 bears on the load cell asymmetrically by virtue of their connection to the shafts 389A and 389B which extend away from the weighing assembly 381 along the axes 390A and 390B, respectively. None or almost none of the weight of the weight gates 383, the weight gate shafts 389, and all other components of the weighing assembly 381 bears on any housing element that encloses the weighing assembly 381 .
  • the housing element shields the weighing assembly 381 from food stuff.
  • the load cell may be supported by a load cell mount and the load cell mount may be affixed to a supporting frame.
  • the weighing assembly 381 may include any suitable means for controlling the weight gate shafts 389.
  • the weighing assembly 381 includes servo motors configured to drive rotation of the weight gate shafts 389.
  • the weighing assembly 381 may include a controller configured to receive weight data from the load cell and send a control signal to the servo motors to configure the weight gates 383 between OPEN and CLOSED configurations.
  • FIG. 9A is a perspective view of weight gates 283 in a CLOSED configuration, according to an embodiment.
  • FIG. 9B is perspective view of the weight gates 283 of FIG. 9A in an OPEN configuration.
  • the weight gates 283 are similar to the weight gates 383 and include first and second weight gate flaps 283A and 283B. Any functions and features disclosed herein in relation to the weight gates 383 are similarly applicable to the weight gate flaps 283A and 283B.
  • the weight gate flaps 283A and 283B respectively include panels 285A and 285B on a respective side of the weight gate flaps 283A and 283B. The panels 285A and 285B are located opposite to each other in directions along the axis 287.
  • the panels 285A and 285B are configured to prevent food stuff from spilling out of the weight gates 283 in directions along the axis 287 when the weight gates 283 switches from CLOSED configuration to OPEN or partially OPEN configuration to release the food stuff.
  • the panels 285A and 285B are detachably connected to the weight gate flaps 283A and 283B respectively and may be easily disassembled.
  • the panels 285A and 285B are integrally formed with the weight gate flaps 283A and 283B. In the embodiment shown in FIGs. 9A and 9B, the panels 285A and 285B are located on an exterior of the weight gate flaps 283A and 283B.
  • the panels 285A and 285B may be located at any suitable locations relative to the weight gate flaps 283A and 283B. In an embodiment, the panels 285A and 285B are located an on interior of the weight gate flaps 283A and 283B.
  • the panels 285A and 285B may be of any suitable 2D (e.g., flat) or 3D (e.g., curved, angled, or other) shape to prevent food stuff from spilling out of the weight gates 283 in directions along the axis 287 when the weight gates 283 switches from CLOSED configuration to OPEN or partially OPEN configuration to release the food stuff. In an embodiment, sizes of the 2D (i.e.
  • panels 285A and 285B change between the CLOSED configuration and the OPEN configuration.
  • the panels 285A and 285B can be of a 3D shape such that when the weight gate flaps 283A and 283B are being driven towards the CLOSED configuration, the opening panels 285A and 285B may become narrower corresponding to a narrowing area for possible spillage, and when the weight gate flaps 283A and 283B are being driven towards the OPEN configuration, the panels 285A and 285B may become wider corresponding to a widening area for possible spillage.
  • the width of the bottom opening defined by the weight gates 283 is the same as or similar to the width of the top opening defined by the weight gates 283, regardless of the stage of opening of the weight gates 283 (i.e., partially or fully OPEN or CLOSED).
  • the width of the bottom opening 1385 defined by the weight gates 1383 is less than the width of the top opening 1387 defined by the weight gates 1383.
  • the weight gates 1383 are similar to those illustrated in FIG.
  • the bottom opening 1385 may have a width 1389 and a height 1391.
  • the width 1389 remains relatively constant even as the weight gates 1383 are opened, while the height 1391 increases as the weight gates 1383 are further opened.
  • the bottom opening 1385 is smaller than the top opening 1387, and this may allow for the more precise dispensing of food at a desired position in an embodiment.
  • the dispensing device 300 includes a vibration actuator 315 positioned proximate to the storage housing 301 A and configured to apply vibration to the storage housing 301A horizontally along axis 334B.
  • the vibration actuator 315 includes a force applicator 333 mechanically engaged with a wall 304C of the storage housing 301A.
  • the force applicator 333 is coupled to the force transmitter 334, which is coupled to the vibration actuator 315.
  • FIG. 10 is a partial perspective view of the dispensing device 300 showing an enlarged view of the vibration actuator 315.
  • Wall 304C of the storage housing 301 A includes a vibration coupling portion 306.
  • the vibration coupling portion 306 is part of the wall 304C and located at a position proximate to the outlet 313.
  • the vibration coupling portion 306 may be part of any one of the walls 304A-D at any suitable location.
  • the vibration coupling portion 306 is shaped to define a recess 306A.
  • the force applicator 333 of the vibration actuator 315 is shaped to engage with the recess 306A.
  • the force applicator 333 is shaped to define one or more groove(s) 333A on a surface of the force applicator 333 engaging with the recess 306A.
  • the groove(s) 333A may guide the engagement between the force applicator 333 and the recess 306A as the storage housing 301 A is installed into the supporting frames (not shown).
  • the supporting frames include spring fingers configured to guide the path of the storage housing 301A during the installation process such that a user may easily dispose the storage housing 301 A within the frames correctly.
  • One or more groove(s) 333A is shaped to facilitate desired engagement between the force applicator 333 and the vibration coupling portion 306 such that the force applicator 333 may transmit vibratory force to the vibration coupling portion 306 without slipping or jamming.
  • the vibration actuator 315 may include any suitable means for applying vibration to the storage housing 301A.
  • FIG. 11 is a perspective view of the vibration actuator 315, according to an embodiment.
  • FIG. 12 is an exploded perspective view of the vibration actuator 315 of FIG. 11. To better illustrate the inner working of the vibration actuator 315, certain elements are omitted in FIGs. 11 and 12.
  • the vibration actuator 315 includes a motor 393.
  • the motor 393 includes a motor shaft 393A that extends into a bore 394A of an eccentric cam 394 such that, when the motor 393 rotates about motor rotational axis 399, the eccentric cam 394 rotates about the bore 394A.
  • the eccentric cam 394 is coupled to a ball bearing 396. Both the eccentric cam 394 and the ball bearing 396 are located within a bore 395A of a rotator 395.
  • the eccentric cam 394 engages with the rotator 395 through the ball bearing 396 such that, when the motor 393 is driven to rotate about the motor rotational axis 399, the rotator 395 is driven to rotate as a satellite about an axis parallel to the motor rotational axis 399, which causes the rotator 395 to traverse in a path whereby for at least part of the path, the rotator 395 traverses in directions with components along the axis 334B.
  • the ball bearing 396 facilitates relative rotational motion between the eccentric cam 394 and the rotator 395.
  • the rotator 395 includes a force transmission coupling portion 395B coupled to a connector 334A of the force transmitter 334.
  • a ball bearing 397 may be located in between the force transmission coupling portion 395B and the connector 334A to facilitate relative rotational motion between the force transmission coupling portion 395B and the connector 334A.
  • the force transmitter 334 is driven by the rotator 395 to move in directions with components along the axis 334B by virtue of the force transmitter’s connection to the rotator 395.
  • the force transmitter 334 is couplable to the force applicator 333 through a connecting bolt 398.
  • the force applicator 333 is driven by the force transmitter 334 to deliver vibration to the storage housing 301 A.
  • the vibration actuator 315 includes bushings (not shown in FIG. 12) configured to restrict the movement of the force transmitter 334 to be substantially only along the axis 334B.
  • the bushings are shaped to define a bore through which the force transmitter 334 extends into and through to engage with the bushings.
  • the force transmitter 334 is caused to move back and forth along the axis 334B.
  • the vibration actuator 315 is configured to be able to adjust an amplitude of vibration.
  • the vibration actuator 315 may adjust the amplitude of vibration by any suitable means.
  • the vibration actuator 315 may adjust amplitude through adjusting the eccentric cam 394.
  • the eccentric cam 394 may engage a miniature pillow block configured to move substantially along on axis such that the eccentric cam 394 may be adjusted by turning a lead screw or a screw.
  • the lead screw or the screw may be adjusted by another actuator either via mechanical engagement or through magnetic coupling.
  • the miniature pillow block may be adjusted via coupling to a miniature Piezo linear actuator, which rotates with the eccentric cam 394 as the motor 393 rotates.
  • a length of the force transmitter 334 is adjustable via similar techniques.
  • a rheostatic shock absorber may be part of the force transmitter 334 such that a mechanical damping force may be adjusted in real time, which may alter the amplitude and waveform of vibration.
  • the vibration actuator 315 is configured to apply a three-dimensional vibration to the storage housing 301A, including a horizontal vibration component, a vertical vibration component, a traverse vibration component, or a combination thereof.
  • the dispensing device 300 includes an outlet control assembly configured to facilitate a passageway through the outlet 313 when the dispensing device 300 is being applied to dispense food stuff and close off the passageway through the outlet 313 when the dispensing device 300 is not being applied to dispense food stuff.
  • the dispensing device 300 may include any suitable outlet control assemblies.
  • FIG. 13 is an exploded perspective view of the dispensing device 300 showing an outlet control assembly 341 , according to an embodiment.
  • FIG. 14 is a perspective view of the outlet control assembly 341 of FIG. 13.
  • the outlet control assembly 341 includes first and second linear guides 343A and 343B and a sliding plate 342 configured to slidably engage with the first and second linear guides 343A and 343B.
  • the sliding plate 342 is shaped to define an aperture 342A.
  • the sliding plate 342 is oriented such that the aperture 342A lies in a plane parallel to the plane in which the outlet 313 is defined.
  • the aperture 342A has an area equal to or larger than the area of the outlet 313 defined by the outlet defining elements 311A and 311 B.
  • the outlet control assembly 341 is configurable between a CLOSED configuration corresponding to a state of the dispensing device 300 not being applied to dispense food stuff and an OPEN configuration corresponding to a state of the dispensing device 300 being applied to dispense food stuff.
  • the sliding plate 342 In the CLOSED configuration, the sliding plate 342 is positioned on the tracks 343A and 343B such that the solid portion 342B of the sliding plate 342 is located directly beneath the outlet 313 such that food stuff is prevented from exiting from the outlet 313.
  • the sliding plate 342 is positioned on the tracks 343A and 343B such that the aperture 342A is located directly beneath the outlet 313 such that food stuff has an unobstructed passageway from exiting the outlet 313.
  • the outlet control assembly 341 may include any suitable mechanism for shifting the sliding plate 342 between the OPEN and the CLOSED configurations. In an embodiment, the sliding plate 342 is controlled to be moveable to any position between the OPEN configuration and the CLOSED configuration.
  • FIG. 15 is a perspective view of a dispensing device 400, according to an embodiment.
  • FIG. 16 is a perspective view of the dispensing device 400 of FIG. 15.
  • FIG. 17 is a perspective view of the dispensing device 400 of FIG. 15.
  • the dispensing device 400 includes a storage component 401 including a storage housing 401A shaped to define an interior 403 (shown in FIG. 17), an inlet 405 (shown in FIG. 17), and an outlet 413 (shown in FIG. 15).
  • a baffle 407 (shown in FIG. 17) is located in the interior 403 of the storage housing 401 A.
  • the baffle 407 includes projecting portions 427 (shown in FIG. 15) and may be secured to the storage housing 401 A in a manner similar to the manner in which the baffle 107 of the dispensing device 100 is secured to the storage housing 101 A and the manner in which the baffle 307 of the dispensing device 300 is secured to the storage housing 301A.
  • the dispensing device 400 may be applied to store and dispense any food stuff that may be stored and dispensed by the dispensing devices 100 and 300.
  • the dispensing device 400 includes a removable open-top container 450 that may be manually placed on top of a holder 451.
  • the holder 451 is removably attached to a panel 452.
  • the removable open-top container 450 may store food stuff. Food stuff may be manually retrieved from the removable open-top container 450.
  • the removable open-top container 450 closes off the inlet 405 when placed on the holder 451.
  • the removable open-top container 450 and holder 451 may further be removed to facilitate the storage housing 401A being retrieved and removed from supporting frames (not shown).
  • a lid or other appropriate cover may be provided to cover the container 450, or a plurality of containers 450 that are disposed adjacent to one another, to help avoid contamination of the food stuff stored therein and/or to maintain the food stuff at desired temperatures, e.g., at cold temperatures.
  • the dispensing device 400 includes a vibration actuator 415 located proximate to the inlet 405.
  • FIG. 18 is a perspective view of the dispensing device 400 showing an enlarged view of the vibration actuator 415. Certain elements of the dispensing device 400 are omitted in FIG. 18 to better show the vibration actuator 415.
  • FIG. 19 is a perspective view of the vibration actuator 415, according to an embodiment.
  • FIG. 20 is an exploded perspective view of the vibration actuator 415 of FIG. 19. To better illustrate the inner working of vibration actuator 315, certain elements are omitted in FIGs. 19 and 20.
  • the vibration actuator 415 is affixed to interconnecting frames 454 which form a structure that envelopes a circumference of the storage housing 401 A (not shown in FIG. 18).
  • the structure formed from the interconnecting frames 454 is coupled to the panel 452.
  • the vibration actuator 415 includes a motor 493.
  • the motor 493 includes a motor shaft 493A (shown in FIG. 20) that extends into a bore 494A of an eccentric cam 494.
  • the eccentric cam 494 is coupled to a ball bearing 496 which are both located within a bore 434A of a crankshaft 434 and engage with the crankshaft 434 such that, when the motor 493 is driven to rotate about a motor rotational axis 499, the crankshaft 434 is driven to rotate as a satellite about the motor rotational axis 499 whereby for at least parts of the satellite movement the crankshaft 434 traverses in directions with components along axis 435.
  • the ball bearing 496 facilitates relative rotational motion between the eccentric cam 494 and the crankshaft 434.
  • the crankshaft 434 is shaped to define a bore 434B at its shaft portion 434C.
  • a ball bearing 497 and a connector component 433A of a vibration pillow 433 may extend into the bore 434B of the crankshaft 434.
  • the vibration pillow 433 cushions the vibrational force transmitted through the crankshaft 434 and also transmits the vibrational force generated by the motor 493 to the storage housing 401A by being adjacent to and in contact with the storage housing 401A.
  • the vibration pillow 433 is shaped to define a recess 433B into which the shaft portion 434C of the crankshaft 434 extends.
