US20140069282A1 - Automated stirring and mixing apparatus for cooking - Google Patents
Automated stirring and mixing apparatus for cooking Download PDFInfo
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- US20140069282A1 US20140069282A1 US13/607,712 US201213607712A US2014069282A1 US 20140069282 A1 US20140069282 A1 US 20140069282A1 US 201213607712 A US201213607712 A US 201213607712A US 2014069282 A1 US2014069282 A1 US 2014069282A1
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- holder
- cooking apparatus
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J44/00—Multi-purpose machines for preparing food with several driving units
- A47J44/02—Multi-purpose machines for preparing food with several driving units with provisions for drive either from top or from bottom, e.g. for separately-driven bowl
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Abstract
The present application discloses an automated cooking apparatus that includes a holder configured to hold a container of food or food ingredients, one or more first kinematic pairs, each comprising a first mating part and a second mating part, wherein the first mating part is connected to the holder; a transport mechanisms that can move the second mating parts of the one or more kinematic pairs; and a driver or controller configured to drive or control the transport mechanism to produce a movement of properly fast speed so that a center point on the internal surface of the container is displaced by properly small distance. The first kinematic pairs and the transport mechanisms in combination can move the holder and the cooking pan to produce fast enough acceleration in the container.
Description
- The present application relates to automated kitchen equipment, and specifically to automated method and equipment for stirring, mixing, and distributing food ingredients during cooking.
- Considerable amount of research and experiments have been conducted on the automation of stirring and mixing of food ingredients during cooking. The existing solutions include the following three main approaches: the first approach utilizes spatula or pedals of different shapes to stir, mix and turn food ingredients; the second approach simulates human's stirring actions during cooking; and the third approach uses cooking pans in the shapes of rolling cylinders to turn and mix food ingredients.
- The first approach involves complex operations and complicated mechanisms, and thus has low reliability. Specifically, the stirring wok mechanism disclosed in Chinese Application No. 200710032699.9 teaches throwing food ingredients in the air for mixing, using a spatula. Such an approach is easily affected by air movement and sometimes throws food ingredients outside of the wok. In addition to the structural complexity, the stirring operations involve large movements, which use too much energy.
- The second approach includes simpler operations and practical mechanisms, but is ineffective in mixing and stirring food ingredients. This approach cannot achieve uniform stirring and mixing obtained by a human. One major reason for such poor result is that the movements of the spatula can only perform simple rotational movements. In an attempt to overcome this drawback, Chinese Application No. 200610081415.1 discloses an automatically stirring wok including rotation of the stirring spatula. The disclosed mechanism is rather complex and often breaks food ingredients.
- The third approach utilizes a rolling cylinder as a cooking pan (similar to a front load cloth dryer). When the cylinder is rotated, the food ingredients are brought up, and then fall freely pulled down by gravity, which stirs, mixes and turns the food ingredients contained in the rolling cylinder. This approach is simple and mechanism reliable, but it requires a large amount of cooking oil to coat the whole surface of the cylinder to prevent food sticking to and burning at the internal surfaces. Moreover, such mechanism is also not effective in heating the food ingredients. Lots of energy is dissipated in the rotational cylinder wall. Specifically, Chinese Application No. 200720019984.3 teaches a rotating-cylinder based cook device. The axis of the cylinder is positioned horizontally. The device is energy inefficient.
- Another drawback of existing mixing and stirring systems is that they tend to move food ingredients to a particular side of the cooking pan, which produces scattered and unbalanced distribution in the food ingredients. In some cases, food ingredients may be pushed out of the cooking pan. The spatula in some conventional cooking systems rotates around an axis vertical a round cooking pan. The spatula can push food ingredients into an unbalanced distribution, with some areas having thicker food ingredients accumulation than other areas.
- There is therefore a need for effective and efficient automated apparatus that provide stirring and mixing food ingredients during cooking, and can provide making and maintaining a balanced distribution of food ingredients in the cooking pan.
- The present application discloses a cooking apparatus capable of automated stirring and mixing of food ingredients, which overcomes the drawbacks in the conventional cooking devices. The disclosed automated cooking apparatus is more effective in stirring and mixing feed ingredients, and is energy efficient. The stirring mechanisms and operations of the disclosed automated cooking apparatus are simpler and more reliable. The disclosed automated cooking apparatus can achieve more effective and uniform stirring and mixing during cooking without breaking food ingredients. In addition, the present disclosed apparatus has the advantage of producing and maintaining a balanced distribution in the food ingredients in the cooking pan.
- In one general aspect, the present invention relates to an automated cooking apparatus that includes a holder that can hold a cooking pan, one or more first kinematic pairs each comprising a first mating part and a second mating part, wherein the first mating part is connected to the holder, a transport mechanisms that can move the second mating parts of the one or more kinematic pairs, wherein the first kinematic pair and the transport mechanisms in combination can move the holder and the cooking pan.
- Implementations of the system may include one or more of the following. the first kinematic pair comprises a turning pair. The first kinematic pair can include a sliding pair. The first kinematic pair can include a universal joint. The first mating parts of the one or more first kinematic pairs can be connected to the holder via elastic or non-rigid connectors. The transport mechanism can move the second mating part of a first kinematic pair in a circular or rotational movement. The automated cooking apparatus can further include an adjustment mechanism configured to adjust the radius of the circular movement of the second mating part of a first kinematic pair. The transport mechanism can move the second mating part of a first kinematic pair in a linear, planar, or spherical movement. The transport mechanism is configured to move the second mating part of the first kinematic pair along a hypocycloid, an epicycloid. The automated cooking apparatus can further include two or more first kinematic pairs and respective transport mechanisms; and a transmission or linkage mechanism configured to link the two or more transport mechanisms so their produced movements are mechanically linked. The automated cooking apparatus can further include a powered mechanism configured to move the first mating part of the first kinematic pair relative to the second mating part and a computer configured to control the powered mechanism. The powered mechanism can move the first mating part of the first kinematic pair by oscillations relative to the second mating part. The automated cooking apparatus can further include a transmission or linkage mechanism that can link the powered mechanism and the transport mechanism so to link their produced movements produced by the powered mechanism and the transport mechanism are mechanically linked. The automated cooking apparatus can further include a stabilization mechanism configured to constrain the movements of one or more parts of the holder or one or more objects connected with the holder, wherein the first kinematic pair and the transport mechanism are configured to move the holder while the holder is constrained by the stabilization mechanism. The automated cooking apparatus can further include a computer or an adjustment mechanism that together with the driver or controller are configured to dynamically adjust the directions, speeds and frequencies of the cyclic or oscillatory movements produced by the transport mechanism.
- In another general aspect, the present invention relates to automated cooking apparatus that includes a holder configured to hold a cooking pan; a transport mechanism configured to produce a force on a part of the holder or an object rigidly or elastically or loosely connected to the holder; and a driver or controller configured to control the transport mechanism as to produce a sum of cyclic or oscillatory forces on the holder or on the object connected to the holder, wherein the forces by the transport mechanism are configured to move the holder or the object connected to the holder, to produce accelerations in the holder and the cooking pan to stir, mix, and distribute the food ingredients contained in the cooking pan.
- In another general aspect, the present invention relates to automated cooking apparatus that includes a cooking pan configured to hold food ingredients; a holder configured to hold the cooking pan; and a transport mechanism that produces a combination of an oscillatory movement and another movement in the holder, as to stir, mix and distribute the food ingredients.
- In another general aspect, the present invention relates to automated cooking apparatus that includes a cooking pan configured to hold food ingredients; a holder configured to hold the cooking pan; and a vibration mechanism configured to produce vibrations in the cooking pan as to move the food ingredients in a helical pattern.
- The presently disclosed automated cooking apparatus includes a cooking pan that can hold food ingredients for cooking; and a transport mechanism that can produce movements in the cooking pan with a fast change of moving directions, resulting in a fast acceleration for the cooking pan. This induces a relative movement between the non-accelerated food ingredients and the accelerated cooking pan, and the cooking pan's internal surface can obstruct the relative movement of the food ingredients by friction or other forces. The movement of the food ingredients relative to the cooking pan, together with the obstruction forces by the cooking pan's internal surface and other forces, can produce stirring and mixing in the food ingredients. Moreover, the movements of the food ingredients may make and maintain a consistent, balanced pattern in the distribution of food ingredients in the cooking pan. The disclosed transport mechanism is special in that the cooking pan can only be displaced by a small distance from its original position in the movement. Thus the cooking pan can still be heated by a stove or other heating source when the food ingredients are stirred, mixed and turned. Examples of the movements include: circular movement of relatively small radius, linear or rotational oscillations of small displacements or the composition of two oscillations of small displacements, or vibrations that are capable of producing a movement pattern.
- These and other aspects, their implementations and other features are described in detail in the drawings, the description and the claims.
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FIG. 1 shows a schematic view of an automated cooking apparatus that can produce cyclic movements in a cooking pan in accordance to the present invention. -
FIG. 2 shows a schematic view of an automated cooking apparatus that can produce spherical cyclic movements in a cooking pan. -
FIGS. 3A-3B respectively show top and side views of an automated cooking apparatus that can produce rotational oscillatory movement in a cooking pan. -
FIG. 4 shows an automated cooking apparatus that can produce linear oscillatory movement in a cooking pan. -
FIG. 5A shows a side view of another automated cooking apparatus that can produce hypocycloidal movements in a cooking pan.FIG. 5B shows an exemplified movement path for the cooking pan produced by the automated cooking apparatus inFIG. 5A . -
FIG. 6A shows a side view of another automated cooking apparatus that can produce epicycloidal movements in a cooking pan.FIG. 6B shows an exemplified movement path for the cooking pan produced by the automated cooking apparatus inFIG. 6A . -
FIGS. 7A-7B respectively show top and side views of another automated cooking apparatus that can produce cyclic movements in a cooking pan. -
FIGS. 8A-8B respectively show top and side views of another implementation of an automated cooking apparatus that can produce a different cyclic movement in a cooking pan. -
FIGS. 9A-9B respectively show top and side views of another implementation of an automated cooking apparatus that can produce a different cyclic movement in a cooking pan.FIGS. 9C-9G show detailed perspective views of the automated cooking apparatus inFIGS. 9A-9B . -
FIGS. 10A-10B respectively show top and side views of another automated cooking apparatus which includes mechanisms to produce controlled cyclic movements in a cooking pan.FIG. 10C-10E are perspective views of components in the automated cooking apparatus shown inFIG. 10A-10B . -
FIG. 11 shows an automated cooking apparatus in which a cooking pan is moved by a spherical mechanism. -
FIG. 12 shows another automated cooking apparatus in which a cooking pan is moved by a spherical mechanism. -
FIG. 13A-13B respectively show top and side views of another automated cooking apparatus that can produce a different cyclic movement in a cooking pan. -
FIG. 14 shows another automated cooking apparatus including a mechanism for vibrating the cooking pan. -
FIG. 15A shows an automated cooking apparatus that can produce circular movements with no self-rotation in a cooking pan.FIGS. 15B-15D are perspective views of components in the automated cooking apparatus shown inFIG. 15A . -
FIG. 16 shows an automated cooking apparatus similar to that inFIG. 15A . -
FIGS. 17A-17B respectively show top and side views of another automated cooking apparatus that can produce a cyclic movement in a cooking pan. -
FIG. 18 shows a side view of an automated cooking apparatus that can produce a combination of oscillatory movements and a controlled self-rotation in a cooking pan. -
FIGS. 19A-19B respectively show top and side views of another automated cooking apparatus that can produce a combination of oscillatory movements and a controlled self-rotation in a cooking pan, where the amplitude of the oscillation may be further adjusted. -
FIG. 20 shows a side view of an automated cooking apparatus that can produce linear oscillations in a cooking pan. -
FIG. 21 shows a side view of an automated cooking apparatus that can produce linear oscillations in a cooking pan where amplitude of the oscillations can be adjusted. -
FIG. 22 shows a side view of an automated cooking apparatus that can produce rotational oscillations in a cooking pan. -
FIGS. 23A-23B respectively show top and side views of an automated cooking apparatus that can produce rotational oscillations in a cooking pan where amplitude of the oscillations can be adjusted. -
FIGS. 24A-24B respectively show top and aerial views of an automated cooking apparatus that can move a cooking pan by a composition of two oscillations. -
FIGS. 25A-25B respectively show top and aerial views of another automated cooking apparatus that can move the cooking pan by a composition of two oscillations. -
FIG. 26 shows an aerial view of an automated cooking apparatus of another automated cooking apparatus that can move the cooking pan by a composition of two oscillations; where the two oscillation mechanisms are mechanically linked. -
FIG. 27A shows a top view of an automated cooking apparatus that can produce a composition of two linear oscillations along X and Y axes in a cooking pan.FIG. 27B shows exemplified movement paths for the cooking pan produced by the automated cooking apparatus inFIG. 27A . -
FIG. 28 shows an aerial view of acooking apparatus 1600A with a stabilization mechanism which limits a cooking pan's movement. -
FIG. 29 shows an implementation of acooking apparatus 1600B that can make a cyclic movement in a cooking pan. -
FIG. 30 shows an implementation of acooking apparatus 1600C in which a controlled magnetic field can move a cooking pan. -
FIG. 31 shows an implementation of acooking apparatus 1600D in which a controlled fluid flow can move a cooking pan. -
FIG. 32A shows an aerial view of an automated cooking apparatus that can make a circular movement in a cooking pan where the amplitude of the circular movement can be adjusted.FIG. 32B displays details of a part of the cooking apparatus inFIG. 32A . -
FIGS. 33A-33B respectively show top and side views of an automated cooking apparatus in where three magnetic oscillators produce a three dimensional movement in a cooking pan. -
FIG. 34 shows an automated cooking apparatus in which three controlled magnetic fields can move a cooking pan. -
FIG. 35 shows another automated cooking apparatus in which some controlled magnetic fields can move a cooking pan. -
FIGS. 36A-36B respectively show top and side views of another automated cooking apparatus that can produce a composition of two linear oscillations along X and Y axes in a cooking pan. -
FIG. 37 shows an automated cooking apparatus in which can produce a combination of circular movement and vibrations in a cooking pan. -
FIG. 38A illustrates an automated cooking apparatus comprising a rotary vibration mechanism near the center of the cooking pan.FIG. 38B displays exemplified movement paths of the food ingredients when the cooking pan is vibrated by the mechanisms inFIG. 36A . -
FIG. 39 shows an automated cooking apparatus with a rotary vibration mechanism similar to that inFIG. 38A . -
FIG. 40A-40B respectively show top and side views of an automated cooking apparatus comprising some vibration mechanisms mounted on the side wall of the cooking pan. - The present application discloses a cooking apparatus that can automatically stir, mix, and distribute of food ingredients, while overcoming the drawbacks in the conventional cooking devices. The disclosed cooking apparatus includes a cooking pan and a transport mechanism that can produce particularly designed movements and accelerations in the cooking pan to stir, mix or turn the food ingredients.
