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WO2019090352A1 - Procédés et appareil pour la préparation automatisée d'aliments - Google Patents

Procédés et appareil pour la préparation automatisée d'aliments Download PDF

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Publication number
WO2019090352A1
WO2019090352A1 PCT/US2018/059487 US2018059487W WO2019090352A1 WO 2019090352 A1 WO2019090352 A1 WO 2019090352A1 US 2018059487 W US2018059487 W US 2018059487W WO 2019090352 A1 WO2019090352 A1 WO 2019090352A1
Authority
WO
WIPO (PCT)
Prior art keywords
package
pouch
ingredient
flexible
flaps
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2018/059487
Other languages
English (en)
Inventor
Adam Cohen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from PCT/US2017/060253 external-priority patent/WO2018085796A1/fr
Application filed by Individual filed Critical Individual
Publication of WO2019090352A1 publication Critical patent/WO2019090352A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D75/00—Packages comprising articles or materials partially or wholly enclosed in strips, sheets, blanks, tubes or webs of flexible sheet material, e.g. in folded wrappers
    • B65D75/28—Articles or materials wholly enclosed in composite wrappers, i.e. wrappers formed by associating or interconnecting two or more sheets or blanks
    • B65D75/30—Articles or materials enclosed between two opposed sheets or blanks having their margins united, e.g. by pressure-sensitive adhesive, crimping, heat-sealing, or welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D35/00—Pliable tubular containers adapted to be permanently or temporarily deformed to expel contents, e.g. collapsible tubes for toothpaste or other plastic or semi-liquid material; Holders therefor
    • B65D35/24—Pliable tubular containers adapted to be permanently or temporarily deformed to expel contents, e.g. collapsible tubes for toothpaste or other plastic or semi-liquid material; Holders therefor with auxiliary devices
    • B65D35/28—Pliable tubular containers adapted to be permanently or temporarily deformed to expel contents, e.g. collapsible tubes for toothpaste or other plastic or semi-liquid material; Holders therefor with auxiliary devices for expelling contents
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D81/00—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents
    • B65D81/32—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents for packaging two or more different materials which must be maintained separate prior to use in admixture
    • B65D81/3261—Flexible containers having several compartments
    • B65D81/3266—Flexible containers having several compartments separated by a common rupturable seal, a clip or other removable fastening device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D81/00—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents
    • B65D81/34—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents for packaging foodstuffs or other articles intended to be cooked or heated within the package
    • B65D81/3415—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents for packaging foodstuffs or other articles intended to be cooked or heated within the package specially adapted to be heated in hot water, e.g. boil pouches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D81/00—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents
    • B65D81/34—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents for packaging foodstuffs or other articles intended to be cooked or heated within the package
    • B65D81/3446—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents for packaging foodstuffs or other articles intended to be cooked or heated within the package specially adapted to be heated by microwaves
    • B65D81/3461—Flexible containers, e.g. bags, pouches, envelopes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D83/00—Containers or packages with special means for dispensing contents
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
    • G07F17/0064—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for processing of food articles
    • G07F17/0078—Food articles which need to be processed for dispensing in a hot or cooked condition, e.g. popcorn, nuts

Definitions

  • This disclosure generally relates to the fields of robotics/automation and cooking/culinary arts.
  • a highly-automated food preparation system/machine/kiosk/appliance can offer significant benefits, providing a means of reducing labor that is frequently hard to find and costly and allowing installation in locations unsuitable for workers; increasing the availability of quality food and allowing access in more locations and at more times; reducing wait times; facilitating customization to individual tastes, nutritional requirements, and dietary restrictions; reducing the ri sk of foodborne illness caused by restaurant workers; increasing repeatability by making recipes more quantitative and ensuring they are followed accurately; etc.
  • a method for manipulating a flexible package comprising flaps, includes: (a) providing a flexible package wherein the package comprises at least one flexible film compri sing a left portion and a right portion with each portion having an inside and an outside surface with the inside surfaces facing each other and wherein the left and right portions have regions that are sealed one to the other and wherein each portion compri ses a distal flap; (b) contacting the flap of the left portion using first contacting means; (c) contacting the flap of the right portion using second contacting means; (d) moving the two contacting means and separating the two flaps from one another.
  • the moving comprising pushing or pulling on the flaps; 2) the contacting means selected from the group consi sting of i) suction cups, ii) adhesive pads, iii) clamps, iv) pins, v) microstructured adhesive, and vi) electrostatically-attracted pads; 3) moving each flap to a position and orientation where it can be grasped by clamping means.
  • a method for manipulating a flexible package comprising flaps, includes: (a) providing a flexible package wherein the package comprises at least one flexible film compri sing a left portion and a right portion and wherein the left and right portions have regions that are sealed one to the other and wherein each portion comprises a di stal flap; (b) introducing deflecting means between the flaps; (c) moving the deflecting means relative to the flaps; whereby the flaps are separated from one another.
  • the flexible package compri ses a loop of flexible film configured to allow access to the deflecting means; 2) further comprising moving each flap to a position and orientation where it can be grasped by clamping means.
  • a method for di spensing at least one substance from a sealed flexible package includes: (a) providing a sealed flexible package containing at least one substance wherein the package comprises at least one flexible film compri sing a left portion and a right portion with each portion having an inside and an outside surface with the inside surfaces facing each other and wherein the portions are partially sealed to one another to form at least one compartment containing the at least one substance and wherein the seal comprises at least one openable region and wherein each portion comprises an unsealed flap; (b) grasping the flap of the left portion using left grasping means; (c) grasping the flap of the right portion using right grasping means; and (d) moving the left and right grasping means to apply tension to the flaps; whereby the openable region of the seal is opened and at least a portion of the at least one substance is di spensed from the at least one compartment.
  • first and second grasping means compri se at least one clamp.
  • a flexible package containing at least one item wherein the package includes: (a) at least one flexible film compri sing a left portion and a right portion with each portion having an inside and an outside surface with the inside surfaces facing each other; and (b) wherein the portions are partially sealed to one another to form at least one compartment containing the at least one item; and (c) wherein the seal comprises at least one openable seal region; and (d) wherein each portion comprises an unsealed extension at one end; and (e) wherein each extension is narrower than a sealed region of the portion from which it extends; and (f) wherein the two extensions do not completely overlap.
  • an apparatus for use with a sealed flexible package having a substance contained in a cavity and comprising at least one flap includes (a) means for holding and positioning a sealed flexible package; (b) grasping means to grasp at least one flap of the package; (c) movement means to move the grasping means relative to the package cavity.
  • the substance is flowable and further comprising expelling means to expel the substance from the package selected from the group consi sting of i) at least one squeegee, ii) at least one roller, and iii) at least one inflatable bladder.
  • an apparatus for use with a flexible package containing at least one flowable substance includes: a) means for holding and positioning a flexible package; b) retractable impingement means configured to impinge on the package to discharge the at least one flowable substance from the package.
  • a method for di spensing at least one substance from a sealed flexible package includes: (a) providing a sealed flexible package containing at least one substance wherein the package comprises at least one flexible film compri sing a left portion and a right portion with each portion having an inside and an outside surface with the inside surfaces facing each other and wherein the portions are partially sealed to one another to form at least one cavity containing the at least one substance and wherein the seal compri ses at least one openable seal and wherein each portion comprises an unsealed extension at one end and wherein each extension i s narrower than a sealed region of the portion from which it extends; (b) grasping the extension of the left portion using first grasping means; (c) grasping the extension of the right portion using second grasping means; (d) moving the first and second grasping means to pull the two extensions away from one another; whereby the seal is opened and at least a portion of the at least one substance is dispensed from the cavity.