  • the recess 433B is shaped such that the shaft portion 434C of the crankshaft 434 is substantially restricted in motion along the axis 435 within the recess 433B but is permitted to swing about the connector component 433A along longitudinal directions perpendicular to both the axis 435 and the axis 499.
  • the vibration pillow 433 is shaped to define boreholes 437A and 437B at respective longitudinal ends of the vibration pillow 433.
  • Shafts 438A and 438B respectively extend into and through the boreholes 437A and 437B of the vibration pillow 433 where bushings 440A and 440B are placed between shafts the 438A and 438B and the boreholes 437A and 437B such that, when the motor 493 is driven to rotate about the motor rotational axis 499, the vibration pillow 433 is driven by the circular satellite motion of the crankshaft 434 but restricted to move along a direction parallel to the axis 435 due to the interaction between the shafts 438A and 438B and the boreholes 437A and 437B while the recess 433B accommodates the shaft portion 434C swinging longitudinally due to the circular satellite motion of the crankshaft 434.
  • the shafts 438A and 438B are attached to and secured against a lid 441.
  • the lid 441 may be a part of a housing for the vibration actuator 415.
  • the shafts 438A and 438B include screws.
  • the ball bearing 439 is located between the crankshaft 434 and the connector portion 433A to facilitate relative rotational motion between the crankshaft 434 and the vibration pillow 433.
  • the vibration actuator 415 is configured to be able to adjust an amplitude of vibration.
  • the vibration actuator 415 may adjust the amplitude of vibration by any suitable means.
  • the vibration actuator 415 adjusts the amplitude through adjusting the eccentric cam 494.
  • the eccentric cam 494 may engage a miniature pillow block configured to move substantially along on axis such that the eccentric cam 494 may be adjusted by turning a lead screw or a screw.
  • the lead screw or the screw may be adjusted by another actuator either via mechanical engagement or through magnetic coupling.
  • the miniature pillow block may be adjusted via coupling to a miniature Piezo linear actuator, which rotates with the eccentric cam 494 as the motor 493 rotates.
  • a length of force transmitter 434 is adjustable via similar techniques.
  • a rheostatic shock absorber may be part of the force transmitter 434 such that a mechanical damping force can be adjusted in real time, to alter the amplitude and waveform of vibration.
  • the vibration actuator 415 may be configured to apply a three- dimensional vibration to the storage housing 401A, including a horizontal vibration component, a vertical vibration component, a traverse vibration component, or a combination thereof.
  • the dispensing device 400 includes a weighing mechanism 480 configured to measure a weight of food stuff exiting the interior 403 of the dispensing device 400.
  • the weighing mechanism 480 is similar to the weighing mechanism 380 except that the weighing mechanism 480 includes a weighing assembly 481 that has a form factor which uses less space horizontally.
  • FIG. 21 is a perspective cross-sectional view of the weighing mechanism 480, according to an embodiment.
  • the weighing mechanism 480 includes a weighing assembly 481 and a housing 482.
  • the weighing assembly 481 includes first and second servo motors 484A and 484B (collectively, “servo motors 484”) and a gear assembly 485 that includes weight gate shafts 489A, 489B that connect to weight gates 483A, 483B respectively, and gears and bearings, as well as wires for electrical connections.
  • servo motors 484 includes first and second servo motors 484A and 484B (collectively, “servo motors 484”) and a gear assembly 485 that includes weight gate shafts 489A, 489B that connect to weight gates 483A, 483B respectively, and gears and bearings, as well as wires for electrical connections.
  • the weighing mechanism 480 includes a load cell 487 and a load cell mount 490. Similar to the weighing mechanisms 180 and 380, all or almost all of the weight of a fully or substantially “floating” structure including the weight gates 483 and the weighing assembly 481 including the gear assembly 485 and all its components, the weight gate shafts 489A, 489B and the servo motors 484 bears on the load cell 487 such that the load cell 487 obtains an accurate measurement of weight of the fully or substantially “floating” structure and sets that weight as the default of the weighing mechanism 480. Little or none of the weight of fully or substantially “floating” structure bears on the housing 482 and is therefore fully or substantially “floating” relative to the housing 482.
  • the weight of food stuff being deposited into and retained by the weight gates 483 may be accurately tracked with the fully or substantially “floating” structure.
  • the load cell 487 is mounted on the load cell mount 490 and supported by the load cell mount 490.
  • the weighing assembly housing 482 is also mounted on the load cell mount 490 so that its weight does not bear on the load cell 487.
  • the weighing mechanism 480 has the advantage of reducing use of horizontal space. This is advantageous for installation in an automated kitchen where horizontal space is scarce.
  • the automated kitchen has the form factor of a standard line cooler which may accommodate one or more dispensing devices.
  • the standard line coolers may be 24”, 48” or 96” in length and are configurable to store and dispense 10 to 50 different types of ingredients.
  • FIG. 22 is a perspective view of a weighing mechanism 500 in an open configuration, according to an embodiment.
  • FIG. 23 is a plan view of the weighing mechanism 500 of FIG. 22.
  • FIG. 24 is a perspective view of the weighing mechanism 500 in a closed configuration.
  • FIG. 25 is a plan view of the weighing mechanism 500 of FIG. 24.
  • FIG. 26 is a front view of the weighing mechanism 500 of FIG. 24.
  • the weighing mechanism 500 includes a weighing assembly 501.
  • the weighing assembly 501 includes a frame 503 with first and second arms 503A and 503B (collectively, “arms 503”) extending in a direction along axis 537.
  • a pliable open-ended tube 505 is detachably attached to the arms 503 to define a through-bore 504 with an inlet end 504A and an outlet end 504B.
  • the tube 505 has been illustrated as generally tube-shaped, other configurations such as a tapered cone shape having a larger top opening than bottom opening may be used.
  • portions of the tube 505 are relatively rigid and other portions of the tube 505 are relatively soft.
  • portions of the tube 505 more proximate to the inlet 504A may be relatively rigid, and portions of the tube 505 more proximate to the outlet end 504B may be relatively soft.
  • Those skilled in the art can construct such structures, for example by connecting a tube to a relatively rigid support or by overmolding a softer material such as silicone over a rigid circular shape.
  • the tube 505 may attach to the arms 503 by any suitable mechanism.
  • the tube 505 is attached to the arms 503 magnetically.
  • the weighing assembly 501 includes first and second legs 507A and 507B (collectively, “legs 507”).
  • the weighing mechanism 500 may include any suitable means for sealing the outlet end 504B of the tube 505.
  • the weighing mechanism 500 includes flaps.
  • axes 509 may be oriented in ways to provide finer controls of the opening and closing of the bottom side of the tube 505. For example, opening from a centre first and then expanding outwards from the centre.
  • the first leg 507A is rotatable about first leg axis 509A
  • second leg 507B is rotatable about second leg axis 509B to seal the outlet end 504B of the tube 505.
  • the weighing mechanism 500 may include any suitable elements for rotating about the axes 509A and 509B. Similar to the weighing mechanisms 180, 380 and 480, the weighing mechanism 500 may include a fully or substantially “floating” structure including the tube 505, the arms 503, the legs 507, and the weighing assembly 501 such that the weight of the fully or substantially “floating” structure bears on a load cell for accurate measurement of the weight of the fully or substantially “floating” structure.
  • the weighing mechanism 500 is in an OPEN configuration where the through-bore 504 extends from the inlet end 504A to the outlet end 504B to define a passageway 514 through which food stuff may flow from the inlet end 504A to the outlet end 504B and exit at the outlet end 504B.
  • a CLOSED configuration as shown in FIGs.
  • the first leg 507A is driven by the weighing assembly 501 to rotate about the first leg axis 509A in a direction 511 A
  • the second leg 507B is driven by the weighing assembly 501 to rotate about the second leg axis 509B in a direction 511 B such that the first and second legs 507A and 507B abut against each other and thus clamp the pliable tube 505 to seal off the passageway 514 along a pinching line 517 located between the inlet end 504A and the outlet 504B.
  • Other means of sealing off the passageway 514 are possible. For example, clamping with rotating cam, flaps, linear clamp similar to a vice, etc.
  • a pocket 519 forms between the inlet end 504A and the pinching line 517.
  • the weighing mechanism 500 is configured to receive food stuff from a dispensing device in the CLOSED configuration, which allows the weighing mechanism 500 to weigh the food stuff in the pocket 519 as the food stuff is disposed into the pocket 519.
  • the weighing mechanism 500 drives the legs 507 to rotate about the respective leg axes 509 such that the weighing mechanism 500 is switched into the OPEN configuration, thus allowing the food stuff in the pocket 519 to pass through the passageway 514 and exit the through-bore 504 at the outlet end 504B.
  • the weighing assembly 501 may include any suitable means for measuring a weight of food stuff disposed into the pocket 519.
  • the weighing assembly 500 includes a load cell (not shown in Figures) configured to support the weight of the weighing mechanism 500 such that the weight of the weighing mechanism 500 falls on the load cell such that the load cell may make an accurate weight measurement of food stuff in the pocket 519 by setting weight of the weighing mechanism 500 to default.
  • the weighing assembly 501 may include any suitable means for controlling the legs 507.
  • the weighing assembly 501 includes servo motors configured to drive rotation of the legs 507.
  • the weighing assembly 501 may include a controller configured to receive weight data from the load cell and send control signal to servo motors to configure the weighing mechanism 500 between the OPEN and CLOSED configurations.
  • FIG. 27 is a perspective view of a dispensing device 600, according to an embodiment. Like numerals denote like references with respect to FIGs. 3A-3V.
  • the dispensing device 600 is similar to the dispensing device 300 except that the dispensing device 600 includes a vibration actuator 615 configured to apply vibration horizontally in a small form factor such that the vibration actuator 615 may be positioned on the same side as the weighing mechanism 680 relative to the storage housing 601A such that the dispensing device 600 occupies less space.
  • a vibration actuator 615 configured to apply vibration horizontally in a small form factor such that the vibration actuator 615 may be positioned on the same side as the weighing mechanism 680 relative to the storage housing 601A such that the dispensing device 600 occupies less space.
  • FIG. 28 is a perspective view of the vibration actuator 615, according to an embodiment. Like numerals denote like references with respect to FIGs. 1 , 1A.
  • FIG. 29 is an exploded perspective view of the vibration actuator 615 of FIG. 28. Certain elements of the vibration actuator 615 are omitted in FIGs. 28 and 29 to better illustrate the inner workings of the vibration actuator 615.
  • the vibration actuator 615 includes a motor 693.
  • the motor 693 includes a motor shaft 693A and is configurable to rotate the motor shaft 693A about a motor axis 699.
  • the motor shaft 693A extends into a bore 694A of an eccentric cam 694 such that the motor shaft 693A engages with the eccentric cam 694 when the motor shaft 693A rotates about the motor axis 699.
  • the eccentric cam 694 is driven to rotate about the bore 694A when the motor shaft 693A rotates about the motor axis 699, causing the eccentric cam 694 to rotate as a satellite in a circle in a plane perpendicular to the motor axis 699.
  • the eccentric cam 694 may extend into a bore 695A of a ball bearing 695 and engages with the ball bearing 695.
  • the ball bearing 695 may extend into a bore 634A of a crankshaft 634 and engages with the crankshaft 634.
  • the eccentric cam 694, the ball bearing 695 and the crankshaft 634 are mutually engaged such that when the eccentric cam 694 traverses along the circle in a plane perpendicular to the motor axis 699 when the motor shaft 693A rotates about the motor axis 699, the crankshaft 634 is also caused to orbit a circle in a plane perpendicular to the motor axis 699.
  • the crankshaft 634 includes a shaft portion 634C shaped to define a bore 634B.
  • the crankshaft 634 engages with a vibration pillow 638 in a manner similar to that between the crankshaft 434 and the vibration pillow 433.
  • the vibration pillow 638 is shaped to define a recess 637 and a connector portion 640 such that the shaft portion 634C extends into the recess 637 as the connector portion 640 extends into the bore 634B of the crankshaft 634.
  • a ball bearing 697 may further extend into the bore 634B of the crankshaft 634 and is shaped to define a bore 697A where the connector portion 640 of the vibration pillow 638 may extend into and engage with the ball bearing 697.
  • the recess 637 is shaped to substantially restrict movement of the shaft portion 643C of the crankshaft 634 when the shaft portion 634C extends into the recess 637 but permits the shaft portion 634C to swing about the connector portion 640 along longitudinal directions parallel to an axis perpendicular to the axes 699 and 637.
  • the vibration pillow 638 includes a shaft 641 extending along the axis 637 where the axis
  • the vibration pillow 637 is perpendicular to the motor axis 699.
  • the shaft 641 of the vibration pillow 638 extends into a bore 633A of the force applicator 633.
  • the force applicator 633 is shaped to define a block 633B within the bore 633A such that the block 633B engages with the shaft 641 when the shaft 641 makes contact with the block 633B.
  • the 638 is shaped to define through-bores 638A and 638B.
  • the shafts 639A and 639B respectively extend into and through the through-bores 638A and 638B.
  • the shafts 639A and 639B may be affixed to a housing or other frames such that the vibration pillow 638 is secured against the housing or other frames.
  • Bushings may be positioned between the shaft 639 and the inner surface of the through-bores 638 to engage with the vibration pillow 638 such that, when the motor 693 is driven to rotate about the motor rotational axis 699 causing the crankshaft 634 to rotate about in a satellite manner, the vibration pillow 638 is restricted to motion along the axis 637.
  • crankshaft 634 When the motor 693 drives rotation of the motor shaft 693A about the motor axis 699, the crankshaft 634 is caused to orbit in a circle due to the motor shaft 693A’s interaction with the eccentric cam 694.
  • the shaft portion 634C of the crankshaft 634 engages the force transmitter 638 and the motion of the crankshaft 634 causes the force transmitter 638 to move translationally along the axis 637.
  • the translational movement of the force transmitter 638 along the axis 637 drives the shaft 641 into and out of the bore 633A of the force applicator 633.
  • the shaft 641 is driven to strike the block 633B of the force applicator 633, thus transmitting the force to the force applicator 633.
  • the vibration actuator 615 is configured to adjust an amplitude of vibration.
  • the vibration actuator 615 may adjust the amplitude of vibration by any suitable means.