- In some embodiments, referring to
FIG. 1 , anautomated cooking apparatus 100A includes acooking pan 109, and aholder 191 which carries thecooking pan 109. A turningpair 110, as a first kinematic pair, includes ashaft 111 and asleeve 112 as mating parts. Thesleeve 112 is connected with theholder 191. Atransport mechanism 139 includes amotor 132 with ashaft 131, and arigid connector 133 that connects theshafts motor 132 is mounted on asupport frame 192. Acomputer 199 controls themotor 132. Themotor 132 can produce a circular movement of theshaft 111 and thesleeve 112 relative to thesupport frame 192. Theshafts mechanism 139, equal to the distance between the axes of theshafts heater 107 is mounted on thesupport frame 192 below thecooking pan 109. Theheater 107 may be rotationally symmetric around theshaft 131 for the best heating result, although this is not a requirement. The circular movement of theshaft 111 together with the turningpair 110 produces movements of the cooking pan. The point of the internal surface of the cooking pan intersected with the axis of theshaft 111 can be a center point on the cooking pan. The center point is displaced by a properly small distance at all times (equal to double the distance between the axes of theshafts 111 and 131). The inclination of any axis of the cooking pan is changed by a small enough angle. In fact, (without counting the effects of vibrations) the inclination of any axis of the cooking pan does not change if the axes of theshafts pair 110, the cooking pan as a whole body is displaced relative to the support frame (or relative to the heater) by a properly small distance and by a small inclination change at all times, so the food ingredients contained in the cooking pan can be heated by the heater while the cooking pan is moved. - In the present application, the term “turning pair” refers to a rotational mechanism that includes two mating parts and a connection which constrains the relative movement of the two mating parts to a rotation. A mating part in a turning pair may consist of one or more separate pieces. Examples of turning pairs are: hinge joint with a shaft in a sleeve; hinge joint with two segmented sleeves; a shaft and a handle on the shaft, etc. The term “kinematic pair” refers to a mechanism that includes two mating parts and a connection which imposes constraints on the relative movement of the mating parts. A mating part in a kinematic pair may consist of one or more separate pieces.
- In some embodiments, referring to
FIG. 2 , anautomated cooking apparatus 100B includes acooking pan 108, and aholder 193 which carries a spherically shaped (or partially spherically shaped)cooking pan 108. Afirst turning pair 113, as a first kinematic pair, includes ashaft 114 and asleeve 115 as mating parts. Thesleeve 115 is connected with theholder 193. Atransport mechanism 138 includes amotor 132 withshaft 131, and arigid connector 136 that connects theshafts motor 132 is mounted on asupport frame 194. A computer (not shown) controls the motor that can produce a circular movement of theshaft 114 and thesleeve 115 relative to thesupport frame 194. Theshaft 114 and theshaft 131 are aligned at an oblique angle α (i.e. not parallel) relative to each other. The axes ofshafts center point 650, which is approximately at the spherical center of the spherical shaped cooking pan. The angle of circular movement of themechanism 138, equal to the angle α between the axes of theshafts heater 106, mounted on thesupport frame 194, lies below thecooking pan 108. The point of the internal surface of the cooking pan intersected with the axis of theshaft 114 can be a center point on the cooking pan. Since the angle of the circular movement is properly small, the center point is displaced by a properly small distance at all times. The inclination of any axis of the cooking pan is changed by a small angle. Except a self-rotation around the turningpair 113, the cooking pan as a whole is only displaced by a small distance and by a small inclination change at all times, and the food ingredients contained in the cooking pan may be heated by the heater while the cooking pan is moved. - It should be noted that the
holders FIGS. 1 and 2 can respectively hold thecooking pan - In some embodiments, referring to
FIGS. 3A and 3B , anautomated cooking apparatus 100C includes acooking pan 109, and aholder 291 which carries thecooking pan 109. A first turning pair, as a first kinematic pair, includes ashaft 211 and asleeve 212 as mating parts. Theshaft 211 is connected with theholder 291, and thesleeve 212 is rigidly connected to arod 142. Therod 142 may be freely rotated around ashaft 141 of a turningpair 140, with theshaft 141 rigidly connected with asupport frame 195. Arigid connector 144 joins twoshafts shaft 143 is rigidly connected with therod 142. Anotherrigid connector 146 joins the sleeve of theshaft 145 to theshaft 147 of amotor 149 which is mounted on thesupport frame 195. Theshafts shafts shafts motor 149 can produce a circular movement in theshaft 145 around theshaft 147, and can result in a rotational oscillation of theshaft 143 and hence of therod 142 around the turningpair 140. Thus theshaft 211 makes a rotational oscillatory movement around the turningpair 140. It should be noted that theparallel shafts shaft 211. The magnitudes of the rotational oscillation are designed to be properly small, by adjusting the distance between the axes of theshafts shaft 211 can be a center point on the cooking pan. The center point is only displaced by a properly small distance at all times. In addition the inclination of any axis of the cooking pan is changed by a small enough angle. Except a self-rotation around the axis of theshaft 211, the cooking pan as a whole is displaced by a small distance and by a small inclination change during the movements. - In some embodiments, referring to
FIG. 4 , anautomated cooking apparatus 100D includes acooking pan 109, and aholder 291 which carries thecooking pan 109. A first turning pair, as a first kinematic pair, includes ashaft 211 and asleeve 212 as mating parts, where theshaft 211 is connected with theholder 291. Thesleeve 212 is rigidly connected with ashaft 151 of a slidingpair 150 whosesleeve 152 is rigidly connected to asupport frame 196. Arigid connector 156 joins arigid extension 154 of theshaft 151 via aturning pair 155 at one end; and joins one end of an anotherrigid connector 158 via aturning pair 157 at the other end; where each turning pair consists of a shaft in a sleeve (not shown). The other end of theconnector 158 is rigidly joined with theshaft 159 of amotor 153 that is mounted on thesupport frame 196. The turning pairs 155, 157 and theshaft 159 have parallel axes that are perpendicular to the axis of the slidingshaft 151; and the distance between the axes of the turning pairs 157 and 155 is longer than the distance between the axes of the turningpair 157 and theshaft 159. A motor can produce a circular movement of the turningpair 157, resulting in a linear oscillation of theextension 154 and hence of thesleeve 212. The magnitudes of the linear oscillation are designed to be properly small, by adjusting the distance between the axes of theshafts shaft 211 can be a center point of the cooking pan. The center point is only displaced by a properly small distance at all times. In addition the inclination of any axis of the cooking pan is changed by a small enough angle. Except a self-rotation around the axis of theshaft 211, the cooking pan as a whole is displaced by a small distance and by a small inclination change during the movements. - In some embodiments, referring to
FIG. 5A , anautomated cooking apparatus 100E includes acooking pan 109, and aholder 191 which carries thecooking pan 109. A first turning pair, as a first kinematic pair, includes ashaft 111 and asleeve 112 as mating parts. Thesleeve 112 is connected with theholder 191. Theshaft 111 is rigidly connected with agear 163 withcogs 164. The sleeve of ashaft 165 in a turning pair is mounted at the center below thegear 163 so theshaft 165 and thegear 163 have a same axis. A rigid connector joins theshaft 165 to theshaft 168 of amotor 167 which is mounted on asupport frame 197. Aninternal gear 161 withcogs 162 is mounted on thesupport frame 197. The axis of theinternal gear 161 is the same as the axis of theshaft 168; and thecogs 164 and thecogs 162 are engaged. Theshafts shaft 111 moves along a hypocycloid.FIG. 5B shows an exemplifiedmovement path 168 of theshaft 111. The magnitudes of the hypocycloidal movement of theshaft 111 can be designed to be properly small, by adjusting the distance between the axes of theshafts shaft 111 on thegear 163. The point of the internal surface of the cooking pan intersected with the axis of theshaft 111 can be a center point on the cooking pan. The center point is only displaced by a properly small distance at all times. In addition the inclination of any axis of the cooking pan is changed by a small angle. Except a self-rotation around theshaft 111, the cooking pan as a whole is displaced by a small distance and by a small inclination change during the movements. - In some embodiments, referring to
FIG. 6A , anautomated cooking apparatus 100F includes acooking pan 109, and aholder 191 which carries thecooking pan 109. A first turning pair, as a first kinematic pair, includes ashaft 111 and asleeve 112 as mating parts. Thesleeve 112 is connected with theholder 191. Theshaft 111 is rigidly mounted on agear 173 withcogs 174. A turning pair consisting of ashaft 175 and a sleeve is mounted at the center below thegear 173, so the sleeve of theshaft 175 is rigidly connected with thegear 173, and that the axis of thegear 173 and the axis of theshaft 175 are identical. Arigid connector 176 rigidly connects theshaft 175 and thesleeve 178 of ashaft 177 in a turning pair. Agear 181 is rigidly connected with, and is concentric with thesleeve 178. Theshaft 177 is mounted on asupport frame 198, and agear 172 withcogs 172 is mounted at the top end of theshaft 177 so that thegear 172 and theshaft 177 have identical axis. Amotor 184 is mounted on thesupport frame 198, and anothergear 182 is mounted at the top of theshaft 183 of the motor. Thegear 182 and theshaft 183 have a same axis. Thegears gears shafts gear 182, thegear 181 and hence thesleeve 178 rotates around theshaft 177, thus producing a circular movement in theshaft 175 and in 173 around theshaft 177. Since thegear 171 is rigidly connected with thesupport frame 198, thegear 173 makes a self-rotation relative to theshaft 175 while in a circular movement around the axis of theshaft 177. Theshaft 111 moves along an epicycloid.FIG. 6B shows an exemplifiedmovement path 178 of theshaft 111. The magnitudes of the epicycloidal movement of theshaft 111 can be designed to be properly small, by adjusting the distance between the axes of theshafts shaft 111 on thegear 173. The point of the internal surface of the cooking pan intersected with the axis of theshaft 111 can be a center point on the cooking pan. The center point is only displaced by a properly small distance at all times. In addition the inclination of any axis of the cooking pan is changed by a small angle. Except a self-rotation around theshaft 111, the cooking pan as a whole is displaced by a small distance and by a small inclination change during the movements. - The transport mechanism in
FIG. 3A-3B , 5A or 6A moves theshaft 111 in a planar movement path. Each one of the three transport mechanisms can be modified so the axes of all shafts and gears point to a center point (comparable withpoint 650 inFIG. 2 ). Then theshaft 111 can move along a spherical movement path. The same comment can be applied to many of the automated cooking apparatus in the subsequent figures. - It should be noted that the transport mechanisms moving the
shaft FIGS. 1-5A , 6A can be implemented by mechanisms producing other than rotational, oscillatory, hypocycloidal or epicycloidal motions. Broadly, the transport mechanism can be any transport mechanism that is capable of frequent change of moving directions. Thefirst turning pair 110 can include a sleeve and a shaft as descried above, but can also include a ball and a cap (or sleeve), as well as other kinematic pairs. - It should be noted that in the cooking apparatus shown in
FIGS. 1-5A , 6A, the cooking pan can have a self-rotation, i.e., a rotation around the first turning pair. The self-rotations can pick up speed as the shaft is moved by the respective transport mechanism. The motor driving the transport mechanism needs to rotate alternatively in both directions to limit the speed of self-rotation of the cooking pan. InFIGS. 7A-16D below, different mechanisms are disclosed to either constrain or actively control the self-rotations of the cooking pan. - It should be noted that in the cooking apparatus shown in
FIG. 1-5A , or 6A, the center point of the internal surface of the cooking pan intersected with the axis of the first turning pair is a center point of the cooking pan with respect to the cooking pan's self-rotation. It is possible but not required for the axis of the first turning pair to be a central axis of the cooking pan in a geometric or other sense. - In some embodiments, referring to
FIGS. 7A and 7B , anautomated cooking apparatus 200 includes acooking pan 109, and aholder 291 which carries thecooking pan 109. Afirst turning pair 210, as a first kinematic pair, includes ashaft 211 and asleeve 212 as mating parts. Theshaft 211 is connected with theholder 291. Atransport mechanism 239 includes amotor 232 with ashaft 231, arigid connector 233 that rigidly connects theshaft 231 and thesleeve 212. Themotor 232 is mounted on asupport frame 292. Acomputer 199 controls themotor 232. Astabilization mechanism 249 includes asecond turning pair 220, as a second kinematic pair, with ashaft 221 and asleeve 222 where thesleeve 222 is connected to theholder 291, a third turning pair (as a third kinematic pair) with ashaft 241 and asleeve 242, and aconnector 243 that connects theshafts sleeve 242 is mounted on thesupport frame 292. Thetransport mechanism 239 can produce a circular movement in thesleeve 212, along with theshaft 211, theholder 291 and thecooking pan 109. Themechanism 249 allows theshaft 221 to move in a circular movement around theshaft 241. The fourshafts transport mechanism 239 is the distance between the axes of theshafts mechanism 249 is the distance between the axes of theshafts transport mechanism 239 can be designed to be smaller than the radius of circular movement of thestabilization mechanism 249. The movement path of theshaft 221 is only an arc of a circle, instead of a full circle around theshaft 241. The stabilization mechanism is used to constrain the rotation of the holder and the cooking pan around thesleeve 212. The radius of circular movement of thetransport mechanism 239 is designed to be properly small by adjusting the distance between the axes of theshafts shafts motor 232 can be properly large, as to produce a properly large acceleration in the movement of any point on the internal surface of the cooking pan. - It should be noted that the