  • first and second grasping means move along a path that is at least partially curved; 2) wherein the first and second grasping means each comprise a clamp having leading and trailing portions; 3) wherein the first and second grasping means move substantially below the flexible package when grasping the extensions.
  • a storage devi ce for flexible packages having at least one edge includes: (a) at least one upper surface oriented at a non-zero angle to the horizontal and configured to support a flexible package resting thereupon and comprising a lower end; (b) at least one stop proximate the lower end of the surface configured to contact an edge of the package and prevent motion of the package past the lower end whenever the pouch is not actively withdrawn from the device.
  • the eighth aspect of the invention include, for example: 1) wherein the surface comprises a cutout at its lower end to allow access to an edge of the package by a mechanism for withdrawing the package; 2) variation (1) wherein the mechanism further comprises at least one gripper; 2) further compri sing an actuator that generates vibration to cause the package to move along the surface toward its lower end; 3) further comprising at least one ramp to guide a leading edge of the package to a known position within the device and wherein the at least one ramp does not prevent removal of the package from the device; 4) variation (2) wherein the storage device further comprises a pair of upper and a pair of lower ramps positioned to guide opposite portions of the edge of the package; 5) wherein the surface can accommodate a plurality of flexible packages at different positions; 6) variation (3) wherein the storage device further comprises controllable retaining means for flexible packages stored at different positions within the device.
  • a method for dispensing an ingredient from within a package into a receptacle beneath the package includes: (a) relatively lowering the ingredient to make contact with the receptacle; (b) relatively moving the receptacle in a direction that causes at least a portion of the ingredient to change its orientation; (c) allowing the ingredient to exit the package and enter the receptacle.
  • a method for dispensing an ingredient onto a substrate includes: (a) allowing or causing an ingredient to relatively descend toward a substrate; (b) relatively moving the substrate in a direction that causes the ingredient to rotate as it descends further; wherein the ingredient i s laid onto the substrate in a desired orientation.
  • a chain of continuously-joined flexible packages for storing and di spensing a plurality of items includes: (a) at least one continuous flexible film having a longitudinal axi s and comprising a left portion and a right portion and wherein the portions are at least partially sealed to one another to form a plurality of individual compartments each holding at least one item; (b) an openable seal adjacent to each compartment and oriented at an angle smaller than 90 degrees to the longitudinal axis.
  • a method for manipulating a flexible package comprising flaps, the method includes: (a) providing a flexible package wherein the package comprises at least one flexible film comprising a left portion and a right portion with each portion having an inside and an outside surface with the inside surfaces facing each other and wherein the portions are partially sealed to one another and wherein each portion compri ses an unsealed flap; (b) inserting the flaps between a pair of counter-rotating rollers; then (c) engaging clamping means to clamp each flap against the surface of one roller; then (d) separating the two rollers and two flaps from one another.
  • a device for grasping a flexible package having at least one edge and transporting the package between locations includes: (a) grasping means for grasping an edge of the package; (b) rotating means for rotating the package around a substantially horizontal axis from an initial orientation to a final orientation.
  • an automated method for preparing food using a plurality of ingredients includes: (a) readying a plurality of ingredients by transferring the ingredients from at least one storage device to at least one temporary holder using first mechanical grasping and relocating means; (b) grasping and transferring an ingredient from the temporary holder to a dispenser as needed using second mechanical grasping and relocating means; (c) dispensing the ingredient into a receptacle.
  • first mechanical grasping and relocating means and second mechanical grasping and relocating means are the same; 2) wherein first mechanical grasping and relocating means and second mechanical grasping and relocating means are not the same; 3) further comprising altering the temperature of an ingredient within the at least one temporary holder.
  • an automated system for preparing food from ingredients contained in packages includes: (a) storage means for storing a plurality of packages; (b) heating means for heating ingredients within packages; (c) automated transfer means configured to transfer packages from the storage means to the heating means; (d) automated dispensing means; (e) automated transfer means configured to transfer packages from the heating means to the dispensing means.
  • heating means is selected from the group consisting of i) a hot liquid bath, ii) a convection oven, iii) a microwave oven, iv) an infrared heater, v) a solid-state radio frequency (RF) oven, vi) hot air, and vii) steam.
  • a method for automatically disposing of an empty or unusable flexible ingredient package includes: (a) grasping the package with a mechanical grasper; (b) repositioning the package above a waste container; (c) releasing the package from the grasper into the container.
  • a method for preparing food for a food consumer includes the consecutive steps of: (a) dispensing at least one ingredient into a receptacle; then (b) heating the at least one ingredient within the receptacle; then (c) di spensing at least one additional ingredient into the receptacle; (d) conveying the receptacle to a food consumer.
  • a flexible package for storing and dispensing a plurality of ingredients includes: (a) at least two compartments arranged one above the other when the package i s oriented for dispensing; (b) a peelable seal below each compartment, the peelable seal comprising at least one non-horizontal region.
  • an apparatus for dispensing the contents of an upright flexible package comprising two film regions and an openable seal between the two film regions located below the contents of the package wherein the flexible package further comprises extensions of the films below the seal
  • the apparatus includes: (a) actuated gripping means configured to grip the package along two opposite vertical edges in locations proximal to or lower than the openable seal; (b) actuated moving means configured to move the gripping means in opposite directions to horizontally tension the lower portion of the package and the extensions; (c) actuated grasping and tensioning means for grasping the extensions and tensioning them to open the seal.
  • a method for unsealing and dispensing a flexible package having an openable seal and flaps extending below the seal includes: (a) orienting the package upright with the openable seal toward the bottom of the package; (b) grasping the package along two opposite vertical edges; (c) pulling the two edges in opposite directions.
  • the peelable seal has the shape of a chevron having an apex at the bottom, and wherein the package is grasped at a height substantially equal to or lower than the height of the apex.
  • a method for di spensing a food ingredient from a package includes: (a) providing a sealed package containing a food ingredient wherein the package comprises at least one flexible film comprising a left portion and a right portion with each portion having an inside and an outside surface with the inside surfaces facing each other and at least a portion of the inside surfaces contacting the ingredient and wherein the portions are sealed to one another to form at least one cavity containing the at least one ingredient and wherein adjacent to the at least one ingredient, the sealing comprises at least one openable region and wherein the package comprises two opposite edges and two unsealed flaps beneath the seal; (b) gripping the package near the two edges and pulling outwardly on the package to apply tension to it; (c) separating and reorienting the flaps; (d) clamping the flaps and applying tension to them; wherein the package is opened.
  • the seal comprises a chevron having an apex at its bottom and wherein the gripping i s substantially at or lower than the height of the apex.
  • a device for applying tension to at least one portion of a sealed flexible package e.g. a flap portion
  • a device for applying tension to at least one portion of a sealed flexible package includes: (a) a moveable upper clamp configured to move along an upper clamp path and compri sing an upper clamping surface configured to contact a portion of a flexible package from above; (b) a moveable lower clamp below the upper clamp configured to move along a path at least partly common with the upper clamp path and comprising a lower clamping surface configured to contact the portion from below; (c) movement means to move at least one of the upper clamp and lower clamp while the portion contacts upper and lower clamping surfaces.
  • the twenty-second aspect of the invention include, for example: 1) further compri sing guiding means to guide the upper and lower clamps to move at least partially along the upper clamp path; 2) further compri sing urging means to urge the upper clamp downward against the portion, wherein the urging means is selected from the group consi sting of i) weight, ii) mechanical spring, iii) gas spring, iv) at least one magnet, v) at least one electromagnet, vi) at least one electropermanent magnet, vii) electrostatic element, and viii) adhesive; 2) further comprising support means configured to prevent the upper clamp from descending as low as the lower clamp; 3) further comprising at least one blade having a lower edge around which a portion of a flexible package is partially wrapped and redirected; 4) further comprising a high friction material on the upper and lower clamping surfaces.