  • the vibration actuator 615 adjusts the amplitude through adjusting the eccentric cam 694.
  • the eccentric cam 694 may engage a miniature pillow block configured to move substantially along an axis such that the eccentric cam 694 may be adjusted by turning a lead screw or a screw. When vibration stops, the lead screw or the screw may be adjusted by another actuator either via mechanical engagement or through magnetic coupling.
  • the miniature pillow block may be adjusted via coupling to a miniature Piezo linear actuator, which rotates with the eccentric cam 694 as the motor 693 rotates.
  • a length of the force transmitter 634 is adjustable via similar techniques.
  • a rheostatic shock absorber may be part of the force transmitter 634 such that a mechanical damping force can be adjusted in real time, which may alter the amplitude and waveform of vibration.
  • FIG. 30 is a side view of a dispensing device 700, according to an embodiment. Like numerals denote like references with respect to FIGs. 27-29.
  • FIG. 31 is a plan view of the dispensing device 700 of FIG. 30.
  • the dispensing device 700 is similar to the dispensing device 600 except that the dispensing device 700 further includes a frame 771 supporting the load cell housings 762, which may house a load cell.
  • the dispensing device 700 may include a fully or substantially “floating” structure similar to the fully or substantially “floating” structure described in relation to the dispensing devices 300 and 600.
  • the frame 771 may facilitate guiding the storage housing 701 A into an operational position when the storage housing 701 A is installed, for example, by a user.
  • the frame 771 includes legs 773A and 773B extending along axis 745. The legs 773A and 773B substantially restrict movement of the storage housing 701A along longitudinal directions 735.
  • the legs 773A and 773B include spring fingers 775A and 775B, respectively, to further facilitate guiding the storage housing 701 A into the operational position when the storage housing 701A is being installed. It is to be understood that there are many different means of guiding the storage housing 701A, and other means of guiding the storage housing 701A during installation are possible.
  • the frames 771 and the spring fingers 775A, 775B may be applied to any dispensing devices disclosed herein.
  • the frame 771 includes additional legs 773 on the other sides (for example, the sides with load cell housings 762) of the dispensing device 700 to facilitate guiding the storage housing 701 A during installation.
  • FIG. 32 is a perspective view of an automatic release system 800 (also referred to herein as an automatic release mechanism 800) in a CLOSED configuration, according to an embodiment.
  • FIG. 33 is a perspective view of the automatic release system 800 of FIG. 32.
  • FIG. 34 is a perspective view of the automatic release system 800 of FIG. 32 in an OPEN configuration, according to an embodiment.
  • FIG. 35 is a perspective view of the automatic release system 800 of FIG. 34.
  • FIG. 35A is a perspective view of the automatic release system 800 of FIG.
  • An automatic release system as disclosed herein is configured to close off an outlet of a storage housing of any dispensing device disclosed herein in a CLOSED configuration when the dispensing device is removed from its operational position and open the outlet to allow dispensing in an OPEN configuration when the dispensing device is disposed into its operational position.
  • the automatic release system includes a mechanism to switch between the CLOSED and OPEN configurations, and vice-versa, based on the vibration motion being applied.
  • the automatic release system includes a mechanism to switch between the CLOSED and OPEN configurations, and vice-versa, based on mechanical coupling.
  • the automatic release system includes a mechanism to switch between the CLOSED and OPEN configurations, and vice-versa, by an external actuator.
  • the automatic release mechanism 800 of FIGs. 32-35A is a mechanical coupling automatic release mechanism.
  • the automatic release mechanism 800 includes a support mount 810.
  • the support mount 810 is substantially similar to the support mount 250 of FIGs. 3R and 3S and may include substantially the same or substantially the same features and perform the same or substantially the same functional role as the support mount 250 in relation to a baffle and/or a storage housing.
  • an elastic string member 801 is looped around pulleys 802 on a first side 804A of the support mount 810.
  • the elastic string member 801 is coupled to hooks 803A and 803B.
  • the hooks 803A and 803B are coupled to flaps 805A and 805B.
  • the flaps 805A and 805B are positioned to close off an outlet of the storage housing in the CLOSED configuration.
  • the hooks 803A and 803B are rotatable to open the flaps 805A and 805B to open the outlet of the storage housing when in an OPEN configuration.
  • the elastic string member 801 has sufficient intrinsic elastic tension to pull the hooks 803A and 803B upwards to maintain the flaps 805A and 805B in a closed position in the CLOSED configuration.
  • the automatic release mechanism 800 may include two or more elastic bands or strings.
  • the automatic release mechanism 800 may include any suitable means of applying tension, force, or torque to the flaps 805A and 805B to keep them in a closed position in the CLOSED configuration of the automatic release mechanism 800.
  • the automatic release mechanism 800 may include torsion springs to achieve the same functional outcome of the elastic string member 801 .
  • the automatic release mechanism 800 includes a string 807 on a side 804B of the support mount 810. The string 807 is looped around pulleys 808A and 808B and coupled to hooks 809A and 809B. In the CLOSED configuration, the string 807 has little to no elastic tension. Referring to FIGs.
  • the automatic release mechanism 800 is switched into the OPEN configuration when the string 807 is pushed upwards by a force.
  • the string 807 is pushed upwards by a force applicator 833.
  • the elastic tension in the string 807 increases and pulls the hooks 809A and 809B outwards due to the pulleys 808A and 808B.
  • the tension in the string 807 overcomes the elastic tension in the elastic string member 801 such that the flaps 805A and 805B rotate outwards into an open position thus permitting a flow path through the outlet.
  • the string 807 may be pushed upwards by the force applicator 833 simultaneously as the force applicator 833 extends into a recess of a storage housing to be mechanically engaged to the storage housing for applying vibration to the storage housing.
  • FIG. 35B is a perspective view of a dispensing device 850, according to an embodiment.
  • the dispensing device 850 is configured to incorporate the automatic release mechanism 800. Parts of the dispensing device 850 are shown as transparent, i.e. , see-through, to better illustrate the features of the embodiment.
  • the dispensing device 850 is similar to the dispensing devices 600 and 700, and like numerals indicate like references with respect to FIGs. 27-31 , except that the support mount 810 of the automatic release mechanism 800 is installed within interior 853 of storage housing 851 A.
  • the string 807 is pushed upwards by the force applicator 833 which extends into recess 856 defined by the storage housing 851A when the automatic release mechanism 800 is moved to a deployed position.
  • the force applicator 833 extends into the recess 856 as the storage housing 851 A along with the support mount 810 is installed into an operational position. In the embodiment shown in FIGs. 34, 35 and 35A,B, the force applicator 833 pushes against the string 807. However, pushing force from the force applicator 833 may be transmitted to cause the flaps 805A and 805B to open by any suitable means.
  • the automatic release mechanism 800 includes lever arms with an internal cam follower feature at the ends thereof, and an element with two cam paths (for the flaps 805A and 805B on each side) may engage with the force applicator 833 to push upwards to open the flaps 805A and 805B when acted upon by the force applicator 833.
  • the flaps 805A and 805B switch to a closed position due to, for example, an elastic or torsion mechanism on the side 804A of the support mount 810.
  • FIG. 36A is a perspective view of a dispensing device 900, according to an embodiment. Like numerals denote like references with respect to FIGs. 27-29.
  • FIG. 36B is a side view of the dispensing device 900 of FIG. 36A.
  • the dispensing device 900 is generally similar to the dispensing device 600 except that the dispensing device 900 includes a dispensing panel 960 that includes a vibration actuator 915 and a weighing mechanism 980 inside one enclosure on one side of the storage compartment 901 such that the dispensing device 900 has a small form factor and occupies a relatively smaller space.
  • the dispensing panel 960 may also include electronics and controller boards (such as power supply, power regulators, wired or wireless communication modules, sensor control boards, and actuation control boards) inside the enclosure 960.
  • FIG. 36C is a perspective view of the dispensing device 900 of FIG. 36A showing the back side of the dispensing panel 960.
  • FIG. 36D is a perspective view of the dispensing device 900 of FIG. 36A showing the back side of the dispensing panel 960 with a back plate 960A of the dispensing panel 960 hidden to illustrate inside the dispensing panel 960.
  • FIG. 36E shows a perspective exploded view of the dispensing device 900 of FIG. 36A.
  • FIG. 36F shows a side exploded view of the dispensing device 900 of FIG. 36A.
  • the vibration actuator 915 may apply a horizontal vibration to the storage housing 901A through a force applicator 933.
  • the vibration actuator 915 is configured to apply a three-dimensional vibration to the storage housing 901 A, including a horizontal vibration component, a vertical vibration component, a traverse vibration component, or a combination thereof.
  • a weight gate assembly 983 is removably connected to the weighing mechanism 980 using magnetic coupling.
  • the weight gate assembly 983 includes a pair of magnets 984A and 984B with opposing magnetic fields fixedly embedded in a weight gate connector 984 of the weight gate assembly 983.
  • the pair of magnets are attracted to a second pair of magnets 966A and 966B with opposing magnetic fields to facilitate attachment between the weight gate assembly 983 and the weighing mechanism 980 while automatically aligning the two components.
  • the magnet 984A has opposite polarity to and attracts the magnet 966A
  • the magnet 984B attracts the magnet 966B.
  • the magnetic coupling enables easy detachment of the weight gate assembly from the dispensing device 900 for cleaning or replacement (e.g. for maintenance) purposes, for example.
  • the dispensing panel 860 includes legs 967A and 967B (collectively legs 967), which are similar to legs 507A and 507B (and collectively legs 507) and can be actuated by an actuator in the weighing mechanism 980 to close or open the weight gate 983.
  • the weight gate 983 in FIGs. 36A to 36F is in a CLOSED position.
  • the weight gate 983 may transition to an OPENED position by gravity and due to the weight of the substances (e.g., food stuff) collected in the weight gate assembly 983.
  • the legs 967A and 967B may be coupled to weight gate flaps 983A and 983B, respectively, to open the weight gate 983 as the legs 967 rotate.
  • the legs 967 are coupled to the weight gate flaps 983A and 983B detachably (for example, using magnetic coupling or a removable hook) to facilitate easy removal of the weight gate assembly 983, for example for washing purposes. Furthermore, in an embodiment, the legs 967 are removable from the weighing mechanism 980. Once in OPENED position, the legs can rotate in the opposite direction to push the weight gate flaps 983A and 983B to the CLOSED position.
  • the dispensing module 960 further includes a receptacle sensor 998 (shown in FIG. 36D) that can be a proximity, an infrared, an ultrasonic, a magnetic, a hall effect, an optical sensor, or a vision sensor (e.g.
  • the weight gate assembly 983 may open the weight gates 983A and 983B to release substances to the receptacle after a certain time or immediately after the receptacle sensor 998 detects the receptacle 970 within its detection range (e.g., represented by rays 998A and 998B).
  • the receptacle sensor 998 further measures or detects the location, the fill level, and substance spillage, to help determine (e.g., by the controller 125) whether the receptacle 970 is in the right location for dispensing and the fullness of the receptacles, take measures to avoid overfill or spillage, determine food presentation in the bowl, distribution of ingredients in the bowl, and estimate food quality.
  • the dispensing device 900 may be designed in a modular way to allow for detachment of the storage compartment 901 , the dispensing panel 960, and the weight gate 983 from one another or any frame that supports them to facilitate easy maintenance and cleaning of each subassembly.
  • the storage compartment 901 further includes handle 901 B to allow a handheld handling of the storage compartment 901 during attachment and detachment of the storage compartment into the dispensing device 900.
  • FIG. 36G is a perspective view of the dispensing device 900 showing the weight gate 983 in CLOSED configuration.
  • FIG. 36H is a perspective view of the dispensing device 900 showing the weight gate in OPENED configuration.
  • the dispensing device 900 further includes the weight gate flaps 983A and 983B that, when the weight gate 983 is in OPENED configuration, provides less space between a food receptacle 970 and the weight gate 983 and thereby prevent excess food stuff to disperse out of the food respectable 970 during dispensing and potentially after dispensing.
  • a storage housing of the dispensing device 900 is not shown in FIG. 36G and 36H for a less crowded illustration.
  • the storage housing 901 includes a support mount 910, similar to the support mount 810 in FIG. 32, and a baffle 907 which may be secured to the storage housing 901 A in a manner similar to the manner in which the baffle 107 of the dispensing device 100 is secured to the storage housing 101 A and the manner in which the baffle 307 of the dispensing device 300 is secured to the storage housing 301 A.
  • the storage housing 901 A further includes a juice catcher 912 which may be a container with a meshed plate on top to collect juice or liquids to in its container rather than flowing at the bottom of the storage housing 901 A or flow of the outlet to the weight gate 983 undesirably.
  • the liquids collected at the juice catcher 912 may be emptied once in a while or during maintenance of the dispensing device 900.
  • the juice catcher may include a drainage, for example using a flexible tube (not shown in figures), to drain excess liquid out of the dispensing unit 900.
  • FIG. 36K a partial perspective view of the dispensing device 900 is shown, only showing the storage housing 901 A.
  • a substance funnel 916 configured to allow easy fill and refill of a substance to the storage housing 901 A from a funnel inlet 916A and through a funnel outlet 916B is shown above the storage housing 901A.
  • the substance funnel 916 may be an integral part of the dispensing device 900 or an accessory to the dispensing device 900.
  • FIG. 36L shows the substance funnel 916 assembled on top of the storage housing 901A.
  • the funnel 916 may be assembled on top of the storage housing 916 during substance refill and may be removed once refill is done to allow for a lid or an open-top container (such as the one shown by 450 in FIG. 16) to be placed on top of the storage housing.
  • FIGs. 37A and 37B a perspective and front view of the dispensing device 900 with a weight gate assembly 983 that is shaped to form a flat bottom surface 991 when the weight gate 983 is in CLOSED position.
  • the flat bottom surface 991 can be used to densify or organize dispensed substances once they are in the receptacle 970.
  • the weight gate assembly 983 moves down in a vertical direction 993, after substance dispensing, so that the bottom surface 991 makes contact with the substances in the receptacle 970 and densifies or organizes the substances.
  • the weight gate assembly 983 moves down together with the rest of the dispensing device 900, while in other embodiments, only the weight gate assembly 983 is actuated to move up and down.
  • FIGs. 37G and 37H are perspective and front views, respectively of a dispensing device 1000, according to an embodiment.