apparatus 200 may be modified so that the distance between theshafts shafts mechanisms mechanism 249 can be either synchronous with the circular movement of thetransport mechanism 239, or in opposite direction to the circular movement of thetransport mechanism 239. In either case, themechanism 249 can be powered and thus becomes another transport mechanism (and the turningpair 220 becomes another first kinematic pair). The movement of 221 by thetransport mechanism 249 must be strictly coordinated with the movement of 212 by thetransport mechanism 239 so that the distance between the axes of theshafts transport mechanisms - In some embodiments, referring to
FIGS. 8A and 8B , anautomated cooking apparatus 300 includes acooking pan 109 which is rigidly or otherwise connected to aholder 391. A first turning pair (as a first kinematic pair) 310 includes ashaft 311 and asleeve 312 as mating parts. Thesleeve 312 is connected with theholder 391. Atransport mechanism 339 includes amotor 332 mounted on asupport frame 392, and arigid connector 333 that connects theshaft 331 of themotor 332 and theshaft 311. Themotor 332 can produce a circular movement in theshaft 311 relative to thesupport frame 392. Astabilization mechanism 359 includes a slidingpair 320, as a second kinematic pair, with a slidingshaft 321 and asleeve 322 where theshaft 321 is rigidly joined with theholder 391, a turning pair (as a third kinematic pair) with ashaft 351 whosesleeve 352 is mounted on thesupport frame 392, and a connector joining theshaft 351 with thesleeve 322. The axes of theshafts shafts stabilization mechanism 359 constrains the movements of thesleeve 322 to a rotation around theshaft 351, constraining the linear direction of theshaft 321 to an oscillation, and thus limiting the rotation of theholder 391 and thesleeve 312 around theshaft 311, while thetransport mechanism 339 produces a circular movement of theshaft 311 around theshaft 331. The radius of circular movement of thetransport mechanism 339 is designed to be properly small by adjusting the distance between the axes of theshafts motor 332 can be properly large, as to produce a properly large acceleration in the movement of any point on the internal surface of the cooking pan. - In some embodiments, referring to
FIGS. 9A and 9B , anautomated cooking apparatus 400 includes acooking pan 109, aholder 491 which carries thecooking pan 109. Afirst turning pair 410, as a first kinematic pair, has ashaft 411 and asleeve 412 as mating parts. Thesleeve 412 is joined with theholder 491. Atransport mechanism 439 includes ashaft 431 in asleeve 432, arigid connector 433 joining theshafts shaft 431 around its axis. Thesleeve 432 is mounted on asupport frame 492. Astabilization mechanism 469 consists of a pair of rotatable locatingbearings 461 mounted on thesupport frame 492. Thebearings 461 loosely constrain asection 462 of theholder 491 to slide back-and-forth and between thebearings 461. The radius of circular movement of thetransport mechanism 439 is designed to be properly small by adjusting the distance between the axes of theshafts shaft 431 can be properly large, as to produce a properly large acceleration in the movement of any point on the internal surface of the cooking pan. -
FIGS. 9C-9G display details of an exemplifiedmechanical implementation 401 of theautomated cooking apparatus 400. Referring toFIG. 9C , theholder 491 has a top part in the shape of a ring which holds thecooking pan 109, and a lower part which is rigidly joined with the top of thesleeve 412 of theshaft 411. Theshaft 411 and the shaft 431 (and connector 433) are one piece. Thesleeve 432 of theshaft 431 is rigidly joined with thesupport frame 492. Bearings 318 are placed between theshaft 411 and thesleeve 412. Thebearings 438 are placed between theshaft 431 and thesleeve 432. Amotor 450 is mounted on thesupport frame 492 and drives the axial rotation of theshaft 431 through abelt 455 enveloping abelt wheel 436 onshaft 431 and abelt wheel 456 on the shaft of the motor 450 (FIG. 9E ). Thebearings 461 are used to loosely limit the movement of avertical plate 462 which is a rigid part of theholder 491. In addition, a stove 407 (FIG. 9C ) is mounted on an overhangingplate 495 which is rigidly fixed to the support frame 492 (FIG. 9G ). - In some embodiments, referring to
FIGS. 10A and 10B , anautomated cooking apparatus 500 includes similar components as automated cooking apparatus 400 (FIGS. 9A and 9B ) except for thetransport mechanism 439 includes anadjustable connector 537, instead of a rigid connector, which connects theshaft 411 and theshaft 431. The angle of the two segments of theadjustable connector 537 at a hinge joint 538 can be changed by a controlled rotating motor, and thus the distance between the center of theshaft 411 and the center of theshaft 431 can be controlled. In other words, the radius of the circular movement of thetransport mechanism 439 can be controlled. An advantage of this design is that the amplitude of the cyclic movement of thecooking pan 109 can be varied based on the type of food ingredients being cooked and also based on time in the cooking process. Movements with smaller amplitudes can be used for food ingredients that are easily broken so the shape and appearance of the food ingredients can be preserved during cooking. For food ingredients that are not easily broken, they can be more vigorously stirred, mixed, and aerated by selecting high amplitude. Moreover, by reducing the distance between the centers of theshafts shaft 431 has rotated around its axis. - In the
cooking apparatus 500 inFIG. 10A-10B , a computer together with drivers may be used to control the directions and speeds of the motor that produces a rotation of the shaft 431 (around its own axis) in the transport mechanism, and to control the motor powering the rotation of theconnectors 537 around the hinge joint 538 as to adjust the radius of the circular movement of theshaft 411 produced by the transport mechanism. Both motors may rotate simultaneously, and the movement paths of a point of the shaft may not be a closed path. In fact, the axis of theshaft 411 can make a planar movement whose movement path can be an open curve. - For the present patent application, a point is said to move by a composition of oscillatory movements, if the X, Y and Z coordinates of the point (in a three dimensional orthonormal coordinate system, relative to a support frame), if moved, is moved in oscillation. The frequency of the sign change in the velocity of a coordinate of the point defines a frequency in the combination of oscillatory movements. A composition of oscillatory movements may have more than one frequency. Moreover, the magnitudes and frequencies in a composition of oscillations may be variable over time. The movement of a body is a composition of oscillatory movements, if any point marked on the body moves by a composition of oscillatory movements. In this sense, the transport mechanism in the
cooking apparatus 500 produces a combination of oscillations in theshaft 411. - In some embodiments, the radius of circular movement of the transport mechanism described in
FIGS. 10A-10B can be automatically adjusted using an exemplifiedmechanism 501, shown inFIGS. 10C-10E . The hinge joint 538 (ofFIG. 10B ) has ashaft 539 and asleeve 540. Agear 581 is rigidly joined with theshaft 411 and thesleeve 540, and is concentric with thesleeve 540 and theshaft 539, so thegear 581 can rotate around theshaft 539. Theshaft 411 has a hole so thesleeve 540 is positioned inside the hole. Aplate 583 rigidly joins theshaft 539, theshaft 431, and the base of amotor 520. Themotor 520 drives agear 582 that is engaged with thegear 581, which rotates thegear 581 around theshaft 539. Theshafts motor 520 have parallel axes. The distance between theshaft 411 and theshaft 431, or equivalently, the radius of circular movement of theshaft 411 relative to the support frame 492 (FIGS. 10A and 10B ), can thus be adjusted. - The
mechanism 501 inFIG. 10C-E , can also be added to the apparatus inFIGS. 1 , 7A-7B, 8A-8B to control the radius of circular movement of a shaft of a first turning pair by a transport mechanism, e.g., the distance between the axes of theshafts FIG. 1 , the distance between the axes of 211 and 231 inFIGS. 7A-7B , or the distance between the axes of 311 and 331 inFIGS. 8A-8B ; or the radius of circular movement of a second turning pair in a stabilization mechanism, e.g., the distance between the axes of theshafts FIGS. 7A-7B . An apparatus similar to 501 may be used to control the angle α in apparatus of 100B ofFIG. 2 , by requiring theshafts center point 650. - In
FIG. 11 , anautomated cooking apparatus 600 includes acooking pan 608 of spherical shape mounted on aholder 691. Afirst turning pair 610, as a first kinematic pair, has ashaft 611 and asleeve 612 as mating parts. Thesleeve 612 is connected with theholder 691. Atransport mechanism 639 includes amotor 632 mounted on asupport frame 692 and arigid connector 633 joining theshaft 631 of themotor 632 and theshaft 611. Astabilization mechanism 649 includes a turning pair 620 (as a second kinematic pair) withshaft 621 whosesleeve 622 is joined to theholder 691, a turning pair (a third kinematic pair) with ashaft 641 in asleeve 642, and arigid connector 643 joining theshafts sleeve 642 is mounted on thesupport frame 692. Thetransport mechanism 639 can produce a circular movement in theshaft 611. Thestabilization mechanism 649 allows a rotation of theshaft 621 around theshaft 641. The axes of theshafts spherical center 650 of the spherical shapedcooking pan 608. The angle α between the axes of theshafts shafts shaft 631 can rotate continuously in one direction but theshaft 641 has to rotate back and forth by less than 180 degrees. Thus, thestabilization mechanism 649 can limit the movement of theshaft 621, hence constraining the holder and the cooking pan's self-rotation around theshaft 612. Astove 607 lies right below thecooking pan 608 and is mounted on thesupport frame 692. The angle between the axes of theshafts motor 632 can be properly large, as to produce a properly large acceleration in the movement of any point on the internal surface of the cooking pan. - Another apparatus can be built the same way as the
apparatus 600 inFIG. 11 simply by letting α and β be equal to each other. Then both theshafts shaft 641 must be in strict coordination of the rotation of theshaft 631 so that the angle between the axes of theshafts mechanism 649 in theapparatus 600 can also be powered as to rotate theshaft 641, and thus becomes a transport mechanism. At the same time, the turningpair 620 becomes a first kinematic pair. It should be further noted that a transmission or linkage mechanism can link both transport mechanisms so they may be driven by a same motor. -
FIG. 12 shows anautomated cooking apparatus 601 similar to theapparatus 600 inFIG. 11 . The angle α between the axes of theshafts connector 635 at ahinge joint 636. Similarly, the angle β between the axes of theshafts connector 645 at ahinge joint 646. The axes ofshafts hinge joints center 650. - In some embodiments, referring to
FIGS. 13A-13B , anautomated cooking apparatus 800 includes acooking pan 109, aholder 891 which is connected to acooking pan 109. A first turning pair (as a first kinematic pair) 810 includes ashaft 811 and asleeve 812 as mating parts. Thesleeve 812 is connected with theholder 891. Atransport mechanism 839 includes amotor 832 mounted on asupport frame 892 and aconnector 833 that rigidly connects theshaft 831 of themotor 832 and theshaft 811. A stabilization mechanism consists of anelastic connector 820 connecting theholder 891 to thesupport frame 892, as to limit the self-rotation of theholder 891, and hence that of thecooking pan 109 around theshaft 811. The radius of circular movement of thetransport mechanism 839 is designed to be properly small by adjusting the distance between the axes of theshafts motor 832 can be properly large, as to produce a properly large acceleration in the movement of any point on the internal surface of the cooking pan. - It should be noted that the
elastic connector 820 in the cooking apparatus may be substituted by any non-rigid connector, such as a loose rope with ends tied to theholder 891 and thesupport frame 892, or a loose connector such as a chain with ends hooked to rings that are respectively mounted on theholder 891 and on thesupport frame 892. - In some embodiments,
FIG. 14 shows anautomated cooking apparatus 800B similar to 800, with afurther frame 894 carrying acooking pan 109, and an elasticconnection comprising springs 871 joining theframe 894 and theholder 891. A transport mechanism and stabilization mechanism identical to that in theautomated cooking apparatus 800 moves theholder 891. Avibration mechanism 870 is mounted on theframe 894 to produce vibration in thecooking pan 109. - In some embodiments,