  • a method for applying tension to portions of a flexible package to open the package includes: (a) providing a moveable upper clamp able to move along an upper clamp path and having an upper clamping surface configured to contact a portion of a flexible package from above; (b) providing a moveable lower clamp below the upper clamp able to move along a path at least partially in common with the upper clamp path and having a lower clamping surface configured to contact the portion of the flexible package from below; (c) introducing a portion of a flexible package into the space between upper and lower clamping surfaces; (d) moving at least one of the upper or lower clamps until the portion of the package contacts both upper and lower clamping surfaces; e) moving the upper and lower clamps in a direction that applies tension to the portion thereby opening the package.
  • a dispenser for a flexible package includes: (a) two substantially symmetric and aligned pouch unsealing and dispensing subsystems facing one another; (b) mechanical means for increasing the gap between the subsystems and for decreasing the gap while maintaining alignment of the two subsystems.
  • a flexible package containing at least one substance includes: (a) at least one flexible film compri sing a left portion and a right portion and wherein the portions are partially sealed to one another to form at least one compartment containing the at least one substance; (b) a seal compri sing at least one openable region; (c) an unsealed extension of at least one portion of the film; (d) at least one region within the at least one unsealed extension having apertures to allow passage of pushing means.
  • a method for manipulating a flexible package compri sing unsealed extensions includes: (a) providing a flexible package wherein the package compri ses at least one flexible film comprising a left portion and a right portion and wherein the portions are partially sealed to one another and wherein each portion compri ses an unsealed extension having an aperture; (b) pushing on a left portion extension by passing pushing means through the aperture of the right portion extension; (c) pushing on the right portion extension by passing pushing means through the aperture of the left portion extension; whereby one extension is separated from the other.
  • a method for automatically emptying an ingredient within a flexible ingredient package into a vessel and di sposing of the package includes: (a) grasping the package with a grasper; (b) dispensing at least a portion of the ingredient into a vessel located beneath the package and overlying a waste container; (c) relatively positioning the vessel so it i s no longer located beneath the package or overlying the waste container; (d) releasing the package from the grasper and allowing the at least partially emptied package to fall into the waste container.
  • a method for manufacturing a flexible package includes: (a) providing first and second flexible films; (b) forming aligned apertures in first and second film s while the two are in proximity; (c) feeding the first film toward a sealer along a first path; (d) feeding the second film toward the sealer along a second path longer than the first path; (e) sealing together the two films; whereby a flexible package i s produced wherein the location of the apertures in the first film and the second film are not aligned.
  • a method for opening a flexible package includes: (a) providing a package having two flaps with non-aligned apertures; (b) inserting pins through the apertures of the flaps; (c) moving the pins to separate the flaps; whereby the package i s opened.
  • a method for opening a flexible package includes: (a) providing a package having first and second flaps each with apertures; (b) inserting a first pad through the aperture in the first flap; (c) clamping the second flap between the first pad and a second pad; (d) inserting a third pad through the aperture in the second flap; (e) clamping the first flap between the third pad and a fourth pad; (f) the pads to separate the flaps; whereby the package i s opened.
  • a method for heating an ingredient includes: (a) providing an ingredient within a first pouch; (b) providing a second pouch that surrounds the first pouch; (c) opening the second pouch to expose the first pouch; (d) heating the ingredient through the first pouch; (e) opening the first pouch to remove the heated ingredient.
  • a method for heating an ingredient includes: (a) arranging two plates with inner surfaces facing one another and separated by an angle between zero and 180 degrees; (b) dispensing an ingredient onto the inner surface of at least one plate; (c) moving at least one plate until the inner surfaces are substantially parallel; (d) heating at least one plate; (e) separating the plates; whereupon the heated ingredient leaves the plates and enters a receptacle.
  • an automated method for supplying a meal includes: (a) receiving an order; (b) providing a receptacle; (c) providing flexible packages containing ingredients; (d) determining from the order the ingredients required and the packages containing them; (e) successively di spensing the required ingredients from the identified packages into the receptacle; (f) heating or cooling ingredients which requires heating or cooling.
  • an apparatus for automated food preparation includes: (a) storage means for storing flexible packages each containing at least one ingredient; (b) grasping means configured to grasp the packages; (c) a dispenser configured to unseal each package and dispense the at least one ingredient; (d) a receptacle configured to receive the at least one ingredient from each package; (e) positioning means for moving the packages to the dispenser; and (f) a container for depositing each at least partially empty package.
  • the storage means comprises a plurality of cubbies
  • the grasping means comprises a gripper configured to grip each package at its upper edge
  • the dispenser comprises moving clamps configured to grasp and apply tension to a portion of each package to open it; 4) wherein the clamps are configured to grasp flaps of the package; 5) wherein the dispenser comprises a blade having an edge around which flaps of the package are partially wrapped.
  • a method for automated food preparation includes: (a) providing a flexible package containing at least one ingredient; (b) providing a motion stage, a dispenser, and a receptacle below the dispenser; (c) grasping a first portion of the package; (d) moving the motion stage to position the package in proximity to the dispenser; (e) grasping at least a second portion of the package; (f) opening the package to di scharge the at least one ingredient into the receptacle.
  • a flexible package for cooking a food item includes: (a) a food item compartment enclosed by a heat-resi stant material; (b) a permeable support below the food item compartment; (c) a liquid compartment below the permeable support; (d) a grease-absorbing filter above the food item compartment; (e) at least one openable seal.
  • a storage device for a plurality of flexible packages includes: (a) a flexible package support compri sing a plurality of substantially coplanar tilted surfaces; (b) an individually-controllable vibration means coupled to each tilted surface; (c) a stop at the lowest end of the device.
  • a method for fabricating a perforated flexible package from two continuous webs of film includes the steps of: (a) providing a first and a second web of film; then (b) perforating the first and second film; then (c) advancing the first film towards sealing means along a part of length A while advancing the second film towards sealing means along a path of length B where B is greater than A; then (d) sealing the first and second film together to form a package.
  • a flexible package for self-contained cooking of an ingredient contained therein includes: (a) at least two flexible film s each having a bottom and a top edge; (b) a cavity for an ingredient; (c) an openable discontinuous seal between the films below the ingredient cavity; (d) a cavity for liquid below the seal; (e) a first openable seal between the films below the cavity for liquid; (f) a second openable seal between the films above the ingredient cavity; (g) filtration material above the second openable seal; (h) at least one aperture in at least one film above the second openable seal.
  • Fig. 1 depicts a typical flexible package used in some embodiments.
  • Fig. 2 illustrates a pouch having an inner pouch.
  • Fig. 3 shows a pouch having multiple compartments.
  • Figs. 4(a)-(b) depict a pouch having seal s with different dimensions.
  • Fig. 5 illustrates a scored pouch with flaps.
  • Fig. 6 is a view of a pouch compri sing a tube.
  • Figs. 7(a)-(b) illustrate a dispenser for a chain of pouches.
  • Figs. 8(a)-(k) illustrate a dispenser.
  • Figs. 9(a)-(b) illustrate a method for dispensing.
  • Figs. 10(a)-(b) are views of a suction device.
  • FIGs. 11 (a)-(b) depict a detachment device.
  • Figs. 12(a)-(d) illustrates a portion of a dispenser.
  • Figs. 13(a)-(b) depict a dispenser.
  • Fig. 13(c) is a view of a pouch.
  • Figs. 13(d)-(g) depict a dispenser.
  • Figs. 14(a)-(b) illustrates a dispenser.