  • FIG. 37I is a front view of the dispensing device 1000 of FIG. 37G.
  • the dispensing device 1000 is generally similar to the dispensing device 900 except that the dispensing device 1000 further includes a substance compactor 1090 generally below the weight gate 1083.
  • the substance compactor 1090 is configured to densify and organize the substances after they are dispensed to a receptacle 1070.
  • the substance compactor 1090 has various shapes and patterns at its bottom surface 1091 to allow for various forms and shapes of substance compaction and organization.
  • the substance compactor 1090 moves down (as shown in FIG. 37K and 37L) to make contact with the substances dispensed in the receptacle to densify and organize the substances.
  • the substance compactor 1090 moves up and down in a vertical direction 1093 using an actuated lever 1092 (as shown in FIG. 37K and 37L).
  • the substance compactor 1090 moves up and down following a non-vertical line, or manually, or passively (for example, using a magnet in both the receptacle 1070 and the bottom surface 1090B of the compactor 1090 or using a mechanical linkage mechanism).
  • the substance compactor 1090 is attached to the weight gate 1083 (detachably or fixedly) and moves up and down with the weight gate 1083.
  • the receptacle 1070 moves up and down (e.g., actively using an elevator), instead of or in addition to the substance compactor 1090 or the weight gate assembly 1083 moving up and down.
  • FIGs. 37G and 37H show perspective and front views, respectively, of the dispensing device 1000 in CLOSED and UP configuration
  • FIGs. 37I and 37J show perspective and front views, respectively, of the dispensing device 1000 in OPENED and UP configuration
  • FIGs. 37K and 37L show perspective and front views, respectively, of the dispensing device 1000 in CLOSED and DOWN configuration.
  • the substances can enter the compactor 1090 from a compactor inlet 1095 and flow out of the compactor through a compactor outlet 1096.
  • the substance compactor 1090 further includes gates 1090A and 1090B that may open passively using the weight of the substances that enter the compactor 1090 from the compactor inlet 1095, may open synchronously with the weight gate 1083, or may open asynchronously with the weight gate 1083.
  • the procedure to use the substance compactor 1090 is shown by the sequence shown in FIGs. 37A-G, 37I, and 37K in perspective view and in FIGs. 37H, 37J, and 37L in front view.
  • the weight gate 1083 and the substance compactor 1090 are in CLOSED and UP configuration in initial state.
  • the weight gate 1083 and the substance compactor 1090 open and transition to the OPENED and UP configuration.
  • the substance compactor 1090 closes and moves down to make contact with the dispensed substance in the receptacle 1070.
  • FIG. 38A is a perspective view of a dispensing device 1100, according to an embodiment. Like numerals denote like references with respect to FIGs. 22-26.
  • the dispensing device 1100 includes a weighing mechanism 1150 in an open configuration and is similar to the weighing mechanism 500.
  • FIGs. 38B and 38C are a side and planar view, respectively, of the weighing mechanism 1150.
  • FIG. 38D is a perspective view of a detachable pliable open-ended tube 1155 similar to the pliable open-ended tube 505.
  • the tube 1155 may be opened and closed using legs 1167A and 1167B (collectively 1167), similar to the tube 505 and the legs 507A and 507B (and collectively legs 507).
  • the tube 1155 is coupled to a tube hoop 1157 which in turn is detachably connected to the dispensing panel 1160.
  • the tube hoop 1157 may include one or more magnets 1158 that facilitates removeable attachment to a corresponding magnetic piece (similar to magnets 966A and 966B shown in FIG. 36E) on the weighing mechanism inside the dispensing panel 1160.
  • the hoop 1157 includes a first plurality of magnets (e.g., a first pair of magnets) with opposing magnetic fields fixedly attached to the hoop 1157 and a second plurality of magnets (e.g., a second pair of magnets) with opposing magnetic fields fixedly attached to the dispensing panel 1160 to help with automatic alignment of the hoop 1157 with the panel 1160 when attaching the hoop 1157 to the panel 1160.
  • the tube 1155 may be made from food-safe material and is also removable from the hoop 1157 for further sanitization and washing. The tube 1155 and the hoop 1157 may couple to one another from snapping points 1159.
  • the legs 1167 are configured to rapidly oscillate between a CLOSED and OPENED position to cause shaking of the tube 1155 and excitation of the potentially stuck foodstuff.
  • the inner side of the tube 1155 is made with a bumpy or corrugated surface to reduce surface area with the foodstuff and thereby facilitate easier dispensing of foodstuff. Similar approaches may be implemented for the inner surface of the weight gate flaps 983A and 983B of the dispensing device 900 in FIG. 36A.
  • FIG. 39 is a schematic diagram of a dispensing system 3900.
  • a food receptacle dispensing unit 3901 is configured to dispense empty food receptacles 3903 onto a conveyor unit 3905 as indicated by arrow 3901A.
  • the food receptacles 3903 include edible food receptacle, for example, bread, tortilla, etc.
  • a food receptacle retrieval unit 3909 is configured to retrieve food receptacles 3903 from the conveyor unit 3905 as indicated by arrow 3909A after food ingredients have been dispensed into the food receptacles 3903 from the dispensing units 3907.
  • the food receptacle 3903 is moved to a location convenient for retrieval by an operator.
  • the food receptacle 3903 is moved to another conveyor system or system for storage.
  • the food receptacle retrieval unit 3909 may be configured to store a plurality of the food receptacles 3903 during operation to ensure a smooth operation as well as acting as buffer for when order volume surges.
  • the food receptacles 3903 are dispensed onto corresponding trays 3904 for being moved by the conveyor unit 3905.
  • the conveyor unit 3905 is configured to move the food receptacles 3903 and the trays 3904 in any directions with any trajectories or paths.
  • the conveyor unit 3905 may move any of one or more of the food receptacles 3903 and the trays 3904 translationally and/or rotationally in an X-Y plane.
  • One or more food receptacles 3903 and trays 3904 may be moved by the conveyor unit 3905 individually and independently or simultaneously in any selected groups of the one or more food receptacles 3903 and trays 3904.
  • the conveyor unit 3905 includes a magnetically driven conveyor mechanism.
  • the magnetically driven conveyor unit 3905 includes magnets and/or electromagnets to magnetically engage magnetically couplable trays 3904 to form magnetic coupling(s) such that the magnetically driven conveyor unit 3905 may manipulate one or more magnetically coupleable trays 3904 individually or simultaneously in any groups to move translationally and/or rotationally in an X-Y plane.
  • FIG. 39A is a plan schematic view of the conveyor 3905, according to an embodiment. Features shown in FIG. 39A are schematic and therefore these features are not limited to any particular shapes, orientations, directions, relative positions, and sizes illustrated in FIG. 39A to represent the features.
  • the combination of axes 3910 and 3920 defines an X-Y plane. Any of one or more of the trays 3904 and/or the food receptacles 3903 may be controlled by conveyor 3905 to have translational movement along the axis 3910 and/or the axis 3920 in the X-Y plane, either independently or simultaneously. Any of one or more of the trays 3904 and/or the food receptacles 3903 may be controlled by the conveyor 3905 to have rotational movement in the X-Y plane about any axis extending into and out of the page of FIG. 33A. In an embodiment, the rotational axis extends into and out of the trays 3904 and/or the food receptacles 3903 to create at least some self-rotation.
  • the rotational axis extends through the X-Y plane at a point outside of a tray 3904 and/or a food receptacle 3903.
  • axis 3932 in relation to tray 3904A. Rotational movement of the tray 3904A about the axis 3932 may cause tray 3904A to traverse through the X-Y plane.
  • the conveyor unit 3905 includes a set of sub-conveyors configured to move the trays 3904.
  • a sub-conveyor includes a wheeled robot with weight sensors.
  • a sub-conveyor includes a belt conveyor module such that a plurality of belt conveyors may form a network of conveyor belts configurable to move in either or both or any combination of X- and Y- directions for transferring the trays 3904 from one conveyor belt to another conveyor belt.
  • the conveyor unit 3905 includes weighing sensor(s) configured to correspond to dispensing unit 3907 such that the conveyor unit 905 may additionally or alternatively track the weight of the food stuff being dispensed.
  • a dispensing unit 3907 may include some or all of the following components: any storage housing disclosed herein, any frame for housing the storage housing disclosed herein, any weighing mechanism disclosed herein, any vibration actuator disclosed herein, electronics and control systems in communication with each other and components of the dispensing unit 3907 for controlling and coordinating the components. While in FIG. 39, any storage housing disclosed herein, any frame for housing the storage housing disclosed herein, any weighing mechanism disclosed herein, any vibration actuator disclosed herein, electronics and control systems in communication with each other and components of the dispensing unit 3907 for controlling and coordinating the components. While in FIG.
  • the food receptacle dispensing unit 3901 and food receptacle retrieval unit 3909 have been illustrated as being positioned at opposite ends of a linear workflow, in an embodiment the path traveled by trays 3904 is generally circular, so that the conveyor unit 3905 moves the trays 3904 in almost a closed loop between the food receptacle dispensing unit 3901 and the food receptacle retrieval unit 3909.
  • Such a closed loop structure may allow one operator to remain in approximately one position to refill the dispensing units 3907 as well as removing completed food receptacles 3903 and/or manually topping off or using ingredients stored in trays above the dispensing units 907 to complete finished dishes.
  • the dispensing units 3907 may be modular in the sense that each dispensing unit 3907 may operate as a substantially self-contained module within the dispensing system 3900.
  • One aspect of modularity is that each dispensing unit 3907 may be interchangeable in the sense that it may be easily installed into or removed from the dispensing system 3900 as a stand-alone module by having substantially uniform sizes/form factors and similar connections, e.g. electrical, data connectors, etc.
  • the interchangeability facilitates easy replacement of one dispensing unit 3907 with another dispensing unit 3907, for example, in the case of maintenance or when changing overall ingredient stock (the dispensing unit 3907 may correspond to ingredient types).
  • a dispensing unit 3907 as an interchangeable module may be used in any fridge or line assembly systems.
  • a plurality of dispensing units 3907 may be coordinated to together orchestrate a complex activity such as making a salad by performing parts of the activity.
  • one or more controllers are connected to the plurality of dispensing units 3907 to form and coordinate a network of dispensing units.
  • Each dispensing unit 3907 may communicate with the conveyor unit 3905 to coordinate a position and/or velocity profile of the trays 3904 and the food receptacles 3903.
  • the conveyor 3905 may communicate with and command any one or more of the dispensing units 3907 to stop dispensing, start dispensing, or adjust dispensing algorithms.
  • the dispensing system 3900 may be configured to track the positions of each tray 3904 and each food receptacle 3903.
  • positioning tracking is provided by proximity or distance sensors located at any suitable locations to sense the tray 3904 and the food receptacle 3903.
  • the proximity or distance sensor is located with the weighing mechanism, for example, to verify that the trays 3904 and/or the food receptacles 3903 are in position and configurable to send an alert when the trays 3904 and/or the food receptacles 3903 are not in position.
  • position tracking is provided by camera and/or any other suitable visual processing means.
  • the dispensing system 3900 may communicate directly with each other, or additionally or alternatively, communicate with a central control unit as part of a network.
  • the central control unit includes external computer(s).
  • the dispensing system 3900 is adapted for industrial food processing in an industrial food processing plant.
  • the network of modules of the dispensing system 3900 as described herein may, for example, be applied to dispense and package mixed ingredients on pre-packaged food trays.
  • the dispensing system 3900 includes four dispensing units 3907.
  • the dispensing system 3900 may include any suitable number of dispensing units 3907. Food ingredients may be dispensed according to any method of dispensing disclosed herein.
  • the dispensing system 3900 may further include any combination of covers or lids as may be desired to cover one or more adjacent food dispensing units 3907, to maintain the food dispensing units at a cool temperature in embodiments in which the dispensing system 3900 is refrigerated.
  • FIG. 39B shows the dispensing system 3900, according to an embodiment.
  • a plurality of the dispensing units 3907 are embedded inside the dispensing system 3900 and not shown in FIG. 39B.
  • FIG. 39C shows a perspective cross-sectional view of the dispensing system 3900, illustrating the conveyor unit 3905, a portion of the dispensing units 3907A to 3907E, the food receptacle dispensing unit 3901 , and the receptacle retrieval unit 3909 inside an enclosure 3900A and in a lower level 3950 of the dispensing unit 3900.
  • the enclosure 3900A includes a plurality of doors 3940 to allow access to the inside of the dispensing system 3900 and the units inside.
  • the dispensing system 3900 includes an upper layer 3952 where open-top containers or storage trays 3942 (represented by example items 3942A to 3942C) are placed above each dispensing unit 3907.
  • Each storage tray provides an option for an operator to manually retrieve food stuff from the open-top containers or storage trays and manually dispense to an empty or semi-filled food receptacle 3903.
  • the open-top container or storage tray may be similar to the open-top container 450 shown in FIG. 16.
  • a funnel similar to the substance funnel 916 shown in FIG. 36K
  • an inlet similar to the inlet 405 shown in FIG. 17
  • the funnel may be used to easily refill the storage housing with foodstuff.
  • the refilling through the funnel may be done manually by an operator or may be done automatically by a mechanized dispenser or foodstuff feeder placed above the funnel.
  • the mechanized dispenser may include cross-shaped paddles to facilitate uniform or programmed feed of foodstuff to the storage housing of the dispensing unit according to a certain feed rate.
  • the programmed feed of foodstuff may for example include autorefill of the storage housing when the fill level inside the storage housing is at or close to a predetermined low volume level.
  • the automatic refill may be done using a conveyor system placed above the funnel (the upper level 3952) and carrying a feed of foodstuff with a certain feed rate.
  • a storage tray includes a cut-out portion for providing an opening to the inside of a dispensing unit thereunder so that the storage tray may act as a funnel to refill the dispensing unit thereunder with ingredients.
  • a storage tray extends over several dispensing units, and the tray includes a cut-out portion that acts as a funnel for only one of the dispensing units thereunder.
  • the dispensing system 3900 further includes modules or compartments that provide further processing to substances and food ingredients.
  • further modules include refrigeration, cooking, baking, warming, and mixing modules.
  • a receptacle (filled with ingredients or empty) may pass through these additional modules using the conveyor system 3905, for example, and may have a process performed on the ingredients that are in the receptacle (e.g., warm up the ingredients in the receptacle), or receive ingredients that have been processed in these modules (e.g., ingredients that are frozen or cooked are dispensed).