FIGS. 15A-15D show anautomated cooking apparatus 900A in which a cooking pan can be moved by a transport mechanism to make circular movement without any self-rotation relative to a support frame. A cooking pan (not shown) can be attached to and above aholder 991. A first turning pair, as a first kinematic pair, has ashaft 911 and asleeve 912 as mating parts, with thesleeve 912 connected to theholder 991. The cooking pan usually has a central axis coinciding with the axis of theshaft 911 but this is not a requirement. Ashaft 931 of another turning pair is rigidly connected with agear 971 at top, and is also rigidly connected to asupport frame 992 at bottom (seeFIG. 15C ). Theshaft 931 and thegear 971 are concentric. Referring toFIG. 15B , arigid plate 933 rigidly connects theshaft 911 on the top side, thesleeve 932 of theshaft 931 on the bottom side, and ashaft 937 of agear 972 on the top side. Thegear 972 may rotate around theshaft 937. Athird gear 973 is rigidly connected with, and concentric withsleeve 912. All shafts and gears have parallel axes; and the axes of theshafts gear 971 is engaged with thegear 972, which in its turn is engaged withgear 973, and all three gears have a same diameter, equal to the distance between the axis of theshaft 931 and the axis of theshaft 911. A motor (not shown) drives the rotation of the sleeve 932 (and hence of theplate 933 and the shaft 911) around theshaft 931. Thus theshaft 911 can make a circular movement (around the shaft 931) relative to thesupport frame 992, moving the central axis of the cooking pan. As thegear 971 is rigidly joined with thesupport frame 992 via 931, thegear 972 and hence thegear 973 rotate simultaneously with the circular movement of theshaft 911 around theshaft 931, thus inducing a simultaneous relative rotation of thesleeve 912 around the shaft 911 (it should be noted again that thesleeve 912 is rigidly joined with the gear 973). By a careful analysis, theholder 991 and the cooking pan (not shown) have to have zero self-rotation relative to thesupport frame 992 at all times. Thus, the cooking pan makes a circular movement with no self-rotation. The distance between the axes of theshafts sleeve 932 can be properly large, as to produce a properly large acceleration in the movement of any point on the internal surface of the cooking pan. - In some embodiments,
FIG. 16 shows anautomated cooking apparatus 900B with the same function as 900A but with the gear transmission replaced by a belt transmission. A cooking pan (not shown) can be attached to and above aholder 991. A first turning pair (as a first kinematic pair) has ashaft 911 and asleeve 912 as mating parts, with thesleeve 912 connected to theholder 991. The cooking pan usually has a central axis coinciding with the axis of theshaft 911 but this is not a requirement. Arigid connector 953 rigidly connects theshaft 911 with thesleeve 952 of ashaft 951 of a turning pair. Theshaft 951 is mounted on asupport frame 992. Abelt wheel 983 is rigidly joined with and concentric with thesleeve 912. Anotherbelt wheel 981 is rigidly joined with and concentric with theshaft 951. Thebelt wheels synchronous belt 982 envelopes thebelt wheels shafts belt wheels connector 953 and the shaft 911) around theshaft 951. Thus theshaft 911 can make a circular movement (around the shaft 951) relative to thesupport frame 992, moving an axis of the cooking pan. As thebelt wheel 981 is rigidly joined with thesupport frame 992 via 951, thebelt wheel 983 and hence thesleeve 912 rotate simultaneously with the circular movement of theshaft 911, thus inducing a simultaneous relative rotation of thesleeve 912 around theshaft 911. Under this mechanism, theholder 991 has to have no self-rotation relative to thesupport frame 992 during the circular movement. The distance between the axes of theshafts sleeve 952 can be properly large, as to produce a properly large acceleration in the movement of any point on the internal surface of the cooking pan. - In some embodiments, referring to
FIGS. 17A-17B , anautomated cooking apparatus 700 includes acooking pan 109, aholder 791 which carries thecooking pan 109. A universal turning pair (as a first kinematic pair) 710 has aball 711 and acap 712 as mating parts. Theball 711 is connected with theholder 791. Atransport mechanism 739 includes amotor 732 mounted on thesupport frame 792 and arigid connector 733 that connects theshaft 731 of themotor 732 and thesleeve 712. Astabilization mechanism 749 includes a turning pair (as a second kinematic pair) 720 with ashaft 721 whosesleeve 722 is connected with theholder 791, another turning pair (as a third kinematic pair) with ashaft 741 in asleeve 742, and aconnector 743 that rigidly connects theshafts sleeve 742 is mounted on thesupport frame 792. The distance from the center of theball 711 to the axis of theshaft 731 is smaller than the distance between the axes of theshafts transport mechanism 739 can produce a circular movement in thecap 712. Thestabilization mechanism 749 allows rotations of theshaft 721 around theshaft 741 in a circular movement. The movement produced by theapparatus 700 is substantially the same as theapparatus 200 inFIGS. 7A-7B . The distance between the center of theball 711 and the axis of theshaft 731 can be designed to be properly small, so the cooking pan as a whole is displayed by a small distance and by a small inclination change. On the other hand, the rotation speed of themotor 732 can be properly large, as to produce a properly large acceleration in the movement of any point on the internal surface of the cooking pan. - In some embodiments, referring to
FIG. 18 , anautomated cooking apparatus 1000B includes aholder 1091 that carries acooking pan 109. A first turning pair (as a first kinematic pair) has ashaft 1011 and asleeve 1012 as mating parts; where theshaft 1011 is connected with theholder 1091, and thesleeve 1012 is rigidly connected with aframe 1032. A hinge joint 1030 connects theframe 1032 to asupport frame 1092, so theframe 1032 is constrained to rotate around the joint. Aturning pair 1033 consisting of a shaft and a sleeve connects theframe 1032 to one end of afirst connector 1034. The other end of thefirst connector 1034 is connected with one end of asecond connector 1036 via aturning pair 1035 consisting of a shaft and a sleeve. The other end of the second connector is rigidly joined by theshaft 1037 of a motor 1038. The turning pairs 1030, 1033, 1035 and theshaft 1037 have parallel axes; and the distance between the axes of theturning pair 1035 and theshaft 1037 is shorter than the distance between the axes of the turning pairs 1035 and 1033. As the motor rotates continuously, theturning pair 1035 makes a circular movement, resulting in an oscillatory rotation of theframe 1032 around theshaft 1031. Abelt wheel 1076 is mounted on theshaft 1011 and has the same axis as theshaft 1011. Amotor 1071, mounted on theframe 1032, rotates anotherbelt wheel 1075 that is coplanar with thebelt wheel 1076. Atransmission belt 1074 envelopes around thebelt wheels computer 199 controls themotor 1071 via a connector and also controls themotor 1039 via another connector (not shown in figure). Thus theholder 1091 and thecooking pan 109 can be moved by a combination of a controlled oscillatory movement and a controlled self-rotation. The distance between the axes of theshafts shaft 1011 may be a center point of the cooking pan. The center point is therefore displaced by a properly small distance and by a small inclination change. On the other hand, the rotation speed of themotor 1039 can be properly large, as to produce a properly large acceleration in the movement of any point on the internal surface of the cooking pan. - Usually the frequency of the self-rotation of the cooking pan around the
shaft 1011 produced by themotor 1071 is much slower compared with the frequency of the oscillation produced by themotor 1039. The rotational oscillation produced by themotor 1039 can cause acceleration in the cooking pan for the purpose of stirring and mixing the food ingredients contained in the cooking pan. The movement directions of the rotational oscillations are constant (in time) relative to thesupport frame 1092, but are changing relative to the cooking pan due to the controlled self-rotation driven by themotor 1071. Thus, the food ingredients can be evenly stirred and mixed without accumulation along any particular direction. Moreover, the food ingredients are not accumulated in any particular area and thus have a balanced distribution in the cooking pan. - In some embodiments, referring to
FIGS. 19A-19B , anautomated cooking apparatus 1000C includes aholder 1091 which carries acooking pan 109. A first turning pair (as a first kinematic pair) has ashaft 1011 and asleeve 1012 as mating parts. Theshaft 1011 is connected with theholder 1091; and thesleeve 1012 is rigidly connected with aframe 1042. Aturning pair 1050 has ashaft 1051 and asleeve 1052, where thesleeve 1052 is connected with theframe 1042 and theshaft 1051 is connected with asupport frame 1094. The sleeve of ashaft 1043 in a turning pair is rigidly joined with theframe 1042. A firstrigid connector 1044 connects theshaft 1043 to ashaft 1045 in another turning pair. A secondrigid connector 1046 connects the sleeve of theshaft 1045 to theshaft 1047 of amotor 1049. A thirdrigid connector 1056 rigidly connects the frame of themotor 1049 to theshaft 1055 of asecond motor 1054. Themotor 1054 is mounted on thesupport frame 1094, and can drive and brake the rotation of theshaft 1055. Allshafts shafts shafts belt wheel 1076 is mounted on theshaft 1011 and is concentric with theshaft 1011. Amotor 1071 mounted on theframe 1042 can rotate anotherbelt wheel 1075 which is coplanar with thebelt wheel 1076. Atransmission belt 1074 envelopes around thebelt wheels motor 1049 rotates, theshaft 1045 makes a circular movement around theshaft 1047, which in turn drives theframe 1042 to oscillate around theshaft 1051, resulting in a rotational oscillation in theshaft 1011 and hence in the cooking pan 1010. Themotor 1054 is used to position themotor 1049, as to adjust the amplitude of the oscillatory movement of the cooking pan. To achieve an oscillatory movement of fixed amplitude, themotor 1054 must be braked so themotor 1049 would stay still relative to thesupport frame 1094. The distance between the axes of theshafts sleeve 1012 produced by themotor 1071, the cooking pan as a whole is displayed by a small distance and by a small inclination change. On the other hand, the rotation speed of themotor 1049 can be properly large, as to produce a properly large acceleration in the movement of any point on the internal surface of the cooking pan. - It should be noted that in
FIG. 19B , theshaft 1051 is visually positioned between theshaft 1011 and theshaft 1043. However this is not a requirement. - In the cooking apparatus shown in
FIG. 18 or 19A-19B, it is possible but not required for the axis of theshaft 1011 to be a central axis of the cooking pan in a geometric or other sense. - In some embodiments, referring to
FIG. 20 , acooking apparatus 1500A includes aholder 1591 carrying acooking pan 109. A first turning pair 1510 (as a first kinematic pair) with ashaft 1511 and a sleeve has the sleeve connected with the holder. A transport mechanism consists of a firstrigid connector 1530 joining theshaft 1511 with ashaft 1531 of another turning pair, a second rigid connector joining the sleeve of theshaft 1531 with theshaft 1533 of amotor 1534. Themotor 1534 is mounted on asupport frame 1592. Theshafts shafts shafts shaft 1524 andsleeve 1525, where theshaft 1523 is connected with theholder 1591, and the sleeve is rigidly connected with thesupport frame 1592. The axis of the slidingshaft 1524 is perpendicular to the axes of theshafts holder 1591 to make a linear movement relative to thesupport frame 1592. Themotor 1533 produces a circular movement in 1531 which oscillates theshaft 1511 together with theholder 1591 and thecooking pan 109. The distance between the axes of theshafts motor 1534 can be properly large, as to produce a properly large acceleration in the movement of any point on the internal surface of the cooking pan. - In some embodiments, referring to
FIG. 21 , acooking apparatus 1500B is built from thecooking apparatus 1500A by further adding an adjustment mechanism. Thecooking apparatus 1500B includes aholder 1591 carrying acooking pan 109. A first turning pair (as a first kinematic pair) 1510 with ashaft 1511 and a sleeve where the sleeve is connected with the holder. A transport mechanism consists of a firstrigid connector 1530 joining theshaft 1511 with ashaft 1531 of another turning pair, a second rigid connector joining the sleeve of theshaft 1531 with theshaft 1533 of amotor 1534. Arigid connector 1536 connects the base of themotor 1534 with theshaft 1537 of asecond motor 1538; where themotor 1538 is mounted on asupport frame 1592. Theshafts shafts shafts motors motor 1538 is capable of braking theshaft 1537 when needed. A stabilization mechanism consists of a sliding pair 1523 (as a second kinematic pair) with a slidingshaft 1524 andsleeve 1525, where theshaft 1524 is connected to theholder 1591, and the sleeve is connected with thesupport frame 1592. The stabilization mechanism allows theholder 1591 to make a linear movement relative to thesupport frame 1592. The axis of the slidingshaft 1523 is perpendicular to the axes of theshafts motor 1538 brakes theshaft 1537, a continuous movement of themotor 1534 produces a circular movement in theshaft 1531 which oscillates theshaft 1511 together with theholder 1591 and thecooking pan 109. Themotor 1538 is used to adjust the position of themotor 1534 and thus adjust the angle between the axis of the slidingshaft 1524 and the plane (visually a line inFIG. 21 ) containing the axes of bothshafts shaft 1511 driven by themotor 1534. Thus themotor 1538 can change the amplitude of the oscillations. The distance between the axes of theshafts motor 1534 can be properly large, as to produce a properly large acceleration in the movement of any point on the internal surface of the cooking pan. - In some embodiments, referring to
FIG. 22 , acooking apparatus 1500C includes aholder 1591 carrying acooking pan 109. A stabilization mechanism consists of a turning pair (as a second kinematic pair) 1520 with a shaft and a sleeve, wherein the shaft is rigidly connected with theholder 1591 and the sleeve is rigidly connected with asupport frame 1593. The stabilization mechanism constrains theholder 1591 to rotate around theturning pair 1520. A transport mechanism consists of aspring 1550 joining theholder 1591 with thesupport frame 1593, aniron plate 1551 mounted on theholder 1591, and an electric magnet with a built-indriver 1552 mounted on the support frame 1993. Theelectric magnet 1552 applies a cyclic magnetic force on theiron plate 1551 to produce an oscillation in the iron plate. Acomputer 199 controls the driver of the electric magnet through aconnector 1553 so that the magnitudes and frequencies of the oscillation can be adjusted. The magnitudes of the oscillation of theelectric magnet 1552 can be properly small, so that the cooking pan as a whole is displayed by a properly small distance and by a small inclination change. The frequency of the oscillation can be properly large, as to produce a properly large acceleration in the movement of the internal surface of the cooking pan. - In some embodiments, referring to