  • Fig. 14(c) is a view of a pouch.
  • Fig. 14(d) i s a view of a pouch and portion of a di spenser.
  • Fig. 15 is a flowchart for di spensing a food item.
  • Figs. 16(a)-(d) depict a storage device for pouches.
  • Figs. 17(a)-(d) illustrate storage devices for pouches.
  • Figs. 18(a)-(d) are views of a storage device for pouches.
  • Figs. 19(a)-(c) depict a storage device for a flexible package.
  • Fig. 19(d) illustrates removal of a package.
  • Figs. 19(e)-(f) are views of a storage device for a package.
  • Figs. 20(a)-(n), Figs. 21 (a)-(n), and Figs. 22(a)-(b) depict movements of pouches in storage devices.
  • Figs. 23(a)-(f) illustrate steps in inserting a pouch into a storage device.
  • Figs. 24(a)-(c) depict systems comprising storage and/or dispensing.
  • Fig. 24(d) shows removal of a pouch from a storage device.
  • Fig. 25 illustrates a system comprising storage and dispensing.
  • Figs. 26(a)-(g) depict automated food preparation apparatus.
  • Fig. 27 shows an approach to handling a pouch.
  • Figs. 28(a)-(d) depict a variety of pouches.
  • Fig. 29 illustrates dispensing from a pouch.
  • Figs. 30(a)-(e) show a method for dispensing an ingredient.
  • Figs. 31 (a)-(f) depict steps in dispensing an ingredient.
  • Figs. 32(a)-(g) illustrate steps in dispensing an ingredient.
  • Fig. 32(h) shows a cross section of Fig. 32(g).
  • Fig. 32(i) shows a modified version of the apparatus of Fig. 32(h).
  • Figs. 33(a)-(b), Fig. 34, Figs. 35(a)-(b), Figs. 36(a)-(b), Figs. 37(a)-(c), and Figs. 38(a)-(f) depict a dispenser.
  • Fig. 39 is a flowchart for dispensing using a dispenser.
  • Figs. 40(a)-(b) depict a dispenser.
  • Figs. 41(a)-(b) illustrate a pouch.
  • Figs. 42(a)-(f) show steps in separating and reorienting flaps.
  • Figs. 43(a)-(b) illustrate a perforated pouch.
  • Figs. 44(a)-(b) depict a perforated pouch.
  • Figs. 45(a)-(d) illustrate a process of manufacturing a pouch.
  • Figs. 46(a)-(d) show a method and apparatus for separating and reorienting flaps.
  • Figs. 47(a)-(c) depict a method and apparatus for separating and reorienting flaps.
  • Figs. 48(a)-(b) illustrate pouches and aspects of pouch manufacturing.
  • Figs. 48(c)-(h) depict a dispenser.
  • Fig. 48(i) shows movements of a pouch.
  • Figs. 48(j)-(k) depict movements of a dispenser.
  • Fig. 49(a) illustrates a punch.
  • Figs. 49(b)-(d) illustrate a process for making a pouch.
  • Figs. 50(a)-(f) depict steps in a method and apparatus for separating and reorienting flaps.
  • Fig. 50(g) shows an apparatus and method for separating and reorienting flaps.
  • Fig. 51 depicts an apparatus and method for dispensing an ingredient.
  • Fig. 52(a)-(b) show methods of placing ingredients.
  • Figs. 53-54 is are flowcharts showing processes for fulfilling orders.
  • Fig. 55 depicts an apparatus for dispensing.
  • Figs. 56(a)-(b) show an apparatus for blending.
  • Fig. 57 shows a device for pouch filling.
  • Fig. 58 illustrates a method and apparatus for heating an ingredient.
  • Figs. 59(a)-(b) depicts a method and pouch for heating or cooking an ingredient.
  • Fig. 60 shows a pouch for heating or cooking an ingredient.
  • Figs. 61 (a)-(f) depict a sequence for heating or cooking an ingredient.
  • Figs. 62(a)-(b) illustrates an apparatus and method for heating or cooking an ingredient.
  • Figs. 63(a)-(f) show steps in a process for preparing a sandwich.
  • Figs. 64(a)-(c) depict steps in fetching a pouch for dispensing.
  • Fig. 65 illustrates a design for a pouch.
  • Figs. 66(a)-(b) depict a method for manufacturing a pouch.
  • Fig. 67 shows a pouch having a shaped cavity.
  • Fig. 68(a) shows a pouch having a molding cavity.
  • Figs. 68(b)-(f) depict a molding sequence.
  • properly-designed flexible packages are particularly advantageous in term s of ingredient quality (e.g., freshness), food safety, and the wide variety of ingredients that can be stored and dispensed (e.g., low, medium, and high-vi scosity liquids; solids; powders; gels; pastes; moi st solids; liquid/solid mixtures; and gases).
  • pouches over alternative packages such as hoppers and other rigid containers are: 1) low cost; 2) compact (small overall volume; can be stored closely together, especially when empty) and lightweight; 3) environmentally friendly, using less material and often fully recyclable; 4) easily made in different sizes and shapes; 5) can serve as pul seless, peri staltic-like pumps to di spense flowable ingredients without contact over a wide range of viscosities; 6) can be evacuated, provided with barrier layers, and filled with gasses to prolong shelf life, avoid oxidation, etc.; 7) can easily be opened by cutting, peeling, etc.; 8) can be opened to their full width to release large items; 9) allows ingredients to be cooked (e.g., sous vide), warmed, or cooled within the pouch; 10) can be subdivided into compartments; 1 1) easily sealed, can be re-sealed if desired; 12) allows "on the side" ingredients such as salad dressing to be delivered directly to customers in convenient form; 13) can be used for in-
  • Such a pouch is intended to be simple in construction so it can be produced costly-effectively by manufacturing lines for pre-made pouch lines or in form/fill/ seal machines known to the art of flexible packaging.
  • Pouches may have very different appearances than as shown, especially if vacuum packed. Pouches may be made in different shapes and sizes (e.g., wide for item s such as steaks, chicken breasts, fish fillets, cheese and bread slices, tortillas, and sliced tomatoes; or narrow for asparagus).
  • Pouch contents may be as- supplied or in a partially-processed state (e.g., ingredients added to a pouch for use at a later time during the preparation process of a specific meal).
  • the term "ingredient”, “substance”, or “food item” shall generally refer to any and all contents of a pouch, including multiple distinct ingredients which may co-occupy a pouch, as applicable.
  • the pouch can be made from various film materials including combinations of materials (e.g., in different layers) such as polymers and metals.
  • the pouch may comprise a barrier layer known to the art such as EV0 H or a metal film, as is typically found in a retort pouch.
  • Pouch materials may include polyethylene films, polyethylene terephthalate (PET) films, multi-layer film s such as polyethylene/nylon, film s containing a polymer and a metal foil, films containing a polymer and a sealing material, films containing absorbers of gas (e.g., oxygen, ethylene), etc.
  • PET polyethylene terephthalate
  • multi-layer film s such as polyethylene/nylon
  • film s containing a polymer and a metal foil films containing a polymer and a sealing material
  • films containing absorbers of gas e.g., oxygen, ethylene
  • the pouch of Fig. 1 typically compri ses two flexible films which are sealed (e.g., heat-sealed) together (though a single film folded at the top may be used in some embodiments) with seal 2 that may be permanent or openable (e.g., peel able); typically unsealed, opposing di stal "flap" extensions/portions of films 4 and 6 at the bottom, having top bend lines 9 and lower edges 13; and at least one cavity or compartment 8 for ingredients.
  • Some pouches may however use one relatively rigid film and one flexible film, in which case a single flap associated with the flexible film may be adequate if the other film i s rigid enough (e.g., if thermoformed) to allow peeling away of the flexible film by pulling on one flap.