  • Such additional modules may be added conveniently beside the dispensing module 3907 or integrated into the dispensing module 3907.
  • an additional module may be a shelving module, where prepared orders or meals are shelved for storage and for future pickup by a customer.
  • the dispensing modules 3907A to 3907E, each or in groups, are provided in a separate dispensing station (not shown in Figures), each dispensing station may have an enclosure and a door similar to the door 3940, and each dispensing station may be conveniently placed beside each other or connect together.
  • Each dispensing station may have its own conveyor system and may additionally include a receptacle passing mechanism to pass a receptacle from one dispensing station to another.
  • the receptacle passing mechanism may be an additional conveyor system connecting the conveyor of each station to the neighboring station.
  • each station may include a side opening that allows a central conveyor system (such as the conveyor system 3905) to pass through all the stations while conveying receptacles therethrough.
  • the dispensing system 3900 includes a main controller 3960 to control the operation of the conveyor unit 3905, the dispensing units 3907, the food receptacle dispensing unit 3901 and the receptacle retrieval unit 3909.
  • the dispensing unit 3900 further includes an order management system (not shown in Figures) coupled to the main controller 3960 that may include a point of sale (POS) system for food service, online ordering systems, and/or any other order management system used in the food industry.
  • POS point of sale
  • a new order may be a salad bowl.
  • Each of the conveyor unit 3905, the dispensing units 3907, the food receptacle dispensing unit 3901 , and the receptacle retrieval unit 3909 may have their unit controllers (such as controller 125), which are wiredly or wirelessly are connected to the main controller 3960, to centrally control the operation of the dispensing system 3900.
  • unit controllers such as controller 125
  • FIG. 40 shown therein is a schematic diagram of a main controller 2000 of a dispensing system (for example, the main controller 3960 of the dispensing system 3900), according to an embodiment.
  • the main controller 2000 includes a processor circuit 2100 connected to a memory circuit 2210 for storing computing programs and program variables and parameters, and an input and output (I/O) circuit 2300 to transmit data to and from the processor 2100.
  • I/O input and output
  • the main controller 2000 receives data from and sends commands to the conveyor unit 3905, the dispensing units 3907A, 3907B, 3907C (collectively referred to as the dispensing units 3907 and generically referred to as the dispensing unit 3907), the food receptacle dispensing unit 3901 , and the receptacle retrieval unit 3909 through the I/O circuit 2300 for wirelessly receiving and transmitting data communication signals between the controller 2000 and a network 240.
  • the main controller 2000 through the I/O circuit 2300, communicates data and commands signals to a graphical user interface 2140 and the order management system 2150.
  • the graphical user interface 2140 allows an operator or a facility manager to monitor the operation of the dispensing system (e.g.
  • the dispensing system 3900 monitor data related to the dispensing system and its modules and devices connected to the main controller 2000, and input data related to set goals and desired operational procedures for the dispensing system and other devices connected to the main controller 2000.
  • the graphical user interface (GUI) 2140 may be a GUI displayed on a display monitor physically near the dispensing system, or may be a remote display.
  • the order management system 2150 may include a local POS system or an online (i.e., on the Internet) ordering system such as a native customer application (e.g. mobile App orweb App), or a 3rd party application.
  • the main controller 2000 receives data and sends commands signals to other devices and sensors 2130 such as the order management system, inventory management systems (e.g. food or substance inventory), air conditioning system around the dispensing system 3900, label printers (e.g. for printing labels for each receptacle including a unique order with a unique order number or identifier such as a QR code or barcode), back-end and cloud services such as online databases and application programming interfaces (APIs), computers and other 3rd party cloud applications, external monitors, touch screen or industrial human-machine interface (HMI) panels, and optical cameras around the dispensing system 3900, for example.
  • inventory management systems e.g. food or substance inventory
  • air conditioning system around the dispensing system 3900 e.g. for printing labels for each receptacle including a unique order with a unique order number or identifier such as a QR code or barcode
  • label printers e.g. for printing labels for each receptacle including a unique order with a unique order
  • the main controller 2000 may communicate input data and command signals to these devices either in a wired fashion (for example using an Ethernet, controller area network (CAN) bus, and MODBUSTM interface) or wirelessly using a wireless communication module 2600 (such as an IEEE 802.11 interface).
  • the main controller 2000 further includes a power circuit 2400 configured to provide power for the main controller 2000 and optionally the devices controlled by the main controller such as the dispensing units 3907 and the conveyor unit 3905.
  • the power 2400 circuit may source power from a power outlet (e.g., electricity sourced from power grid), a local battery pack, or a local power generator, for example and may include power regulators or power converters (e.g., AC to DC convertors or DC-DC converters).
  • the power circuit 2400 may be connected directly to the devices controlled by the main controller 2000 or through the I/O circuit 2300, or both. The power may be supplied to the devices controlled by the main controller 2000, entirely or partially, based on commands generated by the processor 2100.
  • the main controller 2000 is in communication with a number of dispensing units such as the dispensing unit 3907A.
  • the dispensing unit 3907 includes its unit controller 2510 (similar to the controller 125), actuators 2520 (such as the vibration actuator 115 and the servo motors 484), and sensors 2530 (such as the load cell 487 and receptacle sensor 998). It will be appreciated that features shown in respect of the dispensing unit 3907A are similarly present for the dispensing units 3907B, 3907C but in the interest of clarity are not shown in Figure 40.
  • the main controller 2000 may send operational commands to the unit controller 2510 to perform new tasks, add, omit, or modify existing procedures of the dispensing unit (such as method 200 in FIG.
  • the main controller 2000 may be in similar communication with other dispensing units 3907, the conveyor unit 3905, the food receptacle dispensing unit 3901 , the receptacle retrieval unit 3909, and their control units, actuators, and sensors.
  • the memory 2110 stores various programs 2112 such as lines of codes that, when loaded and executed by the processor 2100, cause the main controller 2000 to receive data or send commands to connected devices such as the dispensing unit 3907 to perform a dispensing operation, such as the method 200 as hereinabove discussed. Examples of such programs 2112 are also illustrated by flowcharts 41A to 41 D.
  • the memory further stores variables 2114 and parameters related to various functions of the programs. For example, variables may include conveyor speed, waveforms of the vibration actuator 115, voltages and currents related to the vibration actuator 115, and calibration values for the load cell 487, for example.
  • the memory 2110 may further store data collected by the I/O unit 2300 or logs of processes carried out by the processor 2100.
  • FIG. 41 A is a flow chart of a method S1000 for executing an order with a dispensing system, for example with the dispensing system 3900, according to an embodiment.
  • the method S1000 may be implemented as blocks of code on a controller, for example as blocks of code stored as the programs 2112 and implemented on the microprocessor 2100 in the main controller 2000 of Figure 40.
  • the method S1000 may be a program stored in the programs 2112 in the memory 2210 and each element or block in the method (or program) S1000 may be blocks of code stored in the memory 2110, which when executed by the processor 2100 causes the dispensing system 3900 or the dispensing unit 3907 to undergo the dispensing method S1000.
  • Some elements of the program 2112 (such as the elements 1011 , 1013, and 1015) may include subroutines that are administered and executed on a controller (e.g. the unit controller 2510) other than the main controller 2000.
  • a dispensing system receives a new order from the order management system 2150.
  • the order management system may include a POS system for food service, online ordering systems, and/or any other order management system used in the food industry.
  • the new order may be a salad bowl.
  • the dispensing system checks whether all the modules are ready to carry out the order. For example, empty food receptacles are available; storage housing is in an operational position; required ingredients are in stock (e.g., inside the storage housing of each dispensing unit 3907), etc.
  • a new food receptacle is dispensed onto the conveyor system (e.g., the conveyor unit 3905) by a food receptacle dispenser (e.g., food receptacle dispensing unit 3901).
  • the conveyor system moves the chosen food receptacle into a desired position corresponding to a desired dispensing device.
  • the dispensing system commands the desired dispensing device (e.g. any dispensing device disclosed herein such as 3907) to dispense the desired quantity of ingredients into the food receptacle at desired positions within the food receptacle.
  • S1009 may include some or all of the functionality in method 200 disclosed herein.
  • S1009 may include a subroutine of the elements S1011 , S1013 and S1015. Some or all of the elements S1011 , S1013 and S1015 may be performed in any suitable sequence for any number of times to achieve a desired dispensing outcome of the food ingredients.
  • weight gate units of the dispensing device run corresponding dispensing algorithm based on the operational parameters (e.g. ingredient types, food presentation, speed and accuracy parameters, etc.), which may have been automatically instructed by a data processing unit or a data model (such as the model inputs 2210 or the Al data model 2200 in FIG. 40A) or based on pre-determined algorithms in specific modules to release food ingredients into the food receptacle in a desired manner.
  • operational parameters may have been generated at the main controller 2000 and then communicated to the unit controller 2510 for storage and execution, or may be generated by a data model used in the unit controller 2510.
  • the dispensing device runs a dispensing algorithm (e.g., the method 200) corresponding to the operational parameters.
  • a dispensing algorithm e.g., the method 200
  • the conveyor system may translates and/or rotates the food receptacle in any manner in an X-Y plane to receive food ingredients at desired positions. After completing dispensing for one ingredient, the method 1000 may loop back to S1007 for dispensing another ingredient. Sequences S1007 to S1015 may be repeated for as many food ingredients and corresponding dispensing devices as desired.
  • the dispensing system verifies that all or at least a desired group of desired ingredients have been dispensed in the desired manner and the dispensing process has been completed or substantially completed.
  • the conveyor system moves the now assembled food receptacle from an optional food receptacle dispensing unit to an optional food receptacle elevator (e.g., food receptacle retrieval unit 909).
  • the assembled food receptacle is moved to a location that allows an operator to easily retrieve it.
  • the assembled food receptacle may be moved vertically upward.
  • the food receptacle elevator lifts the assembled food receptacle to be retrieved for serving or further actions.
  • the order is presented for pickup or placement on a shelf or storage, manually by an operator or automatically by an automated system.
  • further manual or automated services may be performed on the food receptacle.
  • the further services include for an operator or an automated system to perform further actions, e.g., adding additional toppings, ingredients, and/or dressings manually or automatically, warming up the food ingredients, as well as sealing the food receptacle with a lid.
  • an operator manually adds toppings from the open-top containers 3942 from the top layer of the dispensing system 3952.
  • the controller 2000 may receive a plurality of additional orders from the order management system 2150.
  • the main controller 2000 may additionally check the priority of the received orders and create an order queue for execution.
  • orders received from a local POS system are prioritized to orders received from an online ordering system by the main controller 2000.
  • a first order in the order queue is then commissioned for execution by the main controller 2000. While the first order is being processed (e.g., the method S1000 is being performed in respect of such first order), next orders in the queue may be further commissioned for execution.
  • the dispensing system 3900 may accordingly be executing multiple orders at the same time.
  • the fulfilled order may be removed from the queue, and new orders may be added to the queue, for example, based on an order queue capacity which represents the simultaneous order execution capacity of the dispensing system.
  • Information related to the order queue may be displayed to an operator of the dispensing system, for example, on the GUI 2140.
  • the main controller 2000 may send display commands to the GUI 2140 to display the status of the order execution method S1000 to an operator or a customer (who has placed the order). This may include displaying live images of the food receptacle as the receptacle is going through dispensing elements of the method S1000 or notifying the customer that the order is fulfilled.
  • the main controller 2000 may provide updated data about each dispensing unit (for example the dispensing unit data 2212 described in FIG. 40A) and the stock status of each ingredient, for example.
  • the method S1000 does not include one or more of the mentioned S1005, S1011 , S1015, and S1021.
  • FIG. 41 B an example of blocks of code related to a method S1100 of substance dispensing is provided.
  • the blocks of code represented in FIG. 41 B may be stored in the memory of a controller (the controller may be the main controller 2000 or the unit controller 2510) and when executed by the processor 2100 of the main controller 2000 or the unit controller 2510, cause the dispensing system 3900 or the dispensing unit 3907 to perform the dispensing method S1100.
  • the method S1100 starts at S1101 by receiving inputs on desired output weight. In an embodiment the desired output speed and ingredient type are further received as inputs. These inputs may be generated by a data model (such as the data model 2200 in FIG. 40A) or a part of the dispensing unit controls 2252 in response to a received order or may be prescribed by an operator.
  • a data model such as the data model 2200 in FIG. 40A
  • a part of the dispensing unit controls 2252 in response to a received order or may be prescribed by an operator.
  • the controller selects or calculates a set of high-level control variables and logics (e.g., high-level and intermediary actuator command signals and logics that may be part of the actuator command signals 2253) based on the received inputs.
  • the set of high-level control variables may include high- level commands and logic signals (e.g., increase vibration speed, or if ingredient output flow rate during dispensing is slow, increase the vibration speed or change vibrational waveform to continuous rather than pulse).
  • the controller (e.g., the unit controller 2510) generates vibrational waveforms, such as input voltage to actuators of a dispensing unit (e.g., the vibration actuator 915 of the dispensing unit 3907A), based on the decided high-level control variables and logics.
  • the vibration waveforms include a certain number of pre-determined values.
  • first, second, and third speed levels and vibration patterns (e.g., continuous vs. pulse vibrations) include waveforms that respectively cause mild, medium, and intense vibrations.
  • fourth and fifth speed levels may include waveforms that respectively cause mild and intense vibrations in an ingredient unstuck mode (e.g., a mode with chaotic vibrations to release stuck ingredients).
  • the controller applies the generated vibrational waveforms and monitors sensory data from the dispensing unit (e.g. output weight reading, rate of weight change, substance outflow rate from storage housing, time elapsed, total container weight, actuator current readings, e-nose/gas ingredient freshness sensor, camera video, temperature reading) optionally in real-time or close to real-time.
  • the monitoring of sensory data may be at appropriate sampling rates and over suitable time windows in order to read accurate data.
  • foodstuff freshness and temperature in the storage housing impacts the generated vibrational waveforms. For example, mixed greens go softer on an hourly basis, and the softer they get the more high power vibration pulses may be desired rather than continuous and lower power vibrations. In another example, canned beans may require lower power vibrations as their temperature increases.
  • the controller determines whether the monitored data and the received inputs at S1101 or calculated control variables at S1103 are within expected values. If the data is not expected, the vibration is paused and the method proceeds to S1105 to recalculate another waveform; otherwise, the method continues to S1111.