FIGS. 23A-23B , anautomated cooking apparatus 1200 includes aholder 1291 which carries acooking pan 109. A stabilization mechanism consists of a turning pair 1250 (as a second kinematic pair) with ashaft 1251 and asleeve 1252, where thesleeve 1252 is connected to theholder 1291, and theshaft 1251 is connected with asupport frame 1292. A first turning pair 1210 (as a first kinematic pair) consists of ashaft 1211 and asleeve 1212 as mating parts. Thesleeve 1212 is connected to theholder 1291. A transport mechanism consists of a firstrigid connector 1244 connecting theshaft 1211 with ashaft 1245 in another turning pair, a secondrigid connector 1246 connecting the sleeve of theshaft 1245 to theshaft 1247 of amotor 1249, a thirdrigid connector 1256 connecting the frame of themotor 1249 to theshaft 1255 of asecond motor 1254. Themotor 1254 is mounted on thesupport frame 1292. Themotor 1254 can rotate theshaft 1255 and is also capable of braking theshaft 1255. Allshafts shafts shafts motor 1249 rotates, theshaft 1245 makes a circular movement around theshaft 1247; which in turn drives theholder 1291 to rotate back and forth around theshaft 1251, resulting in a rotational oscillation in thecooking pan 109. Themotor 1254 is used to position themotor 1249, as to adjust the amplitude of the oscillatory movement produced by themotor 1249. To achieve an oscillatory movement of constant amplitude, theshaft 1255 must be applied a brake so themotor 1249 would stay still relative to thesupport frame 1292. The distance between the axes of theshafts motor 1249 can be properly large, as to produce a properly large acceleration in the movement of any point on the internal surface of the cooking pan. - In some embodiments, referring to
FIGS. 24A-24B , acooking apparatus 1100 includes aholder 1191 consisting of two heat insulating plates attached to acooking pan 108. Twoshafts 1111 of two first turning pairs (as first kinematic pairs) are aligned along a same axis. Theshafts 1111 are rigidly connected to theholder 1191. Aframe 1194 rigidly joins the sleeves of theshafts 1111 and theshafts 1121 of two turning pairs. Theshafts 1121 have a same axis. The sleeves of theshafts 1121 are rigidly connected with asupport frame 1192. An oscillation mechanism mounted on theframe 1194 may produce a rotational oscillation of theshafts 1111 around their axis, and another oscillation mechanism mounted on thesupport frame 1192 may produce a rotational oscillation of theshafts 1121 around their axis. The oscillations mechanisms can be powered by a pair of electric motors that are driven by drivers or controllers that produce some oscillatory electric currents for the motors, or by a pair of hydraulic, pneumatic, magnetic or other oscillators or vibrators (not shown in figure), and a computer (not shown in figure) can be used to control the magnitudes and frequencies of the oscillators. The magnitudes of the oscillations produced by both oscillation mechanisms can be designed to be properly small, so that the cooking pan as a whole is displayed by a small distance and by a small inclination change during the oscillatory movements. On the other hand, the frequencies of the oscillations can be properly large, as to produce properly fast accelerations in the internal surface of the cooking pan. It should be noted that in the special case when theshafts - In some embodiments,
FIGS. 25A-25B show acooking apparatus 1101 that is built from theapparatus 1100 inFIGS. 24A-24B by further adding two crank-and-slider mechanisms as follows. One of theshafts 1111 is connected to ashaft 1131 of a turning pair through a firstrigid connector 1130. A secondrigid connector 1132 connects the sleeve of theshaft 1131 with the sleeve of ashaft 1133 in another turning pair. A thirdrigid connector 1134 joins theshaft 1133 with theshaft 1135 of amotor 1138. Themotor 1138 is mounted on theframe 1194. Theshafts shafts shafts motor 1138 results in a back-and-forth movement of theshaft 1131 around theshaft 1111, thus oscillating the cooking pan relative to theframe 1194. Similarly, a fourthrigid connector 1140 connects one of theshafts 1121 and anothershaft 1141 of a turning pair. A fifthrigid connector 1142 connects the sleeve of theshaft 1141 with the sleeve of ashaft 1143 of another turning pair. A sixthrigid connector 1144 connects theshaft 1143 with theshaft 1145 of amotor 1148. Themotor 1148 is mounted on thesupport frame 1192. Theshafts shafts shafts shaft 1143 around theshaft 1145 translates into a back-and-forth rotation of theshaft 1141 around theshaft 1121, thus oscillating theframe 1194 around theshaft 1121. A computer may control themotors shafts shafts motors - It should be noted that a transport mechanism in
apparatus 1101 consists of: the turning pairs withshafts 1121, theframe 1194 which connects the sleeve of 1111 in the first turning pairs to theshafts 1121, the turning pairs withshafts rigid connectors motor 1148 with theshaft 1145. The transport mechanism moves the sleeve of the first turning pair 1110 in a rotational oscillation. A powered mechanism consists of: the turning pairs withshafts connectors motor 1138 with theshaft 1135. The powered mechanism produces a relative oscillatory movement between theshaft 1111 and the sleeves 1112 of the first turning pairs. - In some embodiments,
FIG. 26 shows acooking apparatus 1102 that is built from theapparatus 1100 inFIGS. 24A-24B by adding two crank-and-slider mechanisms that are mechanically linked and driven by a same motor. In addition to the exposition inFIGS. 24A-24B , arigid connector 1150 connects ashaft 1111 to a first mating part of auniversal joint 1181. A secondrigid connector 1152 connects the second mating part of the universal joint 1181 with a first mating part of another universal joint 1182. The second mating part of the universal joint 1182 is rigidly joined with ashaft 1163 of aturning pair 1168. The center of theuniversal shaft 1182 is on the axis of theshaft 1163. A thirdrigid connector 1164 connects theshaft 1163 to theshaft 1165 of amotor 1169. Themotor 1169 is mounted on thesupport frame 1192. Similarly, a fourthrigid connector 1160 connects ashaft 1121 and ashaft 1161 of a turning pair. A fifthrigid connector 1162 connects the sleeve of theshaft 1161 with the sleeve of theshaft 1163 in theturning pair 1168. Theshafts shafts universal joints shafts motor 1169. Themotor 1169 can produce a circular movement in theshaft 1163, causing both theshafts shafts shafts motors 1169 can be properly large, as to produce a properly large acceleration in the movement of any point on the internal surface of the cooking pan. - Referring to
FIG. 27A , anautomated cooking apparatus 1300A includes acooking pan 109 mounted on aholder 1391, which can slide on aframe 1394 along the X-axis via a sliding pair (as a first kinematic pair, not shown in figure) with two mating parts respectively connected to theholder 1191 and theframe 1394. Theframe 1394 can slide on asupport frame 1392 along Y-axis via another sliding pair. A turning pair has ashaft 1331 and a sleeve as mating part, with the sleeve rigidly connected to the holder 1991. A first crank-and-slider mechanism (a powered mechanism) is composed of a firstrigid connector 1332 connecting theshaft 1331 and ashaft 1333 of another turning pair; and a secondrigid connector 1334 connecting the sleeve of theshaft 1333 and theshaft 1335 of a first motor (not shown in figure) that is mounted on theframe 1394. In some implementations, the axes of theshafts shafts shafts shaft 1335 by the first motor produces a circular movement of theshaft 1333 and hence a linear oscillation of theholder 1391 relative to theframe 1394, along the X-axis. A second crank-and-slider mechanism (a transport mechanism) is composed of ashaft 1341 of a turning pair whose sleeve is rigidly joined with theframe 1394; arigid connector 1342 connecting theshaft 1341 and ashaft 1343 in another turning pair; and anotherrigid connector 1344 connecting the sleeve of theshaft 1343 and theshaft 1345 of a second motor (not shown in figure) that is mounted on thesupport frame 1392. The axes of theshafts shafts shafts shaft 1345 by the second motor (in the transport mechanism) produces a circular movement of theshaft 1343 and hence a linear oscillation of theframe 1394 relative to thesupport frame 1392, along the Y-axis. Thus, the cooking pan is moved by a composition of two oscillations, respectively along the X and Y axes. It is also possible to mechanically link the rotations of both crank-and-slider mechanisms so they are driven by a same motor. The distance between the axes of theshafts shafts - The movement paths of a point on the cooking pan 1309 in the
automated cooking apparatus 1300A relative to thesupport frame 1392 can be represented by the following equations: X=A cos(ωt+η); Y=B sin(μt+δ)+b; where A is the distance between the axis of 1333 and the axis of 1335; and B is the distance between the axis of 1343 and the axis of 1345; ω and μ are respectively the frequencies of the rotation ofshafts FIG. 27B . Furthermore, if the ratio of the frequencies ω to μ can be represented by a constant fraction, the two dimensional patterns for the movement path are referred to as Lissajous patterns (or Lissajous orbits, or Lissajous curves). It should be noted however that the presently disclosed automated cooking apparatus is not limited to a rational number for the ratio of the frequencies (ω, μ). Lissajous patterns include familiar patterns such as circles (A=B and ω=μ, ecliptics (ω=μ; A≠B). - The crank-and slider mechanisms in
FIG. 27A may be replaced by other oscillation mechanisms, such as magnetic, hydraulic or pneumatic oscillators. - In some embodiments, referring to
FIG. 28 , anautomated cooking apparatus 1600A includes aholder 1691 carrying a cooking pan (not in figure) and a stabilization mechanism as follows. Ashaft 1621 is rigidly joined with ashaft 1690 that is rigidly joined with theholder 1691. Two sections of theshaft 1621 are in twosleeves 1622, so theshaft 1621 and each of the two sleeves are mating parts of a turning pair (a second kinematic pair). A ring shapedconnector 1625 connects thesleeves 1622 with the twoshafts 1623 of two turning pairs (third kinematic pairs). Theshafts 1623 have a same axis. Thesleeves 1624 of theshafts 1623 are rigidly joined with asupport frame 1692. Theshaft 1690 or alternatively theholder 1691 may be moved by a transport mechanism (not shown in figure). - In some embodiments, referring to
FIG. 29 , anautomated cooking apparatus 1600B is built from theapparatus 1600A inFIG. 28 , by further adding a transport mechanism as follows. The bottom part of theshaft 1690 is rigidly joined by thesleeve 1612 of ashaft 1611 in a turning pair. Aconnector 1632 rigidly connects theshaft 1611 with theshaft 1633 of amotor 1634. Themotor 1634 is mounted on thesupport frame 1692. Theshafts shafts motors 1634 can be properly large, as to produce a properly large acceleration in the movement of any point on the internal surface of the cooking pan. - It should be noted that the
mechanism 501 inFIG. 10C may be modified to adjust the amplitude (angle) of the circular movement. - In some embodiments, referring to
FIG. 30 , anautomated cooking apparatus 1600C is built from theapparatus 1600A inFIG. 28 , by further adding a transport mechanism as follows. Amagnet 1651 is fixedly attached to the bottom end of theshaft 1690. Amagnetic field generator 1652 is mounted on thesupport frame 1692 to drive the movement of the magnet. A computer (not in figure) controls themagnetic field generator 1652. As the magnetic field generated by thegenerator 1652 changes, themagnet 1651 is induced to move, thus moving theshaft 1690, theholder 1691 and the cooking pan together with it. The magnitudes of the movement of themagnet 1651 by themagnetic field generator 1652 can be designed to be properly small, so that the cooking pan as a whole is displayed by a small distance and by a small inclination change in the oscillatory movements. On the other hand, the speed of the movement of themagnet 1651 can be designed to be properly large, as to produce a properly large acceleration in the movement of any point on the internal surface of the cooking pan. - It should be noted that the
magnet 1651 inapparatus 1600C may be substituted by an object or device that can be moved by a magnetic field. In particular, 1651 may be substituted by a second magnetic field generator. On the other hand, thepair magnet 1651 joined with thesupport frame 1692, and themagnetic field generator 1652 joined with theshaft 1690. - It should also be noted that the
magnetic field generator 1652 may consist of two or more wired electric magnets driven by separate magnetic drivers. Different magnetic drivers can produce cyclically changing magnetic fields in different electric magnets, with different directions and magnitudes, and different frequencies. A computer or other adjustment mechanism connected to the drivers may be used to dynamically adjust the directions, magnitudes and frequencies of the magnetic fields. - In some embodiments, referring to
FIG. 31 , anautomated cooking apparatus 1600D is built from theapparatus 1600A inFIG. 28 , by further adding a transport mechanism as follows. Apedal 1661 is fixedly attached to the bottom end of theshaft 1690 and is immersed in a liquid in acontainer 1662. A mechanism (not shown in figure) produces a flow in the fluid, and thus moves thepedal 1661, theshaft 1690 and theholder 1691. The magnitudes of the movement of thepedal 1661 by the fluid flow can be designed to be properly small, so that the cooking pan as a whole is displayed by a small distance and by a small inclination change in the oscillatory movements. On the other hand, the speed of the movement of thepedal 1661 can be designed to be properly large, as to produce a properly large acceleration in the movement of any point on the internal surface of the cooking pan. - It should be noted that the mechanism producing a flow in the fluid may consist two or more sources of fluid flow. Examples of such a source includes: a rotating pedal immersed in the fluid and driven by a motor, or a mechanism that places cyclically changing pressures at a location in the fluid, or a cyclic blower of gas into the fluid, etc. Different controllers may be used to control the sources so the sources together can produce a combination of cyclic flows of different directions and magnitudes, and different frequencies in the fluid. A computer or other adjustment mechanism together with the controllers may be used to dynamically adjust the directions, magnitudes and frequencies in the sources of the fluid flows.