  • the cavity may result from the deformation of the flexible wall s of the pouch or may be pre-formed (e.g., thermoformed), etc.
  • a top seal 10 is formed (e.g., by heat or ultrasonic sealing) at the top of the pouch after loading (and in some cases, after removal of at least some of the air within, and sometimes, introduction of an inert gas); this seal need not be openable.
  • a bar code (1 -D ; 2-D) or other method of identification (e.g., RFI D or NFC tag) on the pouch allows machine reading of pouch-related information, and may be located on seal 10 or elsewhere. Human-readable information such as expiration date may al so be provided.
  • Seal 2 is openable in its lower region 14, and to facilitate opening may have a "V" or chevron shape as shown, with an apex 1 1.
  • seal 2 is peelable (e.g., at least one film may comprise a peelable heat seal able material known to the art of packaging) allowing the pouch to be unsealed by pulling apart the flaps, which may be shorter than those shown in Fig. 1.
  • Seal 2 may be openable in its upper (vertical in Fig. 1) regions, especially for ingredients which are most thoroughly dispensed by opening all or most of the pouch during dispensing (i.e., separating the films comprising the pouch almost entirely from one another, though usually not including seal 10).
  • Pouches may have complex constructions.
  • a pouch intended to dispense an ingredient consisting of small pieces may comprise an inner pouch 16 as in the 3D view of Fig. 2 with holes 18, surrounded by films 20 on at least one side, the films forming an outer pouch which i s attached to the inner pouch (e.g., at the tops of inner and outer pouches.
  • the outer pouch may be made to press on pouch 16 walls (and obscure holes 18) by vacuum packing pouch 20, etc., preventing any item from leaving pouch 16 prematurely, before the outer pouch i s opened.
  • pouches may include other provisions and fitments, whether internal or external.
  • pouches may include elements which assist with the process of dispensing (such as stiffening the pouch near an upper edge), or which help protect the ingredients within (e.g., elements which reduce the risk of crushing), or which improve recycl ability, etc.
  • Seals need not be straight, horizontal, or vertical, but can be for example, angled with respect to the direction of peeling.
  • Fig. 3 depicts a pouch having zig-zag seal s 22 that are peelable, as well as a top seal 24 and flaps 26 at the bottom. If desired each compartment may be filled no higher than fill line 28 shown, allowing room for a squeegee to impinge on the pouch squeeze out items in each compartment in sequence.
  • compartments may be isolated not by liquid-tight seal s/wall s but by porous or partial barriers (e.g., for solid foods such as sliced meats or vegetables).
  • Pouches may be subdivided into multiple cavities. If ingredients interact and should not be combined until shortly before the food is consumed, they can be kept isolated (e.g., lettuce and salad dressing may be kept separate until needed).
  • a pouch with multiple compartments is peelable, in some embodiments it may have horizontal cavities stacked one above the other, so that a pouch di spenser— if it begins to peel the pouch from its bottom— will successively release the contents of each compartment.
  • Pouches can be very tall (along the vertical axi s) to allow for more and larger compartments.
  • Perforated or gas-permeable pouches may be used to allow respiration for certain ingredients (e.g., spring mix lettuces, celery, cucumbers, tomatoes, bananas, broccoli, leeks) and/or provide drainage of excess moisture to prevent spoilage.
  • certain ingredients e.g., spring mix lettuces, celery, cucumbers, tomatoes, bananas, broccoli, leeks
  • very small holes/micro-perforations e.g., 5-300 microns diameter
  • respiration e.g., one or more 100-micron holes in a pouch
  • Such perforations can be produced by lasers or mechanical perforating techniques known to the art.
  • at least a portion of the pouch may compri se a woven, nonwoven, or mesh material.
  • a variety of food items may be dispensed from a pouch whose inner surfaces are non-wettable (e.g., superhydrophobic, using the technology of LiquiGlide, Cambridge, Massachusetts). If the intent i s to dispense the ingredient fully and as quickly as possible into a receptacle (e.g., di sh or vessel) as is typically the case, such dispensing may consi st essentially of opening the pouch at its bottom and allowing the item to fall out.
  • a receptacle e.g., di sh or vessel
  • novel apparatus and methods as described herein are favorably employed.
  • Food items may be classified as Type 1 , 2A, or 2B, and di spensed efficiently, depending on their properties, using one or more of three optimal approaches, though non-optimal dispensing of a particular ingredient may also be implemented (e.g., if the optimal approach is not available).
  • Type 1 items are flowable with a wide range of viscosities; these can be dispensed very effectively in some embodiments by methods and apparatus that implement a peristaltic squeezing/displacement/expressing approach in which i) the pouch i s opened at the bottom (fully or partially); and ii) pressure is applied to the flexible walls of the pouch either generally to compress them, or to locally compress the walls and move the region of compression downwards, di splacing the pouch contents toward the opening (or through an extrusion nozzle, if provided).
  • a peristaltic squeezing/displacement/expressing approach in which i) the pouch i s opened at the bottom (fully or partially); and ii) pressure is applied to the flexible walls of the pouch either generally to compress them, or to locally compress the walls and move the region of compression downwards, di splacing the pouch contents toward the opening (or through an extrusion nozzle, if provided).
  • step i) is not needed, since pressure buildup within the pouch will open it, but thi s should be well-controlled.
  • Flowable items include a wide variety of liquids ranging from oil to nut butters to guacamole, and are not limited to pure liquids, gels, or pastes, in that they may contain solids combined with a volume of liquid sufficient to allow the item to flow.
  • Type 2A and 2B items in contrast, are not particularly flowable, and would more likely be crushed than dispensed if pressure were applied to the pouch with the item inside.
  • Type 2A items may be relatively heavy, large, with small surface/volume ratios, and/or are dry, and do not tend to adhere to the pouch inner walls
  • Type 2B items may be relatively light, small, have larger surface/volume, and/or are moister, and tend to adhere to the wall s. These tendencies are influenced by the state of the ingredient and the composition and condition of the walls, such as their surface energies.
  • Type 2A ingredients may be dispensed in some embodiments by merely opening the pouch and letting them fall out (however, the pouch may be shaken, jerked, accelerated, or vibrated (e.g., by the gripper(s) holding it) in a controlled way so as to promote dispensing but avoid dispersing the item anywhere than intended (e.g., outside a dish, where it could contaminate the system)).
  • type 2A items include many nuts and iceberg lettuce.
  • type 2B items e.g., canned tuna, beans, sauteed vegetables
  • a significant fraction of the item will typically remain in the pouch, leading to waste, the risk of an unpleasant odor if the item starts to spoil, attractiveness to vermin, and more difficult pouch recycling.
  • type 2B items can be very effectively di spensed by methods and apparatus which peel the walls of the pouch completely apart, such that the item within loses the support of the walls and falls. Depending on size, shape, moisture content, etc., this may be adequate to di spense them.
  • additional methods and apparatus can be applied to ensure efficient and complete dispensing such as ensuring that 1) the angle between the walls as they are peeled apart i s optimal, and 2) providing for one or more blades (as in Fig.
  • a given food item may be classified according to the best method of dispensing it, and the appropriate method and/or apparatus selected.
  • squeezing the pouch may be selected as the preferred dispensing approach (e.g., for efficiency and speed) rather than just opening the pouch, which may not work well if ingredients tend to adhere to the walls, or opening and peeling the pouch.
  • peeling the pouch entirely apart and passing the films of which it is comprised over blades as in Fig. 27(c ) of the 074 and 253 filings may be selected as the preferred dispensing approach.