  • the controller determines whether the weight reading is at the desired value. If so, the controller commands the weight gate to open and release ingredients into the receptacle, followed by a command to close the weight gate at S1112. Otherwise, at 1113 the controller determines whether the ingredients dispensing is carried out at the desired flow rate. If so, the method goes back to S1105 to continue vibrations with similar vibrational waveforms; otherwise, the method proceeds to S1115. [0344] At S1115, the controller modifies the vibrational waveform, which may include modification to vibration speed level or pattern. Additionally, the controller may proceed to S1105 along with the modified signals, a log of monitored measured data. At S1105, the controller determines how to change the vibrational waveforms to reach the desired food flow rate or output dispensing speeds.
  • FIG. 410 an example of blocks of code related to a method S1200 of substance dispensing with a pre-load mode is provided.
  • the blocks of code represented in FIG. 41C may be stored in the memory of a controller (herein the controller may be the main controller 2000 or the unit controller 2510) and when executed by the processor 2100 of the controller 2000 or the unit controller 2510, cause the dispensing system 3900 or the dispensing unit 3907 to undergo or perform the dispensing method S1200.
  • the method S1200 starts at S1201 to check whether a preload mode is activated for a dispensing unit or not.
  • the method S1200 proceeds to S1203, which instructs the dispensing unit to run a dispensing method (e.g., the method 200) generally in parallel (synchronously or asynchronously with dispensing methods of other dispensing units) with other dispensing units in a dispensing system.
  • the dispensing method may run in series with other dispensing units.
  • the dispensing unit is instructed to hold the dispensed substance in its weighing assembly once the desired weight is reached.
  • the dispensing unit is instructed to release the weighted substances once a receptacle is under the weight gates of the dispensing unit (i.e.
  • the receptacle is not necessarily waiting under the dispensing unit and is filled with weighted substances in a relatively short period of time).
  • the dispensing unit is prepared for a next dispensing method by optionally updating the operational parameters with new parameters if desired (e.g. if faster fill time is desired, or if a different target weight of the substance is desired).
  • the procedure S1200 may loop back to the beginning of the program at step S1201 to prepare for next dispensing.
  • the method proceeds to 1202 at which the dispensing unit is instructed to run a dispensing method (e.g., the method 200) only once a receptacle is below the dispensing unit (i.e., the receptacle should wait for relatively longer periods of time for the dispensing unit to prepare and dispense the desired weighted substance).
  • the method proceeds to S1204 in which the dispensing unit is instructed to release the weighted ingredients as soon as the desired weight is reached at the weighing assembly.
  • the pre-load mode is generally advantageous to speed up multi-substance dispensing which includes a receptacle passing through multiple dispensing units.
  • each dispensing unit By having each dispensing unit active in the pre-load mode, they may advantageously have weighted substances ready at their weighing assemblies even before the receptacle reaches a position thereunder. Thus, potentially the receptacle spends a relatively short time under each dispensing unit to get filled with the pre-loaded weighing assemblies.
  • the data processing model 2200 includes receiving model inputs 2210 at the processor 2100 and generating model outputs 2250.
  • the processor 2100 may further include the data model 2200, which may include or may be an artificial intelligence (Al) module configured to learn from various inputs as well as historical inputs and outputs (real-time outputs and historical outputs) to the controller 2000 and the processor 2100 and help with optimizing and automating the operations of the dispensing system 3900, each dispensing unit 3907, or any other machines that includes one or more of the dispensing units (e.g. dispensing station 4200 as shown in FIG.
  • Al artificial intelligence
  • An Al model may advantageously reduce time spent programming the dispensing system 3900 for each substance type or for each food bowl or salad, since the Al model may be trained on each new substance or food menu and learn to automatically adjust system variables and parameters according to a set of outputs.
  • the Al model may facilitate an adaptive controller which learns from its past operation and then optimizes its existing and future operation, determines the right time suitable for substance refill and sending a notification to a user or using an automatic substance refill to refill the dispensing unit 3907 or the dispensing system 3900 or a substance inventory connected to the dispensing system 3900.
  • the processor may also include a data processing unit 2210 which may be different from the data model 2200 and is configured to process raw input data 2210 and potentially generate some of the outputs 2250 alone or with the data model 2200.
  • the model output 2250 may be generated at the output of the data model 2200 or may be generated at the output of the data processing unit 2210.
  • the outputs generated by the data model 2200 may be communicated to the data processing unit 2100 before generating model outputs 2250 and vice-versa, and the outputs generated by the data processing unit 2210 may be communicated to the data model 2200 before generating model outputs 2250.
  • the model inputs 2210 include dispensing unit data 2212, dispensing system data 2220, order management system data 2230, and environmental data 2236.
  • the dispensing unit data 2212 includes substance storage data 2213 (e.g., actual fill level of storage housing or weighing assembly of the dispensing unit 3907), substance data 2214 (e.g. actual data about of the type, shape, freshness, aging, weight, volume, density, and other status data of substances), dispensing time 2216 (e.g., elapsed time for one dispensing cycle, time logs of actual dispensing occurred, and default dispensing duration settings), receptacle status data 2217 (e.g., whether a receptacle is under the dispensing unit or not, the fill level and weight of a receptacle under the dispensing unit, the location and orientation of the receptacle under the dispensing unit), sensory data 2218 (e.g., load cell, weight sensor, volume sensor, and vision camera, distance sensor, temperature sensor, current sensors, voltage sensors, proximity sensors, velocity sensor, torque sensors, and fault detection sensors), and unit health data 2219 (e.g., health
  • the dispensing system data 2220 includes receptacle data 2224 (e.g., number of receptacles, type, shape, material, and size of receptacles), conveyor system specifications (e.g., actual speed, number of stops, and weight on the conveyor system), and vision data 2229 (e.g., visual data of the dispensing system 3900, and images from the interior of the enclosure 3900A).
  • receptacle data 2224 e.g., number of receptacles, type, shape, material, and size of receptacles
  • conveyor system specifications e.g., actual speed, number of stops, and weight on the conveyor system
  • vision data 2229 e.g., visual data of the dispensing system 3900, and images from the interior of the enclosure 3900A.
  • the dispensing system data 2220 may also include data about the receptacle dispensing unit 3901 , the receptacle retrieval unit 3909, the number of dispensing units in the dispensing system and their specifications (e.g., dispenser_1 is loaded with carrots, dispenser_2 is loaded with tomato, etc.), an identifier name or number related to the dispensing system, temperature of the dispensing system, and the funnels (e.g., funnel shape and type) used for filling and re-filling ingredients.
  • the receptacle dispensing unit 3901 the receptacle retrieval unit 3909
  • the number of dispensing units in the dispensing system and their specifications e.g., dispenser_1 is loaded with carrots, dispenser_2 is loaded with tomato, etc.
  • an identifier name or number related to the dispensing system e.g., temperature of the dispensing system
  • the funnels e.g., funnel shape and type
  • the order management system data 2230 includes order history data 2231 , customer data 2233, and inventory data 2235.
  • the order history data 2231 includes data about a history of orders placed by the order management system, which may include volume and type of orders received by a POS system or an online Internet-based order.
  • the customer data 2233 includes customer behavior data which may be data inserted by a user in the order management systems 2230 (e.g., payment data, transaction data, order history of the user), data from an external database 2120 (such as social media activity of the user), or data collected by sensors in around the dispensing system such as data from a surveillance camera.
  • the inventory data 2235 includes data related to ingredients stored in the dispensing system 3900, the dispensing unit 3097, and an inventory of a facility where the dispensing system 3900 (e.g., a restaurant or a food production facility) is located, and usable toward or in making or preparing a food order received from the order management system.
  • the inventory data 2235 may further include data about the freshness, aging, amounts, and types of ingredients stored.
  • the environmental data 2236 includes ambient data 2237 (e.g., ambient temperature and humidity levels and values, activity and behavior of operators and users around the dispensing system, and crowd around the dispensing unit that could indicate user demand levels), and air conditioning specifications 2239 (e.g., number of A/C units, their power ratings, and their response time).
  • ambient data 2237 e.g., ambient temperature and humidity levels and values, activity and behavior of operators and users around the dispensing system, and crowd around the dispensing unit that could indicate user demand levels
  • air conditioning specifications 2239 e.g., number of A/C units, their power ratings, and their response time.
  • the model inputs 2210 may further include input data from other sources such as data from the internet (e.g., weather conditions, traffic conditions, nearby promotions, social and culinary trends).
  • data from the internet e.g., weather conditions, traffic conditions, nearby promotions, social and culinary trends.
  • the model output 2250 includes generated data by the processor 2100 and includes dispensing unit control signals 2252, dispensing system control signals 2260, order management system control signals 2270, and environmental control signals 2278.
  • the model outputs 2250 as generated by the Al model 2200 or the data processing unit 2210, and more broadly by the processor 2100, may be sent to various entities, for example some model outputs (e.g., actuator input signals 2253 and dispensing time 2258) are sent to the dispensing unit’s unit controller 2510 for execution, some model outputs (e.g., conveyor system controls 2264 and dispensing procedure 2266), sent to other units in the dispensing systems 3900 for execution, and some model outputs (such as parts maintenance and selection outputs 2254 and maintenance and diagnostics information 2262, and order menus 2274) are addressed to an operator or user of the dispensing unit 3907 and the dispensing system 3900 and may be displayed on the GUI 2140, for example.
  • the model outputs 2250 may be generated by the main controller 2000 and then
  • the dispensing unit control signals 2252 include actuator commands 2253, generated by the processor 2200, for the dispensing unit’s actuators 2520, parts maintenance and selection instructions 2254, storage condition instructions, dispensing specification instructions 2257, workflow instructions 2258 (e.g., weighing methods, the ingredient dispensing method 200, and the preloading method S1200 described in FIG. 41 C), and operational parameters 2259 (e.g., operational parameters disclosed under the method 200 such as dispensing target time and vibrational waveform parameters).
  • the actuator commands 2253 include command signals S125 to the vibration actuator 115 and weight gate command signals.
  • the actuator commands 2253 may include high-level commands and logic signals (e.g., increase vibration speed, or if ingredient output flow rate during dispensing is slow, increase the vibration speed or change vibrational waveform to continuous rather than pulse), and low level commands and logic signals (e.g., voltage signals to the vibration actuator 115), and any other intermediary command signals or logics for generating a desired outcome from the actuators 2520.
  • Higher level actuator command signals 2253 may be generated and sent to the unit controller 2510 and intermediary control signals and lower level command signals may be generated and sent to the actuators 2520 by the unit controller 2510.
  • sensor command signals may be generated by the Al data model 2200 as part of the model outputs 2250.
  • Such command signals may include sensor calibration data, auto-calibration commands, and sensor sampling rates, for example.
  • the part maintenance and selection outputs 2254 may include generated data for an operator of the dispensing unit 3907 in relation to health and maintenance of the unit. Such generated data may include an alert about the unit’s failures, failure points, and predictions about a part’s replacement. The parts maintenance and selection outputs 2254 may also include predictions about time to refill of the receptacles and ingredients.
  • the parts maintenance and selection outputs 2254 may further include generated suggestions or recommendations related to component selection such as baffle shape (for example, the processor 2100 may suggest any one of the baffle types disclosed herein depending on the dispensed substance, the dispensing accuracy or other dispensing parameters or procedures), storage housing type, actuator type (e.g., actuators with a certain power range, vibration amplitude, with or without gearbox, or actuation type such as piezo versus electromechanical), and sensor type (e.g., using distance sensor rather than weight sensors to measure fill level in storage housing).
  • baffle shape for example, the processor 2100 may suggest any one of the baffle types disclosed herein depending on the dispensed substance, the dispensing accuracy or other dispensing parameters or procedures
  • storage housing type e.g., actuators with a certain power range, vibration amplitude, with or without gearbox, or actuation type such as piezo versus electromechanical
  • actuator type e.g., actuators with a certain power range, vibration amplitude,
  • the storage conditions 2256 include suggested or commanded conditions related to the substance storage such as its temperature (e.g., the desired temperature may change based on an ingredient or its aging, or its freshness).
  • the dispensing specifications 2258 may include generated data related to dispensing time (e.g., at which time to perform the dispensing), dispensing duration, dispensing accuracy (e.g., error tolerance, absolute maximum error, absolute minimum error, average error, and standard deviation required for a desired dispense output weight of the dispensed weight), dispensing position (i.e. the location of a receptacle where the ingredient should be dispensed at), and dispensing presentation (e.g., if a particular pattern or placement of ingredients in the receptacle is desired to reach a desired aesthetics for the dispensed substance).
  • dispensing time e.g., at which time to perform the dispensing
  • dispensing duration e.g., dispensing accuracy
  • dispensing accuracy e.g., error tolerance, absolute maximum error, absolute minimum error, average error, and standard deviation required for a desired dispense output weight of the dispensed weight
  • dispensing position i.e. the location
  • the dispensing presentation is impacted by the order of ingredients that are loaded to each dispensing unit and the Al model 2200 is configured to suggest a reshuffling of the dispensing unit or a reshuffling of sequence of the dispensed ingredients to yield the desired presentation.
  • the dispensing system control signals 2260 include substance preparation insights 2261 generated by the processor 2200 (e.g., the cutting grade and fineness or coarseness of foodstuff, foodstuff pre-processing or post-processing), maintenance and diagnostic instructions 2262 (which may include similar elements to the dispensing unit’s parts maintenance and selection instructions 2254 but only for the dispensing system 3900 and its other modules such as the conveyor system 3905 and the receptacle dispensing unit 3901), conveyor system control signals 2264 (e.g., conveyor target speed, voltage signals to conveyor motor), and dispensing procedure instructions 2266 (e.g., order processing procedures such as the method S1000, instructions for refrigeration or cooking foodstuff).
  • substance preparation insights 2261 generated by the processor 2200 (e.g., the cutting grade and fineness or coarseness of foodstuff, foodstuff pre-processing or post-processing)
  • maintenance and diagnostic instructions 2262 which may include similar elements to the dispensing unit’s parts maintenance and selection instructions 2254 but only for the dispensing system 3
  • the dispensing system control signals 2260 may further include the order of ingredients in a sequence of dispensing units (which may impact the presentation of an overall bowl or salad order, or inform an operator to fill two dispensing units with one ingredient if that ingredient is on demand and is being used more often), suggestions provided to an operator of the dispensing system to refill ingredients or what ingredients to supply in order for optimal quality of the foodstuff and optimal reduction in foodstuff waste and cost.