- It should be noted that the
pedal 1661 can also be moved by gas flow or other non-contact forces through a medium. In some implementations, the liquid container orgas chamber 1662 may be designed to have a cylindrical shape as to move the pedal in circular movement. A computer may be used to control the mechanisms or the sources that produce the fluid or gas flows. - In some embodiments, referring to
FIGS. 32A-32B , anautomated cooking apparatus 1600E is built from theapparatus 1600A inFIG. 28 , by further adding a transport mechanism as follows. A hinge joint with ashaft 1611 has asleeve 1612 that is rigidly joined with the bottom part of theshaft 1690. Anothershaft 1635 is rigidly joined with theshaft 1611. As in the figure, the axes of theshafts shaft 1635 is joined to some ends of tworigid connectors 1636 by a hinge joint 1671 consisting of a shaft rigidly joined to theconnectors 1636 and a sleeve rigidly joined to theshaft 1635. The other ends of therigid connectors 1636 are rigidly joined to the shaft of a hinge joint 1672 whose sleeve is rigidly joined to theshaft 1637 of amotor 1638. Themotor 1638 is mounted on aframe 1680. The axes of theshafts shafts hinge joints shafts motor 1638 rotates, theconnectors 1636 and theshafts shaft 1637, thus moving theshaft 1690 and theholder 1691 in a circular movement. On the other hand, theframe 1680 is connected to thesupport frame 1692 via some sliding pairs consisting of slidingshafts 1681 andsleeves 1682 where the slidingshafts 1681 are rigidly joined with theframe 1680 and thesleeves 1682 are rigidly joined with thesupport frame 1692. A twoway motor 1685 mounted on thesupport frame 1692 drives a helical-screw 1683 whosesleeve 1684 is rigidly joined with theframe 1680. The axes of themotors shafts 1681 are parallel to each other. As themotor 1685 rotates the helical-screw 1683, thesleeve 1684, theframe 1680, themotor 1638 make a linear movement in a direction parallel to the axis of the shaft 1637 (or equivalently, the axes of the shafts 1681). This moves theshaft 1637 and the hinge joint 1672 along a direction parallel to the axis of theshaft 1637, and thus adjusts the angle between the axes of theshafts connectors 1636 and the hinge joint 1671. The latter angle determines the amplitude of the circular movement of theshaft 1611, and hence that of the circular movements of theshaft 1690 and theholder 1691 produced by themotor 1638. In particular, the amplitude of the circular movement of theholder 1691 can be adjusted by the twoway motor 1685. The angle between theshafts motor 1638 can be designed to be properly large, as to produce a properly large acceleration in the movement of any point on the internal surface of the cooking pan. - In some embodiments, referring to
FIG. 33A-33B , anautomated cooking apparatus 700B includes aholder 793 which carries acooking pan 109. Three universal turning pairs (as first kinematic pairs) 715, 716 and 717 all have first mating parts rigidly connected to the holder, and second mating parts respectively joined to threeiron plates elastic connectors support frame 794.Electric magnets support frame 794 and can move theiron plates electric magnets iron plates holder 793 together with thecooking pan 109. A computer or other adjustment mechanism together with the three magnetic drivers may be used to dynamically change the magnitudes and frequencies of the oscillations of the three electric magnets. The magnitudes of the oscillatory movements can be designed to be of proper size, so that the cooking pan as a whole is displayed by a proper distance and by a small inclination change in the oscillatory movements. On the other hand, the frequencies or speeds of the oscillations of theiron plates - In some embodiments, referring to
FIG. 34 , anautomated cooking apparatus 700C includes aholder 795 which carries acooking pan 109. Threemagnets 781 are connected with theholder 795. Three magnetic field generators 782 s are mounted on a support frame (not shown in figure), and can respectively move themagnets 781. The centers of themagnets magnets 781 can be designed to be properly small, so that the cooking pan as a whole is displayed by a small distance and by a small inclination change in the composition of oscillatory movements. On the other hand, the speed of the movement of themagnets 781 can be designed to be properly large, as to produce a properly large acceleration in the movement of any point on the internal surface of the cooking pan. - It should be noted no stabilization mechanism is needed for the
cooking apparatus 700C. Alternatively, another apparatus may be built from thecooking apparatus 700C by substituting one of the threemagnetic field generators 782 by a permanent magnet. In this case, the other two magnetic field generators 782 s can produce controlled movements in thecooking pan 109, while the permanent magnet substituting one of the 782 s together with therespective magnet 781 may be used as a stabilization mechanism. - In some embodiments, referring to
FIG. 35 , anautomated cooking apparatus 700D is built from theapparatus 700C by further adding sixelastic connectors 785 connecting theholder 795 to thesupport frame 796. Theelastic connectors 785 are used to stabilize the cooking pan. - In some embodiments, referring to
FIGS. 36A and 36B , anautomated cooking apparatus 1300 includes acooking pan 109 mounted on aholder 1391, which can slide on aframe 1394 along the X-axis via a sliding pair. Theframe 1394 can slide on asupport frame 1392 along Y-axis via another sliding pair. A twoway motor 1319 whose base is mounted on theframe 1394, produces a rotation in a helical-screw mechanism 1318 that translates the rotation into a translational movement of 1391 along the X-axis direction. Theframe 1394, in its turn, is moved along the Y-axis direction relative to thesupport frame 1392, by a second helical-screw mechanism 1328, which is rotated by a two way motor 1321 mounted on thesupport frame 1392. Thecooking pan 109 can thus be moved by a composition of two linear oscillations, respectively along the X-axis and Y-axis. The motors 1311, 1321 are driven bydrivers 1340 which produce oscillatory currents for the motors so the motors may rotate back and forth in oscillations. Thedrivers 1340 are controlled by acomputer 1350 which adjusts the magnitudes and frequencies of the oscillations. It is possible to mechanically link the rotations of the helical-screw mechanisms motors - In some embodiments, referring to
FIG. 37 , anautomated cooking apparatus 1700 includes aholder 1191 consisting of three heat insulating plates attached to acooking pan 108. Three turning pairs 1710 (as first kinematic pairs) withshafts 1711 have theirrespective sleeves 1712 connected to the three plates of theholder 1791 by threeelastic connectors 1714. Three turningpairs 1730 withshafts 1731 have theirsleeves 1732 mounted on asupport frame 1792. Threerigid connectors 1733 connect the threeshafts 1711 respectively to the threeshafts 1731. Threebelt wheels 1737 are rigidly joined with the threeshafts 1731 respectively. Eachbelt wheel 1737 is concentric with ashaft 1731 and all threebelt wheels 1737 are coplanar and have the same diameter. The axes of theshafts synchronous belt 1736 envelops the threebelt wheels 1737 so the three belt wheels can rotate synchronously. Amotor 1735 mounted on thesupport frame 1792 drives the rotation of a shaft 1731 (any one of the three shafts 1731). As themotor 1735 rotates ashaft 1731, all threeshafts 1731 are rotated synchronously via thesynchronous belt 1736, resulting in synchronous circular movements in the threeshafts 1711, and a circular movement in thecooking pan 108 in combination with vibrations caused by theelastic connectors 1714. The distance between the axis of ashaft 1711 and therespective shaft 1731 can be designed to be properly small, so that the cooking pan as a whole is displayed by a small distance and by a small inclination change at all times. On the other hand, the rotation speed of themotor 1735 can be designed to be properly large, as to produce a properly large acceleration in the movement of any point on the internal surface of the cooking pan. -
FIG. 38A is a schematic side view of anautomated cooking apparatus 1400 where a rotary vibration mechanism is built at the bottom center of a cooking pan. A rotationallysymmetric cooking pan 1409 with a vertical axis is flexibly mounted on asupport frame 1491 usingsprings 1471 and someheat insulating boards 1492. Thesupport frame 1491 has a shape of a ring that is concentric with thecooking pan 1409. The external surface of thecooking pan 1409 has a cup-shaped recess at the center of its bottom. Avibration mechanism 1452 is mounted in the cup-shaped recess at the center of thecooking pan 1409. Thevibration mechanism 1452 includes amotor 1450 rotating someeccentric blocks 1451, and amotor driver 1461 which drives themotor 1450 via aconnector 1462; and a computer (not shown in figure) controls the motor driver. Themotor 1450 can be a hydraulic motor, an air motor, an electric motor or other motor; and the motor driver can be a hydraulic pump, an air pump, an electric motor driver accordingly. When themotor 1450 rotates the unbalancedeccentric blocks 1451, a three dimensional vibration pattern is produced in the cooking pan, thus stirring and mixing the food ingredients. -
FIG. 38B displays a helical pattern of an exemplifiedmovement path 1488 in the food ingredients when the cooking pan is vibrated by the mechanism inFIG. 38A . -
FIG. 39B is a schematic side view of anautomated cooking apparatus 1400B similar to theapparatus 1400. Acooking pan 1408 is flexibly mounted on asupport frame 1495 usingsprings 1471 and someheat insulating boards 1492. Thesupport frame 1495 has a top part in the shape of a ring that is concentric with thecooking pan 1409. Aconnector 1454 connects avibration mechanism 1452 to the side wall of thecooking pan 1408. Thevibration mechanism 1452 is positioned at below the center of the cooking pan, leaving a space between the vibration mechanism and the cooking pan so that astove 1407 may be mounted on a bottom part of thesupport frame 1495, above the vibration mechanism. The vibration mechanism includes amotor 1450 rotating someeccentric blocks 1451, and amotor driver 1461 which drives themotor 1450 via aconnector 1462. When themotor 1450 rotates the unbalancedeccentric blocks 1451, a three dimensional vibration pattern is produced in the cooking pan, thus stirring and mixing the food ingredients. -
FIGS. 40A-40B respectively show a top and side view of anautomated cooking apparatus 1400C in which acooking pan 1408 is flexibly mounted on asupport frame 1491 usingsprings 1471 and someheat insulating boards 1492. Thesupport frame 1491 has a shape of a ring that is concentric with thecooking pan 1408. Somevibration mechanisms 1480 are mounted on the side of thecooking pan 1408. Eachvibration mechanism 1480 includeselastic plates 1481 connecting the outer wall of the cooking pan with aframe 1482, aniron plate 1484 mounted on anelastic plate 1481, and anelectric magnet 1485 mounted on theframe 1482. Theelectric magnet 1485 applies a variable force on theiron plate 1484 to produce an oscillation in the iron plate. The electric magnet is connected to adriver 1465 via aconnector 1466. Acomputer 1464 is linked to thedriver 1465. Thevibration mechanisms 1480 can produce a three dimensional vibration pattern in the cooking pan, thus stirring and mixing the food ingredients. - It should be noted that the
magnetic vibration mechanisms 1480 may be replaced by other vibration mechanisms, such as electric, hydraulic, pneumatic mechanisms. The mechanisms inFIG. 39 and inFIGS. 40A-40B can produce movement paths of similar helical patterns for the food ingredients as the one displayed inFIG. 38B . - It should be further noted that due to the cyclic or oscillatory nature of movements produced in support frames and the cooking pan in our disclosed cooking apparatus from
FIG. 1 toFIG. 37 , a degree of vibration of similar geometric pattern exists in presently disclosed automated cooking apparatus, thus producing helical or other regular movements in food ingredients, similar to the pattern inFIG. 38B . In addition, these movements have the additional effect of making and maintaining a consistent distribution of a balanced pattern in the food ingredients in the cooking pan, which is suitable for cooking. In case of a round cooking pan, the distribution pattern can be an almost rotationally symmetric around the vertical axis of the cooking pan. In particular, the food ingredients are not pushed to a particular side of the cooking pan. - It should be noted that although the cooking pan in the cooking apparatus of
FIG. 1 is visually centered at the axis of theshaft 111 of the turningpair 110, this is not a requirement. In fact, the center of gravity of thecooking pan 109 may be positioned at some horizontal distance away from the axis of theshaft 111. This applies to the cooking apparatus disclosed inFIGS. 2A-2B , 3A-3B, 4, 5A, 6A, 8A-8B, 9A-9B, 10A-10B, 11, 12, 15A, 16, 17A-17B, 18, 19A-19B. Moreover, the holder, cooking pan and support frames can have different shapes, and the transport or stabilization mechanism is not required be positioned at a height that is lower than the cooking pan. This remark applies to all the cooking apparatus disclosed above. - More automated cooking apparatus may be built using similar methods. For example, a holder of a cooking pan may be joined with the first mating part of a curved sliding pair (as a first kinematic pair), and a transport mechanism can move the second mating part of the curved sliding pair by an oscillation relative to a support frame. A powered mechanism can drive a relative oscillation between the two mating parts of the curved sliding pair. The holder is thus moved by a combination of two oscillations.