  • pouches for Type 1 or 2A ingredients may not be easily openable except in region 14 (Fig. 1).
  • certain regions of the pouch seal are made weaker and/or faster-yielding than others.
  • Thi s can be useful so as to allow peeling only in certain regions (e.g., the chevron portion of the seal) while preventing it in others (the sides of the pouch), to allow peeling of an internal seal (e.g., between compartments) but not external seals (separating ingredients from the environment), allowing the pouch to vent in a desired location in case pressure builds up internally (e.g., due to steam and air heating while the pouch is heated).
  • Variations in seal strength can be achieved by methods including a) applying two or more sealant material s to the film used in making the pouch; b) applying a sealing inhibitor to certain regions of the pouch; c) weakening the seal in certain regions by lightly sealing it to a temporary surface which is then peeled off or using a seal material that can be weakened (e.g., by exposure to radiation); d) varying the sealing temperature or pressure in different regions by i) using sealing dies which are differentially heated, ii) using dies having surface topography (some surfaces of the die being lower than others to reduce contact pressure), iii) sealing with a die of variable hardness (e.g., comprising silicone rubber or other temperature- stable elastomer, possibly filled to enhance thermal conductivity), or iv) sealing against a platen compri sing material s of variable hardness (e.g., elastomers of two different durometers); e) using a die compri sing multiple pieces and/or flexible elements, such that certain
  • the force required to peel the pouch be fairly constant, for example, in order to better control the tension of the pouch during peeling, which affects the bending radius of the pouch film as it passes around the blade (smaller bending radii improve ingredient detachment from the film).
  • the required force at any moment in time during peeling i s normally proportional to the width of the seal being peeled at that time. If the seal has a chevron design such as in region 14 of Fig. 1 and the seal width is constant as shown in pouch 30 in the elevation view of Fig.
  • the peeling force needed to peel the pouch along horizontal (i.e., parallel to the top edge of the pouch) peel front 32 will vary along the seal since the width at the peel front varies (e.g., 34, 36, 38).
  • width 40 is used for the seal throughout except in the region of apex 1 1 where width 42 is twice that of width 40.
  • the film of which an ingredient pouch i s made can also be a flexible circuit.
  • a circuit may allow measurement of temperature, freshness, pouch distortion, fill level, weight, internal pressure (which may indicate leaks or spoilage), etc.
  • the circuit can incorporate built-in strain gauges, capacitive sensors, RFI D, vibration sensing, and other elements such as batteries, antennas, data logging circuitry, and GPS.
  • the status of the pouch can be determined from a distance or in contact with it, using for example near field communication, backscatter radio/RFI D, passive or active RFI D, etc. Using appropriate circuitry, the status and entire history of the pouch from the time it is fabricated (or the ingredient packaged) to the time at which it i s opened can be determined.
  • pouches may be designed to break in a well-controlled way when forces are applied; thi s may be used in some embodiments in lieu of peeling them to open them.
  • a pouch 44 having an interior 45 includes two flaps 46 and a scored region 48 near the bottom (in the case shown, the pouch is asymmetric, but in some embodiments, it may be symmetric). Scoring can be done by methods including laser or mechanical scoring. When tension is applied to the flaps, the pouch will split along score line 48, releasing its contents.
  • pouches may be made to rupture in specified locations through the use of heat.
  • a pouch can be melted along a particular line by including conductive traces (or wires) within the pouch film s, and applying current to them to induce Joule heating. Or, the pouch can be placed in contact with heated elements such as wires.
  • Multiple scores are al so possible. If the score is along a diagonal or has a chevron shape, less force may be used to rupture it, and a variable- width opening can be achieved. Scoring vs. peelable seal s can be advantageous for pouches which will be heated after sealing, since heating may reduce peel ability, or for pouches which cannot easily be made from peelable films.
  • the rate at which a Type 1 ingredient leaves the pouch— especially if low vi scosity— may be controlled (e.g., eliminating spontaneous dripping so that flow rate is entirely controlled by squeegee motion and can be made consistent) by including a tube (e.g., rigid or semi-rigid plastic, preferably of the same material as the pouch, for recycl ability) or similar shape in the pouch, around which the pouch is sealed (peelably or non-peelably) along the upper sides of the tube, such that the inside of the pouch communicates with the inside of the tube.
  • a tube e.g., rigid or semi-rigid plastic, preferably of the same material as the pouch, for recycl ability
  • similar shape in the pouch around which the pouch is sealed (peelably or non-peelably) along the upper sides of the tube, such that the inside of the pouch communicates with the inside of the tube.
  • Tube 52 provides more flow resi stance and establishes a well-controlled width for the pouch opening regardless of the exact amount peeled.
  • the pouch may include a seal that forms a tube-like shape below the chevron.
  • Pouch 50 can be sealed around the upper region of the tube using a peelable or non-peelable seal 54, and sealed around the lower region using a peelable seal 56 (e.g., a U-shaped seal that also seals the tube bottom as shown in the 3D view of Fig.
  • the pouch can be opened, exposing the lower end of tube 52, which protrudes and can reach below the pouch.
  • the diameter and length of the tube can be selected according to the ingredient vi scosity at the expected di spensing temperature, the desired flow rate when squeezed, etc.
  • a casing such as casing 726 of the 074 and 253 filings, or other means, such as application of vacuum to one side of the pouch or clamping means, can be used to stabilize and stiffen the tube, though in some embodiments maintaining tension on the flaps will suffice.
  • Such an arrangement can be used, for example, to deposit a sauce, dressing, etc.
  • complex patterns may be "printed", including 3D printed (multilayer) structures.
  • the pouch may be lowered and/or the dish rai sed as much as possible such that the tip of the tube is near the surface onto which the ingredient should be deposited.
  • Pouches in some embodiments may be formed from combinations of metal foil or vacuum-deposited metal with paper or polymer.
  • parchment paper on the inside surface of a pouch laminated to aluminum foil, can allow cooking with a conduction heat source, even of foods that might not be too compatible with aluminum.
  • a pouch may comprise a polymer sealed to two elements (e.g., rectangles) of metal foil that are adjacent to an ingredient within.
  • the polymer elements of the pouch can provide robustness and a peelable seal, while the metal elements allow the ingredient to be heated/cooked by contacting the foil elements with a heated plate, etc.
  • Peelable pouches may comprise two peelable films (e.g., heat sealable) sealed with the sealing layers of the films in face-to-face contact.
  • they may comprise a single peelable film in contact with a plain film (e.g., polyester, polyethylene, polypropylene, nylon) or other substrate (e.g., paper, metal foil, TYVEK®).
  • the second case may be advantageous in some embodiments in that it allows the plain film to be optimized for another function, such as printability, opacity, color, mechanical and barrier properties, etc.
  • the second case may provide for greater seal uniformity and lessen the ri sk of shredding the film(s).
  • heat sealable coatings may not be perfectly uniformly dispersed and there can therefore be local, random variations, when two such films are bonded, there may be regions having little sealable material, and regions having an excess of sealable material. The former regions may bond poorly, potentially allowing pouch rupture at low pressure, while the latter regions may bond too strongly, initiating a tear in the film(s).
  • a pouch may be produced from multiple materials which are not laminated across their entire surface as usual, but only at the edges or in other specific locations. While such a pouch may not have the same mechanical properties as a laminated pouch, its barrier properties are similar. To recycle such a pouch, one need only trim away the laminated regions; the unlaminated regions, comprising the majority of the material, then separate and can be easily recycled.
  • a pouch that is at least partially peelable may be made from a two-layer film in which both layers may be the same material (for recyclability) or different (e.g., a metallized coating on the inside surface of the films.