  • the order management system control signals 2270 include notifications 2272, generated by the processor 2200, sent to a user who has placed an order (e.g., on the status of the order, time left to prepare the order) or an operator of the order management system (e.g., predictions and insights on order trends), order menu signals (e.g., updating an order menu to include estimated time for order preparation, live stream of order preparation images, number of order capacity for a certain meal, bowl or salad order, or an ingredient being out of stock and updating the order menu accordingly to reflect only orders that can be fulfilled), and inventory predictions data 2275 (e.g., supply of a certain ingredient is going to be finished by a certain time and hence a resupply or restocking is desired).
  • order menu signals e.g., updating an order menu to include estimated time for order preparation, live stream of order preparation images, number of order capacity for a certain meal, bowl or salad order, or an ingredient being out of stock and updating the order menu accordingly to reflect only orders that can be fulfilled
  • inventory predictions data 2275
  • the environmental controls signals 2276 include air conditioning control signals 2278, generated by the processor 2200, to control the ambient temperature and humidity.
  • the model outputs 2250 disclosed herein are generated by the processor 2100 and specifically by using the data model 2200 and the data processing unit 2210 and inputs to these units which include the current and historical model inputs 2210 as well as a feedback of current and past model outputs 2250.
  • Data values from multiple model inputs 2210 may be used by the data model 2200 and/or processed by the data processing unit 2210 to generate a single model output.
  • input data from the substance data 2214, the dispensing time 2216, the sensor data 2218, the receptacle status data 2217, and/or the conveyor system target speed 2264 may be used.
  • the model inputs 2210 are collected from multiple dispensing systems located in different locations and facilities.
  • a central data model (similar to the data model 2200) may be located in a cloud computer and connected to multiple main controllers of multiple dispensing systems. Input data from various dispensing systems and their historical operations may be used to train the central data model 2200 that provides for an optimized or automated operation of another or all dispensing systems. For example, instead of manually programming command vibration waveforms for a newly introduced ingredient, the central data model 2200 may be used to automatically generate vibration control signals for the new ingredient, based on the vibration waveforms used for previous ingredients.
  • a test dispensing system may undergo numerous dry runs and dispensing cycles to train and tune a robust or foundational Al data model 2200. Such a test dispensing system may undergo many dispensing cycles to empty storage housing of each dispensing unit from ingredients and have automatic ingredient refills to test various model inputs 2210 and various model outputs 2250 and converge to optimal operational parameters and procedures for automated ingredient dispensing using the dispensing system.
  • the test dispensing system may be tested with various input ingredients, dispensing accuracies, and duration.
  • the Al data model 2200 is distributed in multiple locations rather than a central location. For example, a portion of the data model 2200 related to dispensing unit operations may be trained, stored, and executed in the unit’s controller, while other portions of the data model 2200 may be trained, stored, and executed on the main controller of a dispensing system, and still another portion may be trained, stored, and executed on a cloud computer.
  • a data model that is trained in the unit controller or the main controller may be loaded to a cloud system or update an existing data model in the main controller or the cloud, respectively.
  • the data model 2200 is trained in one location and stored and executed in another location.
  • the data model 2200 may be trained on a sophisticated supercomputer with a large graphical processing unit capacity and then, once trained, may be loaded and used on a unit controller (e.g. 125 or 2510) or a main controller (e.g. 2000).
  • a unit controller e.g. 125 or 2510
  • a main controller e.g. 2000
  • FIG. 42A a perspective view of a dispensing system 4200 is shown, according to an embodiment.
  • the dispensing system 4200 shown in FIG. 42A is a dispensing station including six dispensing units 4207A to 4207F (collectively called dispensing units 4207), which may be any of the dispensing devices disclosed herein such as the dispensing device 1100, for example.
  • FIGs. 42B-D are perspective, side, and planar views, respectively of the dispensing station 4200 of FIG. 42A.
  • the dispensing units 4207 are assembled together (either fixedly or removably for improved modularity) using an enclosure 4232 and a top sleeve 4234.
  • the top sleeve 4234 further includes spaced-apart sloped edges 4236 to facilitate ingredient flow into the opening of each dispensing unit 4207.
  • the top sleeve 4234 vibrates to prevent ingredient blockage or regulate the flow of ingredients, on the top sleeve 4234 and further guide ingredients into the dispensing units 4207.
  • the enclosure 4232 or the top sleeve 4234 includes a vibration mechanism instead or in addition to the vibration system of each dispensing unit 4207 and causes vibration to the storage housing of each dispensing unit 4207 for ingredient dispensing.
  • a top funnel (4344 shown in FIG. 43A) may further be placed on top of the top sleeve 4234 to improve ingredient storage capacity for each dispensing station 4200.
  • the top funnel 4344 may also include a vibrating mechanism or spaced apart compartments to improve ingredient input flow to the dispensing units 4207.
  • the top funnel 4344 further includes rotatable feed paddles (that may be actuated or passive for feeding ingredients toward the dispensing units), vibration mechanisms, and tunneled outlets all in one detachable and optionally standalone module that may be detachably coupled on top of the dispensing station 4200, and which may be removed easily for cleaning and maintenance purposes.
  • a lid actuated or passive
  • the dispensing procedure may be impacted, for example, due to harder vibrations, more energy consumption in vibrating storage housings, and less accurate weight measurements. Additionally, the lid may advantageously prevent dirt and contamination from entering the dispensing units.
  • the dispensing units 4207 (or the enclosure 4232 or the top sleeve 4234) are mounted to or supported on a wheeled chassis 4210.
  • the outlets of the dispensing units 4207 are connected to an inside chamber of a dispensing funnel 4224 to form a single dispensing outlet 4211.
  • the wheeled chassis 4210 facilitates easy transport of the dispensing station 4200. All dispensing units 4207 are controlled by one or more controllers inside a controller panel 4220 which may be similar to the main controller 2000 in its functionality and system structure.
  • the dispensing station 4200 further includes a signal tower 4214 (such as a typical industrial signal tower) configured to provide operational and safety notifications and alerts to a user regarding the status of the dispensing station 4200.
  • the signal tower 4214 notifies an operator to refill the storage housings (or container that may be above them) of the dispensing units by signaling.
  • the dispensing station 4200 further includes a stopper 4226 configured to control the flow of receptacles passing under the dispensing outlet 4211 of the dispensing station 4200.
  • the stopper unit includes a motor 4227 and a stopper bar 4228 that, upon coming into contact with a receptacle, stops the receptacle from moving.
  • Substances such as food ingredients may be inputted through inlets of each of the dispensing units 4207.
  • Various similar or different substances may be used in each dispensing unit 4207. If different substances are used in one or more of the dispensing units 4207, a mix of substances may be dispensed at the dispensing outlet 4211. However, similar substances may be used in all dispensing units 4207 in order to speed up or improve the weighing and dispensing procedures of the dispensing station 4200. For example, if it takes n seconds for each dispensing unit 4207 to weigh and dispense M amount of a substance, combining the 6 dispensing units 4207A to 4207F may provide for dispensing M amount of the substance at the dispensing outlet 4211 in n/6 seconds.
  • each dispensing unit 4207A to 4207F dispenses various weights (which may be unequal weights) to get to a desired total weight at the outlet 4211.
  • the controller of the dispensing station 4200 records the weight behind the weight gate of each dispensing unit 4207 as the ingredients are being dispensed to the weighing assembly of each dispensing unit 4207 due to the vibration of each dispensing unit 4207, and once the sum of the weights in each dispensing unit 4207 reaches the desired target weight, the weight gates of all the dispensing units 4207 open simultaneously to dispense the target weight through the dispensing funnel 4224.
  • a substance funnel shown at 4344 at FIG. 43A which is a funnel similar to the funnel 916 but larger to cover all inlets of all the dispensing units 4207) may be used to fill or refill the dispensing units with ingredients.
  • the dispensing funnel 4224 further includes a vibrating mechanism or vibrates with the vibration of the vibration mechanism of the storage housing. Additionally, the dispensing funnel may move up and down for compaction and densification of ingredients dispensed thereunder (similar to the funnel 916).
  • a conveyor (similar to conveyor 4305 in FIG. 43A) is placed below the outlet 4224 which is equipped with a weight sensor, and the weight of the dispensed ingredients is measured by the weight sensor of the conveyor rather than the weighing mechanism of each dispensing unit 4207.
  • the dispensing units 4207 may exclude weight gates and instead the conveyor may include gates which are in closed position by default. As the dispensing units 4207 vibrate, ingredients may dispense on the conveyor and once a target weight is reached on the conveyor, the conveyor gate moves to open position and the collected ingredients on the conveyor are dispensed to a receptacle or move to a different conveyor for further processing.
  • All or some portions of the dispensing station 4200 including the dispensing units 4207, their storage housings, the enclosure 4232, the dispensing funnel 4224, the top sleeve 4234, and the top funnel 4344, are modular and can removably assemble into the dispensing station 4200 for easy assembly and disassembly, as well as for cleaning and maintenance purposes. Such functionality may be especially important for the culinary industry where sanitization and cleaning are important and should happen on a daily basis. All the mentioned modules may be designed and manufactured to be waterproof and to withstand high cleaning water pressure and temperatures.
  • FIG.43A a perspective view of a substance dispensing line such as a food dispensing line is shown at 4300.
  • the dispensing line 4300 includes multiple dispensing stations 4200A to 4200C placed side by side one another and over a conveyor system 4305.
  • the dispensing units 4207 are designed to be added or removed from the dispensing line 4300 in a modular way.
  • the dispensing units 4207 may lock or mechanically connect to one another or to the conveyor system 4305 or to the ground (e.g., for extra stability).
  • Receptacles 4303 move in direction 4310 on the conveyor system 4305 and under the dispensing outlet of each of the dispensing stations 4200.
  • FIG. 43B shows another perspective view of the dispensing line 4300.
  • FIGs. 43C and 43D shows a side view and a frontal view of the dispensing line 4300.
  • the conveyor system 4305 may be driven by a motor 4355 whose speed may be controlled by a line controller (not shown in Figures), which may be similar to the main controller 2000 in functionality and structure, or by a controller in one of the control panels 4220 of one of the dispensing stations 4200A to 4200C.
  • the speed of the conveyor system 4305 may determine or impact the dispensing rate of each of the dispensing stations 4200.
  • stopper units 4326 stop receptacles 4303 once they are under the dispensing outlet 4211 of each dispensing station 4200A-C (for example, a proximity sensor on the respective dispensing station or on the conveyor system 4305 detects the presence of the receptacle under the dispensing outlet 4211) to ensure proper dispensing into or onto the receptacles 4303 and to prevent spillage.
  • the conveyor motor 4355 stops the conveyor system 4305 once the receptacle is detected under the outlet 4211.
  • other means and mechanisms are used to ensure proper transfer of ingredients from the outlet 4211 to the receptacle 4303.
  • Guide rails 4313A and 4313B affixed on top of the conveyor system 4305 guide the receptacles 4303 exactly under the dispensing outlet 4211 of the dispensing stations 4200A-C.
  • a staircase 4320 is disposed beside each dispensing station 4200A-C to facilitate easy access to the top of each dispensing station 4200A-C for ingredient filling or refill from top portion 4346 of each dispensing station 4200A-C, manually by an operator or automatically.
  • a bulldozerstyle bucket with gas spring assist mechanism or an elevator or a pneumatic chute mechanism may be attached to the back of the dispensing stations 4200A-C to load and transport ingredients from ground level into the top portion 4346 of the dispensing stations 4200A-C for ingredient refill.
  • automatic ingredient fill or refill is used. Such automatic refilling is performed by a mechanized dispenser or foodstuff feeder placed above the funnel 4344.
  • the mechanized dispenser may include cross-shaped flappers to facilitate uniform feed of foodstuff to the storage housing of the dispensing unit according to a certain feed rate.
  • the automatic refill may be done using a conveyor system placed above the funnel and carrying a feed of foodstuff with a certain feed rate.
  • the funnel 4344 placed at the inlets of each dispensing station may facilitate improved filling of the dispensing stations and avoiding spillage.
  • the funnel 4344 may include one large inlet and outlet or may include compartmentalized inlets and outlets to facilitate filling or refilling in relation to each individual dispensing unit 4207.
  • the funnel of the dispensing station 4200C is hidden for illustrative purposes.
  • the funnel 4344 may additionally include a spreader or distribution mechanism which may be passive or active to uniformly distribute the input ingredients to each corresponding dispensing unit 4207. The refilling may be done automatically by a mechanized dispenser or foodstuff feeder placed above the funnel 4344.
  • the mechanized dispenser may include cross-shaped paddles to facilitate uniform feed of foodstuff to the storage housing of the dispensing unit according to a certain feed rate, or once the ingredients in the dispensing unit(s) are in the lower level.
  • the automatic refill may be done using a conveyor system extending above the dispensing stations 4200 and carrying a feed of foodstuff with a certain feed rate.
  • the automatic refill mechanisms may have one output flow to the top portion 4346, which is distributed by a passive or active distributor in the funnel 4344, or may have multiple output flows each connecting to the opening of one or more dispensing units 4207.
  • FIG. 43B is a perspective view of the food dispensing line 4300 of FIG. 43A.
  • FIG. 43C is a side view of the food dispensing line 4300 of FIG. 43A.
  • FIG. 43D is a front view of the food dispensing line 4300 of FIG. 43A.
  • FIGs. 44A and 44B show perspective and side views, respectively, of a substance dispensing complex 4400, according to an embodiment.
  • the dispensing complex 4400 includes two dispensing lines 4300A and 4300B (each being similar to the dispensing line 4300 of FIG. 43A) that are placed back to back with a distance apart from each other.
  • a passage is located in the distance between the two dispensing lines 4300A and 4300B to allow for an operator to access each dispensing station 4200 from the dispensing lines 4300A and 4300B for maintenance and ingredient fill and refilling purposes.
  • the conveyor system of each dispensing line 4300A and 4300B may be driven independently and carry an independent set of receptacles. However, in an embodiment, the conveyor systems of the two dispensing lines 4300A-B are connected together and carry the same set of receptacles.