- In another example, a stabilization mechanism consists of a connector joining the first mating part of a planar pair (as a second kinematic pair) to a holder of a cooking pan, and another connector joining the second mating part of the planar pair. Two transport mechanisms using magnetic or other forces may produce a combination or two oscillations or other movements in the holder.
- In another example, a stabilization mechanism consists of three or more elastic connectors connecting the holder of a cooking pan to a support frame. One or more transport mechanisms may move the holder.
- For the present patent application, the term “displacement” of a moving point is the distance between the position of the moving point and its original position before it is moved by the transport mechanism. The positions of a point before and after it is moved can be relative to a support frame on which the automated cooking apparatus is mounted on. If the support frame is moved but the point is not moved with respect to the support frame, the displacement of the point relative to the support frame is zero.
- In the above described automated cooking apparatus, the internal surface of the cooking pan has a center point that is displaced by a properly small displacement during the movement produced by the transport mechanism. Indeed, in many of the above automated cooking apparatus, each point of the internal surface of the cooking pan (which is intended to be in contact with food ingredients) is displaced by a properly small displacement. It is not easy to quantify what is a properly small displacement, as this may depend on the shape of cooking pan, the heater, the types of food ingredients, and styles of cooking. In any case, the center point on the internal surface of the cooking pan can be displaced by less than a half the diameter of the heating source at all times. Since the diameter of a heating source can be about one half of the diameter of the cooking pan, the center point on the internal surface of the cooking pan is required to be displaced by less than a quarter of the diameter of the cooking pan. An advantage of such a design, besides the benefits of mixing and stirring and distributing the food ingredients, is that the food ingredients may be heated by a same heater in case the heater is fixed to a support frame. (It is however not a requirement that the heater be fixed to a support frame during the cooking process.) Compared with our apparatus, the rotating cylinder used as a cooking pan has a larger displacement, almost equal to the diameter of cooking pan, and the heating area of the cooking pan must be much larger.
- If the automated cooking apparatus has an adjustment mechanism to adjust the magnitude of the movements of the cooking pan produced by the transport mechanism, the displacement of a center point on the internal surface of the cooking pan (in the movement produced by the transport mechanism) can be adjusted between a lower bound and an upper bound. For such a cooking apparatus, there is no need to restrict the upper bound at all. It is only required for the lower bound to be designed small (or to be zero).
- A feature of the above automated cooking apparatus is that, the speeds of movements of any point of the internal surface of the cooking pan (which is intended to be in contact with food ingredients) can be made properly large without increasing the total displacement of the cooking pan or the total displacement of the second mating part of the first kinematic pair. The directions of velocity vectors are changed frequently, thus producing some properly big accelerations in the internal surface of the cooking pan (more precisely, in the part of the internal surface of the cooking pan that can be in contact with the food ingredients in the stirring and mixing process) as to stir, mix and distribute the food ingredients contained in the cooking pan.
- Another feature of the above automated cooking apparatus is that the points of the internal surface of the cooking pan that can be in contact with food ingredients during the stirring and mixing process are evenly moved. Except a possible phase difference, the magnitudes of the acceleration of a point on the internal surface of the cooking pan (that can be in contact with food ingredients during the mixing and stirring process) is comparable with the magnitude of the acceleration of any other point on the internal surface of the cooking pan (that can be in contact with food ingredients during mixing and stirring process). In particular, all points on the internal surface of the cooking pan are moved in the mixing and stirring process. Compared with our apparatus disclosed above, the traditional transport mechanism that rotates a cooking pan around a vertical axis of the cooking pan does not move the point of the cooking pan intersected with the vertical axis; nor can it move the points of the internal surface of the cooking pan evenly, as the points of the cooking pan near the rotation axis are barely moved.
- Another feature of the above automated cooking apparatus js that the inclinations of any axis on the cooking pan is only displaced by a small angle. Again, it is not easy to quantify what is perceived to be a small angle, as it depends on the shape of the cooking pan, the heater, the food ingredients and the style of cooking. We estimate the inclination of any axis on the cooking pan is displaced by less than 60 degrees (in fact much, much less, or no inclination change at all in many applications), but in no case equal to or more than 90 degrees. Compared to our applications, the rolling cylinder used as a cooking pan can change the inclination of an axis by 180 degrees, turning the axis upside down.
- For the present patent application, the inclination angle of an axis is the angle between the axis and the horizontal plane. In the apparatus disclosed in
FIGS. 1 , 3-10B, 13A-16, 18-19B, the axis of the first kinematic pair (also a turning pair) can be designed to be vertical, in which case the inclination angle of the axis is 90 degrees. InFIGS. 2 , 11-12, the angle of inclination of the axis of the first kinematic pair (a turning pair) can be designed to be close to 90 degrees, although this is not a requirement. For the cooking apparatus inFIG. 17A-17B , the angle of inclination of the axis of the rotation of the first mating part (a ball) relative to the second mating part (a cap or sleeve) can be vertical, as the relative rotation is also constrained by the stabilization mechanism, In any case, if the axis of the first turning pair has an inclination angle larger than 45 degrees, then the inclination of any axis of the cooking pan is moved by less than 90 degrees. - It should be noted that support frame of the above disclosed automated cooking apparatus may be moved by a further transport mechanism, sometimes for purposes other than stirring, mixing and distributing the food ingredients.
- For the present patent application, the phrase “cooking apparatus” can mean an apparatus for cooking with a heat source (including but not limited to: frying, steaming, boiling, roasting etc.), an apparatus for mixing salad, or an apparatus for mixing cooked food. In case of mixing of salad or cooked food, or boiling noodle or dumplings, or steaming, the cooking pan may be substituted by any container of food or food ingredients. For the purpose of present patent application, a cooking pan is a special case of a container of food or food ingredients. It should be noted that the holders in above described cooking apparatus can hold a container of food or food ingredients in different ways. For example, the container can be fixed to the holder by a mechanism (clamps, screws, etc.) or by a magnet. A holder can be formed by two or more pieces that are separately connected to the container. A holder can be made as a part of the container.
- In some embodiments, the cooking pan is driven by a transport mechanism during cooking to conduct pre-designed movements (e.g. oscillations, cyclic, etc.) that are capable of changing moving directions, of no less than 90 degrees (usually 180 or 360 degrees) in a fraction of a second or less. (In fact, the speed of change in moving directions may be substantially higher, depending on types of food ingredients, styles of cooking or other factors.) The frequent changes of moving directions accompany accelerations in the cooking pan's motion. The friction between the internal surface of the accelerated cooking pan and the non-accelerated food ingredients, and the internal forces exerted on the food ingredients by each other, together with gravitational or other forces, can cause the food ingredients to stir, turn, flip, mix, or jump.
- In some embodiments, the transport mechanism can be designed to frequently move in a loop, back and forth on a line, on a planar or spatial curve, or in a somewhat random locus. The movements of the cooking pan that are frequent and have relatively small amplitudes can replace the relatively less frequent and large amplitude stirring mechanisms using a spatula or like.
- In one aspect, unlike some conventional automated cooking devices, it is not necessary for the disclosed cooking apparatus to directly mimic the motions of the spatula in traditional cooking. Instead, the disclosed cooking apparatus achieve better mixing and more uniform cooking of the food ingredients than manual cooking.
- In some embodiments, the internal surface of the cooking pan (or other type of container of food or food ingredients) can be further structured as to effectively obstruct the food ingredients in motion for the purpose of more robust stirring and mixing. The internal surface of the cooking pan can be rugged, textured, bumped, or have one or more barriers built on or near it. Barriers can be constructed on the internal surfaces of cooking pans. The barriers can have different shapes and dimensions, and constructed at different positions in the container. The barriers in the cooking pan can work in conjunction with the other features disclosed above in relation to
FIGS. 1-40 . Other details of the automated cooking system are disclosed in the commonly assigned pending U.S. patent application Ser. No. 13/490,523, titled “Cooking system capable of automated stirring and mixing of food ingredients”, filed Jun. 18, 2012 by the same inventor, the disclosure of which is incorporated herein by reference. - While this document contains many specifics, these should not be construed as limitations on the scope of an invention that is claimed or of what may be claimed, but rather as descriptions of features specific to particular embodiments. Certain features that are described in this document in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable sub-combination. Moreover, although features may be described above as acting in certain combinations and even initially claimed as such, one or more features from a claimed combination can in some cases be excised from the combination, and the claimed combination may be directed to a sub-combination or a variation of a sub-combination.
- Only a few examples and implementations are described. Other implementations, variations, modifications and enhancements to the described examples and implementations may be made without deviating from the spirit of the present invention. For example, the term cooking pan is used to generally refer to a device for containing food ingredients during cooking. Other words such as wok, cooking pot, cooking ware, etc. can also be used to describe the cooking device. The cooking is also not limited to any particular ethnic styles such as stir fry, and the cooking of Asian, Mexican, Middle Eastern, or European food. In addition, the barriers and cooking pan can be selected to best suit the types of food ingredients and style of cooking.
- Furthermore, the movements of the cooking pan or cooking pan can have other configurations from the examples given above. For example, the radius of circular movements can vary depending on the types of food ingredients and style of cooking. Furthermore, the movements of any or all motors or mechanisms described above may be controlled by a programmed computer or controllers, according to the types of food.
Claims (55)
1. An automated cooking apparatus, comprising:
a container configured to hold food or food ingredients;
a holder configured to hold the container;
a first kinematic pair comprising a first mating part and a second mating part, wherein the first mating part is connected to the holder; and
a transport mechanism configured to move the second mating part of the first kinematic pair,
wherein the first kinematic pair and the transport mechanism in combination are configured to produce accelerations in the container to stir, mix and distribute the food or food ingredients contained in the container and to produce a displacement in a center point of the container by less than a quarter of the diameter of the container.
2. The automated cooking apparatus of claim 1 , wherein the first kinematic pair comprises a turning pair.
3. The automated cooking apparatus of claim 1 , wherein the first kinematic pair comprises a sliding pair.
4. The automated cooking apparatus of claim 1 , wherein the first kinematic pair comprises a universal joint.
5. The automated cooking apparatus of claim 1 , wherein the first mating part of the first kinematic pair is connected to the holder via elastic or non-rigid connectors.
6. The automated cooking apparatus of claim 1 , wherein the transport mechanism is configured to move the second mating part of the first kinematic pair in a circular or rotational movement.
7. The automated cooking apparatus of claim 6 , further comprising:
an adjustment mechanism configured to adjust the radius of the circular or rotational movement of the second mating part of the first kinematic pair.
8. The automated cooking apparatus of claim 1 , wherein the transport mechanism is configured to move the second mating part of the first kinematic pair in a cyclic movement, an oscillatory movement or a combination of oscillatory movements.
9. The automated cooking apparatus of claim 8 , wherein the transport mechanism is configured to move the second mating part of the first kinematic pair along a hypocycloid, or an epicycloid.