  • the strength of the peelable seal can be made to be less than that of the bond between the two layers (such that the pouch normally will peel into two pieces) but should not be excessive. Then, if the pouch begins to tear/shred, rather than the entire film tear through as can happen with a one-layer film, the inner layer will separate and remain with the film on the other side of the pouch.
  • Providing an intentionally weak region of a seal to allow venting of the pouch is possible as discussed, and such a region may preferably be located in the upper porti on of the pouch.
  • it is desirable to prevent the escape (or entrance) of anything other than fluids, in which case small perforations, or an incorporated piece of TYVEK®, GORE-TEX®, woven or nonwoven cloth, or screening can be incorporated downstream of the weak region of the pouch as a barrier.
  • a pouch might use a zipper(s) such as those found in ZI PLOC® bags in lieu of or in addition to a peelable seal.
  • the pouch can comprise a liquid-absorbing material to absorb liquids from ingredients (e.g., meat, fish). This material is preferably retained in the pouch by being fastened to it, by being located in a separate compartment, etc.
  • the pouch comprises both a primary compartment for the ingredient, and a separate "capture" compartment into which excess liquids can drain.
  • the pathway to the capture compartment i s equipped with a check (one-way) valve, which may for example compri se a flap of the material of which the pouch is made which overlies a hole in the primary compartment, and which prevents liquid from returning to the primary compartment.
  • the capture compartment contains a liquid-absorbing material.
  • Ingredients within pouches may include those that are fresh, frozen, freeze-dried, dehydrated, partially dehydrated, high pressure processed, irradiated, aseptically packaged, etc. Freeze drying, dehydration, etc. allow for larger amounts of food to be provided from small pouches, and reduces weight that needs to be transported when restocking the apparatus. Water or other liquids can be added either from pouches, tanks/reservoirs inside the system, from a water supply outside the system, etc. Unlike food, water if pure (e.g., filtered, UV-sterilized) cannot contaminate components of the machine if in contact with them, and so need not be kept from contacting them.
  • pure e.g., filtered, UV-sterilized
  • ingredients in a pouch containing minimal air can be defrosted (and also heated and/or cooked, if desired) by immersion in warm or hot liquid such as water. While thi s process can take some time, it is suitable for ingredients comprising a pre-ordered meal, or a meal consumed in quantity during peak hours. Based on historical demand, a number of pouches can be processed this way, even simultaneously. Reheating in water, as well as cooking sous vide, is not affected significantly by total heating time, so ingredients in pouches removed from a bath at different times will be comparable.
  • ingredients need not be supplied to automated food preparation apparatus in the state in which they will be used.
  • ingredients can grow (e.g., lettuce), sprout (e.g., mung beans), ferment (e.g., yogurt, kefir), soften (e.g., beans soaked in water), age (e.g., cheese), marinate (e.g., steak immersed in marinade), rise (e.g., bread dough), be ground (e.g., coffee or flour), etc., all within the machine.
  • Produce can be grown within the automated food preparation machine using techniques such as hydroponics, aeroponics, and sprouting. If produce is grown thi s way, it can be extremely fresh and flavorful since it can be harvested immediately before consumption and does not require pesticides. Moreover, washing of ingredients can be eliminated and the effort and expense of restocking the machine can be reduced, since ingredients not yet harvested remain fresh for extended periods; produce restocking only then requires transporting small, lightweight items such as seeds. Ingredients may be grown within pouches at least partially. For example, a hydroponic/aeroponic nutrient solution may be inside a pouch along with the plant roots, while outside the pouch the rest of the plant grows.
  • a two-compartment pouch might include a lower compartment for nutrient solution, and a permeable (e.g., perforated) upper compartment for the remainder of the plant.
  • Ingredients may also be grown in other containers than pouches (e.g., rigid containers), and may be grown in large contiguous quantities or small, isolated quantities. Appropriate growing media such as sponges made from peat, rockwool, etc. can be used (e.g., incorporated into pouches or other containers).
  • the normal growing arrangement roots at the bottom
  • may be modified e.g., locating roots at the side, roots at the top) so as to facilitate harvested ingredients falling into a dish or vessel below.
  • crops are grown in the normal orientation (roots at the plant bottom, receiving nutrient solution (e.g., via spray) and receive light from above), but at least some crops are temporarily rotated to another orientation (e.g., horizontal, inverted) during harvesting so that harvested ingredients fall without needing to be touched into a serving dish or other vessel.
  • another orientation e.g., horizontal, inverted
  • an ingredient is grown in fairly small volumes and weights that are portion/serving-sized, thus minimizing the need to cut apart the ingredient into smaller units.
  • lettuce leaves for example, can be trimmed in their upper extremities, or individual leaves can be cut at the stem.
  • ingredients may be grown on a continuous translating or rotating surface such as a conveyor belt, dish, or drum, having the properties required to support the plant (e.g., open porosity). If needed (e.g., for fruits) pollen can be dispersed within the growing environment. Lighting (e.g., LED lighting with optimized spectral characteristics) can be provided, and customized for each growing ingredient, as can temperature and humidity.
  • Automated, robotic pruning/harvesting mechanisms may be used in some embodiments, and in some embodiments, ingredients may be induced/constrained to grow in particular shapes and form s by the apparatus, so as to improve growing conditions, facilitate harvesting, etc.
  • ingredients may be detached from their roots when ready to harvest, or cut higher up, by automated cutters or other automated mechanisms that pluck, shear, break, tear, twi st, crush, or otherwise process the plant in order to i solate the desired portion of the ingredient from portions that are not to be consumed at the time (or ever: these can be collected for composting, etc.)
  • Methods of cutting can include laser (e.g., excimer or femtosecond lasers which ablate the plant material without burning), high-pressure waterjet cutting, ultrasonic cutting (e.g., a blade coated with a disposable film, or a di sposable or cleanable tensioned vibrating wire), a saw blade, string, or cable (similar to a string trimmer used in gardening), etc
  • Harvested ingredients can be transported (e.g., by falling directly) from the location in which they're grown to a dish for serving, or to a vessel for further processing. Ingredients not used soon after harvesting can be kept reasonably fresh by spraying regularly with water, etc.
  • machines for automated food preparation can include bioreactors or similar apparatus allowing cultured meat, fish, or poultry to be grown within the machine, e.g., within portion-sized pouches, molds, or other containers.
  • Fig. 7(a) depicts a 3D view of the supply, dispensing, and waste collection portions of a food preparation system wherein pouches 61, shown empty for clarity and sealed on all sides, are combined into a chain 62 and wherein the pouches are opened and di spensed from individually along side edge 64, i.e., an edge parallel to the long axis of the chain.
  • side edge 64 i.e., an edge parallel to the long axis of the chain.
  • chain 62 may generally move horizontally in direction 63 as more and more pouches are opened for dispensing.
  • chain 62 may be redirected (e.g., by passing over diagonal rollers or brushes, not shown) so that portions of the chain can move vertically in direction 65 as well as horizontally, while still allowing dispensing from side edges 64 of the pouches.
  • Pouch chain 62 may have transverse perforations 66 other than near the top of the chain. It can then be opened if needed by fully peeling one wall away from the other in the direction 67 as already described, and allowing each wall to then hang from the un erforated portion of the chain at the top. Depending on the amount of the wall peeled, the perforations may be broken/torn to varying lengths.
  • the chain may be scored, and in some embodiment variations, the wall s may be cut while peeling.
  • the pouches are already separated and simply hang from a continuous strip at the top edge.
  • flaps 68 may be provided near the side seal of each pouch to assist with opening the pouch, as described elsewhere herein.
  • the side seal may be equipped with a chevon seal to aid in peeling.
  • dispenser 70 are not shown for clarity, but may be similar to dispensers described elsewhere herein such as the side-entry dispenser of Fig. 14(a) below.