  • the dispensing complex 4500 includes the two dispensing lines 4300A and 4300B. In the dispensing complex 4500, the two dispensing lines 4300A-B are assembled side by side.
  • FIGs. 46A and 46B show perspective and front views, respectively, of a substance dispensing line 4600, according to an embodiment.
  • the dispensing line 4600 includes several dispensing stations 4200A-C placed side by side.
  • the dispensing stations are similar to the dispensing station 4200A-C shown in FIG. 43A.
  • the height of each station 4200A-C may be smaller to allow for larger volume storage housings (or ingredient storages above the dispensing units) or allow an operator to easily access the top of each station, for ingredient filling and refilling without using a staircase (such as 4320).
  • a variable height conveyor system 4605 including conveyor portions 4605A-1 , 4605A-2, 4605B-1 , 4605B-2, and 4605C is used to allow receptacles to pass in standard-height conveyor portions 4605A-1 , 4605A-2 and also a lowered-height conveyor portion 4605C at the dispensing station.
  • the intermediary conveyor portions 4605B-1 , 4605B-2 are used to connect the standard-height conveyor portions 4605A-1 , 4605A-2 to the lowered-height conveyor portion 4605C.
  • variable height conveyor system 4605 allows human operators or human-like robotic systems (e.g., humanoid robots) to collaboratively work with the dispensing station to assist in filling the receptacles.
  • human operators or humanoid robots may fill ingredients to receptacles or process receptacles along the standard-height conveyor portions 4605B- 1 , 4605B-2 while the dispensing station automatically dispenses ingredients along the lowered-height conveyor portion 4605C.
  • a robot or an automation line may provide an input feed of ingredients to each dispensing unit, or collect the dispensed ingredients from the dispensing units and perform further processes on them.
  • FIG. 47 a perspective view of a dispensing unit 4700A is shown, according an embodiment.
  • the dispensing unit 4700A is similar to the dispensing unit 900 but with a tilted body around a horizontal direction.
  • the dispensing unit 4700A includes a storage housing 4701A, a dispensing panel 4760 and a weighing assembly 4783 which includes weighing gates 4783A and 4783B.
  • the storage housing 4701 A and the weighing assembly 4783 may include open-top enclosures (e.g., to save on enclosure material and also for easier refill of ingredients to the storage housing) as the substances will not normally fall out of them due to gravity and the tilted configuration of the dispensing unit.
  • the ingredients may naturally (due to gravity) or forcefully, by vibration, flow through the storage housing 4701A and around an baffle 4707 in directions 4702-1 and 4702-2, and ultimately pass through the weighing assembly 4783 in direction 4702-3.
  • the weighing assembly may not include the weight gates 4783A and 4783B as, in an embodiment, the ingredients do not normally flow out of the weighing assembly and only dispense to a receptacle or a funnel 4724 due to the vibration applied to the storage housing or the weighing assembly 4783 (e.g., by legs 4767A and 4767B, an additional vibration system such as a motor with eccentric mass, or by translated vibration from the storage housing 4701 A).
  • the dispensing unit 4700A further excludes the weighing assembly 4783 and the ingredients directly flow out of the storage housing to the funnel 4724 or a receptacle, as the storage housing is vibrating.
  • Sensors such as distance sensors 4820 (shown in FIG.48A) or other means may be used to indicate or measure the weight of the dispensed ingredient in such cases.
  • the storage housing may include an extended body to include a shape like the funnel 4724 out its outlet, and thereby replace a separate part for the funnel 4724.
  • the ingredients may advantageously only flow through one body of the storage housing to be dispensed in a receptacle and at a regulated weight.
  • the tilted dispensing unit 4700A may be used in dispensing systems (such as 3900), dispensing stations (such as 4200) and dispensing lines (such as 4300). Multiple tilted dispensing units 4700A and 4700B may be grouped together to form a dispensing system or dispensing station. A funnel 4724 may be used at the outlet of tilted dispensing units 4700A and 4700B to gather the dispensed ingredients into one outlet 4711.
  • FIGs. 48A to 48F a series of paired perspective and side view show a distance sensor 4820 for measuring fill level of substances in a storage housing 4801A, according to an embodiment.
  • the storage housing 4801 is similar to the storage housing of any of the dispensing units disclosed herein.
  • FIGs. 48A and 48B show perspective and side views of the distance sensor 4820 at an active mode, respectively. In these views, the storage housing 4801 A is placed inside a dispensing unit.
  • the distance sensor 4820 may be an infrared, ultrawideband, LiDAR, RADAR, ultrasonic, and/or vision sensor and is configured to face downward toward the interior of the storage housing to measure the fill level or volume of the substances inside the storage housing 4801 A.
  • the distance sensor 4820 may also provide additional functionality such as measuring freshness of ingredients (e.g. using a gas, chemical composition, infrared, or visual sensors),
  • the distance sensor 4820 includes a lever 4823 that has a sensing tip 4821 , which includes the main sensor, and a base tip 4822.
  • the lever 4823 is pivotally resting on a housing 4830.
  • the lever 4823 is configured to pivot around an axis 4824.
  • FIGs. 48C and 48D perspective and side views, respectively, of the distance sensor 4820 are shown at a deactivate position, which is when the storage housing 4801A is taken out of the dispensing unit.
  • the lever 4823 has rotated and the base tip 4822 is placed below the storage housing 4801 A (e.g., the level is in a horizontal resting position using a bistable spring that forces the rotation of the lever 4823 to a horizontal position either with the base tip 4822 proximate to the storage housing 4801A or the sensing tip 4821).
  • a bottom edge of the storage housing 4801A makes contact with the base tip 4822 and starts to rotate the lever 4823 of the distance sensor 4820.
  • FIGs. 48E and 48F perspective and side views, respectively, of the distance sensor 4820 are shown in an intermediate position as the storage housing 4801A continues its downward movement in direction 4838 to be placed in the dispensing unit.
  • the lever 4823 of the distance sensor 4820 is in a half-way position.
  • the lever 4823 is fully pivoted to the active position as shown in FIG. 48A. (e.g., due to the bistable spring or any other mechanism).
  • other mechanisms may be used to switch the distance or multi-functional sensor 4820 between an inactive position, when the storage housing is removed, and an active position when the storage housing is in place.
  • the distance sensor 4820 is a visual sensor, which may be disposed on the storage housing 4801 A or disposed on a frame adjacent thereto (i.e., not affixed to the storage housing 4801A), and the storage housing 4801A has a cut-out opening in front of the sensor 4820, and the sensor is pointed toward the bottom inner side of the storage housing 4801A once the storage housing 4801A is in place.
  • the word active used for the distance sensor 4820 does not necessarily mean that the sensor 4820 is not measuring data or generating output signals, but rather means that the sensor 4820 is measuring meaningful data about the fill level and weight of the ingredients inside the storage housing 4801A as opposed to reading nonimportant data (e.g. when the storage housing 4801A is taken out).
  • a component e.g. a software module, processor, assembly, device, circuit, etc.
  • reference to that component should be interpreted as including as equivalents of that component any component which performs the function of the described component (i.e. , that is functionally equivalent), including components which are not structurally equivalent to the disclosed structure but which perform the same or substantially similar function as in the illustrated exemplary embodiments of the invention.
  • Embodiments of the invention may be implemented using specifically designed hardware, configurable hardware, programmable data processors configured by the provision of software (which may optionally comprise “firmware”) capable of executing on the data processors, special purpose computers or data processors that are specifically programmed, configured, or constructed to perform one or more steps in a method as explained in detail herein and/or combinations of two or more of these.
  • software which may optionally comprise “firmware”
  • specifically designed hardware are: logic circuits, application-specific integrated circuits (“ASICs”), large scale integrated circuits (“LSIs”), very large scale integrated circuits (“VLSIs”), and the like.
  • Examples of configurable hardware are: one or more programmable logic devices such as programmable array logic (“PALs”), programmable logic arrays (“PLAs”), and field programmable gate arrays (“FPGAs”).
  • PALs programmable array logic
  • PLAs programmable logic arrays
  • FPGAs field programmable gate arrays
  • Examples of programmable data processors are: microprocessors, digital signal processors (“DSPs”), embedded processors, graphics processors, math co-processors, general purpose computers, server computers, cloud computers, mainframe computers, computer workstations, and the like.
  • DSPs digital signal processors
  • embedded processors embedded processors
  • graphics processors graphics processors
  • math co-processors general purpose computers
  • server computers cloud computers
  • mainframe computers mainframe computers
  • computer workstations and the like.
  • one or more data processors in a control circuit for a device may implement methods as described herein by executing software instructions in a program memory accessible to the processors.
  • Processing may be centralized or distributed. Where processing is distributed, information including software and/or data may be kept centrally or distributed. Such information may be exchanged between different functional units by way of a communications network, such as a Local Area Network (LAN), Wide Area Network (WAN), or the Internet, wired or wireless data links, electromagnetic signals, or other data communication channel.
  • LAN Local Area Network
  • WAN Wide Area Network
  • the invention may also be provided in the form of a program product.
  • the program product may comprise any non-transitory medium which carries a set of computer-readable instructions which, when executed by a data processor, cause the data processor to execute a method of the invention.
  • Program products according to the invention may be in any of a wide variety of forms.
  • the program product may comprise, for example, non-transitory media such as magnetic data storage media including floppy diskettes, hard disk drives, optical data storage media including CD ROMs, DVDs, electronic data storage media including ROMs, flash RAM, EPROMs, hardwired or preprogrammed chips (e.g., EEPROM semiconductor chips), nanotechnology memory, or the like.
  • the computer-readable signals on the program product may optionally be compressed or encrypted.
  • the invention is implemented in software.
  • software includes any instructions executed on a processor and may include (but is not limited to) firmware, resident software, microcode, code for configuring a configurable logic circuit, applications, apps, and the like. Both processing hardware and software may be centralized or distributed (or a combination thereof), in whole or in part, as known to those skilled in the art. For example, software and other modules may be accessible via local memory, via a network, via a browser or other application in a distributed computing context, or via other means suitable for the purposes described above.
  • Software and other modules may reside on servers, workstations, personal computers, tablet computers, and other devices suitable for the purposes described herein.
  • connection means any connection or coupling, either direct or indirect, between two or more elements; the coupling or connection between the elements can be physical, logical, or a combination thereof;
  • a and/or B includes both (A and B) and (A or B);
  • first and second are used for descriptive purposes and cannot be understood as indicating or implying relative importance or indicating the number of indicated technical features.
  • the stated range includes all sub-ranges of the range. It is intended that the statement of a range supports the value being at an endpoint of the range as well as at any intervening value to the tenth of the unit of the lower limit of the range, as well as any subrange or sets of subranges of the range unless the context clearly dictates otherwise or any portion(s) of the stated range is specifically excluded. Where the stated range includes one or both endpoints of the range, ranges excluding either or both of those included endpoints are also included in the invention.
  • the numerical value is in the range of 9.5 to 10.5;
  • the numerical value is in the range of C to D where C and D are respectively lower and upper endpoints of the range that encompasses all of those values that provide a substantial equivalent to the value 10
  • Any recited method may be carried out in the order of events recited or in any other order which is logically possible.
  • processes or blocks are presented in a given order, alternative examples may perform routines having steps, or employ systems having blocks, in a different order, and some processes or blocks may be deleted, moved, added, subdivided, combined, and/or modified to provide alternative or subcombinations.
  • Each of these processes or blocks may be implemented in a variety of different ways.
  • processes or blocks are at times shown as being performed in series, these processes or blocks may instead be performed in parallel, simultaneously or at different times.

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  • Life Sciences & Earth Sciences (AREA)
  • Biophysics (AREA)
  • Devices For Dispensing Beverages (AREA)

Abstract

L'invention concerne un dispositif de distribution de substances, par exemple de produits alimentaires. Le dispositif de distribution comporte un composant de stockage avec un boîtier définissant un espace interne, une entrée pour faciliter un écoulement de la substance dans l'espace interne, et une sortie pour faciliter l'écoulement de la substance hors de l'espace interne. Au moins un déflecteur est disposé dans l'espace interne pour diriger l'écoulement de la substance, et au moins un actionneur est conçu pour appliquer une vibration au boîtier. Une porte de pesée peut être prévue pour collecter la substance distribuée jusqu'à ce qu'un poids souhaité de la substance ait été distribué, et la porte de pesée peut libérer la substance sur un plateau de réception d'une manière régulée.
PCT/CA2024/050731 2023-05-30 2024-05-30 Systèmes, procédés et dispositifs de distribution d'aliments Pending WO2024243703A1 (fr)

Applications Claiming Priority (2)

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US202363505013P 2023-05-30 2023-05-30
US63/505,013 2023-05-30

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3400861A (en) * 1967-01-12 1968-09-10 Canteen Corp Dry product storing and dispensing apparatus
US4723614A (en) * 1986-06-24 1988-02-09 Oy Maxi-Tuotanto Ab Apparatus for automatically dispensing weight-controlled portions of granular foodstuff
US4960229A (en) * 1987-12-11 1990-10-02 Kinergy Corporation Vibratory type storage bin arrangement with internal baffling and low profile bottom
US6241123B1 (en) * 2000-02-25 2001-06-05 Trade Fixtures, Llc Bulk food dispensing apparatus
US20090289061A1 (en) * 2008-05-26 2009-11-26 Triple Promotion Ab Foodstuff dispensing apparatus
US20160018250A1 (en) * 2008-03-06 2016-01-21 Nicole Sollazzo Lee Precision measurement dispenser

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3400861A (en) * 1967-01-12 1968-09-10 Canteen Corp Dry product storing and dispensing apparatus
US4723614A (en) * 1986-06-24 1988-02-09 Oy Maxi-Tuotanto Ab Apparatus for automatically dispensing weight-controlled portions of granular foodstuff
US4960229A (en) * 1987-12-11 1990-10-02 Kinergy Corporation Vibratory type storage bin arrangement with internal baffling and low profile bottom
US6241123B1 (en) * 2000-02-25 2001-06-05 Trade Fixtures, Llc Bulk food dispensing apparatus
US20160018250A1 (en) * 2008-03-06 2016-01-21 Nicole Sollazzo Lee Precision measurement dispenser
US20090289061A1 (en) * 2008-05-26 2009-11-26 Triple Promotion Ab Foodstuff dispensing apparatus

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