10. The automated cooking apparatus of claim 1 , further comprising:
two or more first kinematic pairs and respective transport mechanisms; and
a transmission or linkage mechanism configured to link the two or more transport mechanisms so their produced movements are mechanically linked.
11. The automated cooking apparatus of claim 1 , further comprising:
a powered mechanism configured to move the first mating part of the first kinematic pair relative to the second mating part; and
a computer configured to control the powered mechanism.
12. The automated cooking apparatus of claim 11 , wherein the powered mechanism is configured to move the first mating part of the first kinematic pair by oscillations relative to the second mating part.
13. The automated cooking apparatus of claim 11 , further comprising:
a transmission or linkage mechanism configured to link the movements produced by the powered mechanism and the transport mechanism.
14. The automated cooking apparatus of claim 1 , further comprising a computer or an adjustment mechanism configured to dynamically adjust the directions, magnitudes and speeds of the movements produced by the transport mechanism.
15. The automated cooking apparatus of claim 1 , further comprising:
a stabilization mechanism configured to constrain the movements of one or more parts of the holder or one or more objects connected with the holder,
wherein the first kinematic pair and the transport mechanism are configured to move the holder while the holder is constrained by the stabilization mechanism.
16. The automated cooking apparatus of claim 15 , wherein the stabilization mechanism comprises:
a second kinematic pair comprising a first mating part and a second mating part, wherein the first mating part of the second kinematic pair is connected to the holder, and
a constraining mechanism configured to constrain the movement of the second mating parts of the second kinematic pair.
17. The automated cooking apparatus of claim 16 , further comprising:
a support frame,
wherein the constraining mechanism comprises a third kinematic pair with a first mating part and a second mating part, wherein the first mating part of the third kinematic pair is connected to the second mating part of the second kinematic pair, and wherein the second mating part of the third kinematic pair is connected to the support frame.
18. The automated cooking apparatus of claim 16 , wherein the constraining mechanism comprises a connector configured to connect the second mating part of the second kinematic pair to a support frame.
19. The automated cooking apparatus of claim 15 , wherein the stabilization mechanism comprises:
a second object configured to be connected to the holder; and
a third object configured to be connected to a support frame,
wherein the second object interacts with the third object by magnetic, pneumatic or hydraulic forces.
20. The automated cooking apparatus of claim 15 , wherein the stabilization mechanism comprises one or more elastic connectors, ropes, flexible connectors with hooks, or non-rigid connectors configured to connect one or more parts of the holder to a support frame.
21. An automated cooking apparatus, comprising:
a container configured to hold food or food ingredients;
a holder configured to hold a container; and
a transport mechanism mounted on a support frame, configured to move the holder or an object connected to the holder, wherein each point on the internal surface of the container that can be in contact with the food or food ingredients is configured to be moved relative to the support frame, wherein a center point of the container is displaced by less than a quarter of the diameter of the container, wherein the transport mechanism is configured to move the holder or the object connected to the holder, to produce accelerations in the container as to stir, mix and distribute the food or food ingredients contained in the container.
22. The automated cooking apparatus of claim 21 , wherein the transport mechanism configured to move the holder or an object connected to the holder by a cyclic movement, or an oscillatory movement, or a combination of oscillatory movements.
23. The automated cooking apparatus of claim 21 , wherein the transport mechanism is configured to move a device connected to the holder by a magnetic force produced by a sum of magnetic fields generated by one or more magnetic field generators, wherein the transport mechanism further comprises a driver or a mechanism configured to produce a cyclic or oscillatory changing pattern in each magnetic field generated by the magnetic field generators.
24. The automated cooking apparatus of claim 21 , wherein the transport mechanism is configured to apply a pneumatic force to a device connected to the holder through a gas flow generated by a combination of flow sources in a cyclic or oscillatory changing pattern, or a hydraulic force through a fluid flow generated by a combination of flow sources in a cyclic or oscillatory changing pattern.
25. The automated cooking apparatus of claim 21 , wherein the transport mechanism comprises:
a first oscillation mechanism mounted on a first support frame configured to produce an oscillatory movement in the holder relative to the first support frame;
a second support frame; and
a second oscillation mechanism mounted on the second support frame configured to produce an oscillatory movement in the first support frame relative to the second support frame,
wherein the first oscillation mechanism and the second oscillation mechanism in combination are configured to move the holder to produce fast enough accelerations in the holder and the container to stir, mix or distribute the food or food ingredients contained in the container
26. The automated cooking apparatus of claim 25 , wherein the first oscillation mechanism and the second oscillation mechanism are configured to be mechanically linked.
27. The automated cooking apparatus of claim 21 , further comprising:
a computer or an adjustment mechanism configured to dynamically adjust the directions, magnitudes and speeds of the forces of the transport mechanism.
28. The automated cooking apparatus of claim 21 , further comprising:
a stabilization mechanism configured to constrain a second part of the holder or a second object connected to the holder,
wherein the transport mechanism is configured to move the holder while the holder is constrained by the stabilization mechanism.
29. The automated cooking apparatus of claim 28 , wherein the stabilization mechanism comprises:
a second kinematic pair comprising a first mating part and a second mating part, wherein the first mating part of the second kinematic pair is connected to the holder; and
a constraining mechanism configured to constrain the movement of the second mating parts of the second kinematic pair.
30. The automated cooking apparatus of claim 29 , wherein the constraining mechanism comprises a third kinematic pair comprising a first mating part and a second mating part, wherein the first mating part of the third kinematic pair is connected to the second mating part of the second kinematic pair, and the second mating part of the third kinematic pair is connected to a support frame.
31. The automated cooking apparatus of claim 29 , wherein the constraining mechanism comprises a connector configured to connect the second mating part of the second kinematic pair to a support frame.
32. The automated cooking apparatus of claim 28 , wherein the stabilization mechanism comprises:
a second object configured to be connected to the holder; and
a third object configured to be connected to a support frame,
wherein the second object is configured to interact with the third object by magnetic, pneumatic, or hydraulic forces.
33. The automated cooking apparatus of claim 28 , wherein the stabilization mechanism comprises one or more elastic connectors, ropes, flexible connectors with hooks, or non-rigid connectors configured to connect one or more parts of the holder to a support frame.
34. An automated cooking apparatus comprising:
a container configured to hold food or food ingredients;
a holder configured to hold the container; and
a vibration mechanism configured to produce vibrations in the container as to move the food or food ingredients in a helical pattern.
35. An automated cooking apparatus comprising:
a container configured to hold food or food ingredients;
a holder configured to hold the container;
a rotational mechanism comprising a first mating part and a second mating part and a connection configured to constrain the relative movement of the two mating parts to a rotation, wherein the first mating part of the rotational mechanism is configured to be connected with the holder;
a transport mechanism configured to move the second mating part of the rotational mechanism;
wherein the rotational mechanism and the transport mechanism in combination are configured to move the holder and the container to produce accelerations in the container to stir, mix and distribute the food or food ingredients contained in the container, wherein the axis of the rotation of the first mating part of the rotational mechanism has an inclination angle larger than 45 degrees.
36. The automated cooking apparatus of claim 35 , wherein the mating parts of the rotational mechanism are configured to be a shaft and a sleeve, wherein the axis of the shaft is configured to have an inclination angle larger than 45 degrees.
37. The automated cooking apparatus of claim 35 , wherein the transport mechanism is configured to move the second mating part of the rotational mechanism in a circular or rotational movement.
38. The automated cooking apparatus of claim 35 , further comprising:
an adjustment mechanism configured to adjust the radius of the circular or rotational movement of the second mating part of the rotational mechanism produced by the transport mechanism.
39. The automated cooking apparatus of claim 35 , wherein the transport mechanism is configured to move the second mating part of the rotational mechanism in a cyclic movement, an oscillatory movement or a combination of oscillatory movements.
40. The automated cooking apparatus of claim 35 , further comprising:
a powered mechanism configured to move the first mating part of the rotational mechanism relative to the second mating part.
41. The automated cooking apparatus of claim 40 , further comprising:
a transmission or linkage mechanism configured to link the movements produced by the powered mechanism and the transport mechanism.
42. The automated cooking apparatus of claim 35 , comprising two or more rotational mechanisms and respective transport mechanisms and further comprising a transmission or linkage mechanism configured to link the two or more transport mechanisms so their produced movements are mechanically linked.
43. The automated cooking apparatus of claim 35 , further comprising a computer or an adjustment mechanism configured to dynamically adjust the directions, magnitudes and speeds of the movements produced by the transport mechanism.
44. The automated cooking apparatus of claim 35 , further comprising:
a stabilization mechanism configured to constrain the movements of one or more parts of the holder or one or more objects connected with the holder,
wherein the rotational mechanism and the transport mechanism are configured to move the holder while the holder is constrained by the stabilization mechanism.
45. The automated cooking apparatus of claim 44 , wherein the stabilization mechanism comprises:
a second kinematic pair comprising a first mating part and a second mating part, wherein the first mating part of the second kinematic pair is connected to the holder, and
a constraining mechanism configured to constrain the movement of the second mating parts of the second kinematic pair.
46. The automated cooking apparatus of claim 45 , wherein the constraining mechanism comprises a third kinematic pair with a first mating part and a second mating part; wherein the first mating part of the third kinematic pair is configured to be connected to the second mating part of the second kinematic pair and the second mating part of the third kinematic pair is configured to be connected to a support frame.
47. The automated cooking apparatus of claim 44 , wherein the stabilization mechanism comprises:
a second object configured to be connected to the holder; and
a third object configured to be connected to a support frame,
wherein the second object is configured to interact with the third object by magnetic, pneumatic or hydraulic forces.
48. The automated cooking apparatus of claim 44 , wherein the stabilization mechanism comprises one or more elastic connectors, ropes, flexible connectors with hooks, or non-rigid connectors configured to connect one or more parts of the holder to a support frame.
49. The automated cooking apparatus of claim 35 , wherein the rotational mechanism comprises a configured to be a universal joint.
50. An automated cooking apparatus, comprising:
a container configured to hold food or food ingredients;
a holder configured to hold the container;
a stabilization mechanism comprising:
a second kinematic pair comprising a first mating part and a second mating part, wherein the first mating part of the second kinematic pair is connected to the holder; and
a third kinematic pair comprising a first mating part and a second mating part, wherein the first mating part of the third kinematic pair is connected to the second mating part of the second kinematic pair; and
a constraining mechanism configured to constrain the movement of the second mating part of the third kinematic pair; and
a transport mechanism configured to move the holder,
wherein the constraining mechanism and the transport mechanism are configured to be mounted on a support frame, wherein the transport mechanism is configured to produce movements and accelerations in the container to stir, mix and distribute the food or food ingredients contained in the container, wherein the stabilization mechanism is configured to limit the movement of the container.
51. The automated cooking apparatus of claim 50 , wherein the constraining mechanism comprises a connector configured to connect the second mating part of the third kinematic pair to the support frame.
52. The automated cooking apparatus of claim 50 , wherein the transport mechanism comprises:
a first kinematic pair with a first mating part and a second mating part, wherein the first mating part of the first kinematic pair is connected to the holder; and
a powered mechanism mounted on the support frame and configured to move the second mating part of the first kinematic pair.
53. The automated cooking apparatus of claim 52 , wherein the powered mechanism is configured to move the second mating part of the first kinematic pair in a circular or rotational movement.
54. The automated cooking apparatus of claim 50 , wherein the powered mechanism is configured to move the second mating part of the first kinematic pair in a cyclic movement, an oscillatory movement or a combination of oscillatory movements.
55. The automated cooking apparatus of claim 50 , wherein the transport mechanism comprises:
a device connected to the holder; and
a mechanism configured to move the device by magnetic, pneumatic, or hydraulic forces.
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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US13/607,712 US20140069282A1 (en) | 2012-09-08 | 2012-09-08 | Automated stirring and mixing apparatus for cooking |
EP13170044.5A EP2671481A1 (en) | 2012-06-07 | 2013-05-31 | Automated stirring and mixing apparatus for cooking |
US15/706,136 US10980372B2 (en) | 2012-09-08 | 2017-09-15 | Automated stirring and mixing apparatus for cooking |
US16/997,196 US11641981B2 (en) | 2012-09-08 | 2020-08-19 | Stirring motion mechanism for cooking apparatus |
Applications Claiming Priority (1)
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US13/607,712 US20140069282A1 (en) | 2012-09-08 | 2012-09-08 | Automated stirring and mixing apparatus for cooking |
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US15/839,600 Continuation-In-Part US10799064B2 (en) | 2012-09-08 | 2017-12-12 | Automated cooking system |
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US15/706,136 Continuation US10980372B2 (en) | 2012-09-08 | 2017-09-15 | Automated stirring and mixing apparatus for cooking |
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US15/706,136 Active 2033-05-20 US10980372B2 (en) | 2012-09-08 | 2017-09-15 | Automated stirring and mixing apparatus for cooking |
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US15/706,136 Active 2033-05-20 US10980372B2 (en) | 2012-09-08 | 2017-09-15 | Automated stirring and mixing apparatus for cooking |
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US20180000292A1 (en) | 2018-01-04 |
US10980372B2 (en) | 2021-04-20 |
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