  • the chain may be stored on a spool in a supply case 72, or may be folded in an accordion-like manner as shown.
  • the chain may be collected on spool 76 which rotates in direction 78.
  • the chain has sprocket holes at its top edge to aid in feeding it and supporting it (using sprockets).
  • Pouch chains that move horizontally are in some embodiments desirable for several reasons: a) ease of filling with ingredients (rather than fetch a new pouch, just advance the chain); b) speed and ease of dispensing and disposing of empty pouches (fetching the pouch from a di stance isn't needed, and removal of empty pouches occurs while the chain i s indexed). Horizontal pouches can also be spliced (joined together) more easily than vertical chains, in which there are two layers of film everywhere, which must remain separable.
  • the pouches are more independent and a margin between pouches can be provided to allow cutting and splicing: the margin can compri se a single film layer or two layers that are bonded together non-peelably.
  • Horizontal chains can be homogeneous (typically for a multi-dispenser system) or heterogenous (typically for a single-dispenser system) in terms of the ingredients they contain.
  • Heterogenous chains may contain all the ingredients needed for a meal, arranged in the normal sequence of dispensing; if an ingredient is not wanted, it can be dumped or the chain can index further so as to skip the pouch containing it.
  • Di spensers such as those of Figs. 7(a) or 7(b), or other dispensers, can be incorporated into a compact and rapid system for automated food preparation such as that of Figs. 29(a)-(d) of the 074 and 253 filings, or into other systems.
  • a rotary system can compri se a group of di spensers such as that of Fig. 7(a), e.g., each for a different ingredient, arranged radially with a turntable underneath on which di shes move from station to station as the turntable rotates.
  • Supply cases 72 can be located at a larger radius than the di shes, and spools 76 can be located at a smaller radius (e.g., near the system center). Once a di sh is fully loaded, it can be transferred (e.g. by a radial conveyor) to a box for pickup.
  • the function of the dispenser is to dispense ingredients from pouches efficiently, i.e., to eject as much of the pouch contents as possible, do so quickly (e.g., in 2-3 seconds), and do so with hardware that i s as simple and inexpensive as possible.
  • the subsystem should be able to dispense an ingredient without physically contacting it, such that the ingredient only contacts the inner surface of the pouch/strip and does not contaminate any portion of the machine, thus obviating the need for cleaning (whether in-situ or after removal) or replacement.
  • Figs. 8(a)-(f) depict 3D views of a "universal" dispenser used in some embodiments for di spensing ingredients from an individual pouch.
  • the di spenser is universal in that it can di spense any of Type 1 , 2A, or 2B ingredients since it has the ability to open the pouch, express flowable contents inside, and peel it apart around blades and in a direction that is appropriate for Type 2B ingredients.
  • dispensers based on Figs. 8(a)-(k) can be more specialized (e.g., for use in a multi-dispenser machine) and only provide a subset of the functionality.
  • a dispenser for type 2A and 2B ingredients only need not comprise apparatus to express flowable ingredients, while a dispenser for type 1 and 2A ingredients only may compri se different apparatus for opening the pouch (e.g., in which pouch flaps are tensioned horizontally, or at a smaller upwards angle, or even downwards if space permits, and may include blades to change the direction of tensioning rather than using them al so to detach adherent ingredients.
  • the controller (computer, microcontroller, etc.) may select the appropriate type of dispenser for a given ingredient.
  • Fig. 8(a) the main components of the dispenser are seen.
  • the dispenser overall may comprise two each of a squeezer 79 (al so Fig. 8(b)) and a peeler 81 (also Fig. 8(c)), and may compri se blades 83 and moveable vacuum cups 85 used in conjunction with the peeler. Opening a pouch such as that of Fig. 1 may involve the sequential steps of 1) separating and reorienting the flaps so they can be clamped by the peeler clamps; 2) clamping the flaps securely with the peeler clamps; and 3) moving the clamps so as to apply tension to the flaps and open the pouch.
  • the squeezer used for Type 1 food items, serves to impinge a squeegee, roller, or similar (hereinafter “squeegee” unless noted) against the wall of the pouch and move downwards toward the pouch opening, pushing out the item.
  • the squeezer may be designed so the squeegee can retract away from the pouch (e.g., to allow it to be loaded). In the embodiment shown, the squeezer achieves movement to and away from the pouch, and downwards movement economically, with a single motor as actuator.
  • the squeezer may compri se tilting squeegee 80 which tilts around pivot 82 and has inner working end 84 that contacts the pouch outer wall, upper member 86, lower member 88, at least one guide rod 90, lead screw 92 and nut 94 fixed to the upper member.
  • a motor to turn the lead screw may further comprise standard items known to the art such as a motor to turn the lead screw, power transmission components (e.g., gears, pulleys) connecting the motor and lead screw, various brackets to support motor and guide rod(s), a spring (not shown) or similar (e.g., compression, gas, constant force, cable passing over a pulley connected to a weight) that urges lower member 88 upwards, and an optional spring that tilts the working end of the squeegee down, none of which are shown.
  • the squeegee may al so be weighted so it normally tilts down without a spring.
  • the upper member comprises a boss 96 at its bottom that can press on the on the end of the squeegee opposite its working end to tilt the squeegee, and bushings/bearings that allow it to slide on the guide rod(s).
  • the lower member comprises a stop 97 which prevents the squeegee from tilting past a certain point, and
  • the pouch may open when its contents are pressurized by action of the squeezer, or it may be peeled open by the peeler before activating the squeezer, etc.
  • the squeezer i s reset: the motor reverses direction, causing upper member 86 to rise, and allowing the spring acting on lower member 88 to make it rise as well.
  • the upper member will move further than the lower member, allowing squeegee 80 to tilt again so it retracts from the pouch and its working end is down.
  • the pouch may be withdrawn from the dispenser by the gripper(s) once the squeegee has retracted.
  • Fig. 8(d) also depicts food items 1 64 falling in direction 165 from pouch outlet 166 once pouch has been peeled open by lower and upper clamps in direction 1 68.
  • the bladders 1 02 re deflated, allowing the pouch to be inserted into a dispenser, while in Fig. 9(b), they are inflated as indicated by arrow 1 06, expelling the pouch contents 1 08 in direction 1 1 0 toward dish 1 12.
  • the bladder is designed (e.g., through a vertical gradient in cross-section or stiffness, or by being designed with multiple chambers) so that it inflates initially towards the top (squeezing the pouch at the top first), and the inflation then propagates downwards.
  • a single bladder may be used in conjunction with a rigid plate.
  • the peeler can be seen in Fig. 8(c), and may comprise upper clamp 1 1 4, lower clamp 1 16, lead screw 1 1 8, nut 120 fixed to the lower clamp, and at least one guide rod 122 (one shown). Not shown are standard items such as a motor, power transmi ssion components, brackets, and a spring (e.g., a gas spring or other spring, possibly with a relatively constant force) to urge the upper clamp downwards.
  • a spring e.g., a gas spring or other spring, possibly with a relatively constant force
  • upper clamp 1 1 4 can be made heavy enough that its weight is sufficient to clamp the pouch flap 123, and no spring is needed.
  • Both the upper and lower clamps may comprise bushings/bearings allowing them to slide along the guide rod(s).
  • peelers may be mounted so that the rods are at an angle to the vertical as in Fig. 8(f) (which brings the clamps at their lower end of travel closer to the flaps, and can provide for more constant-angle peeling) or at other angles. For example, if blades are not used, peeler rods may even be horizontal.
  • the upper and lower clamps are designed to not interfere with the motion of at least two vacuum cups connected to a vacuum source which may be provided to engage/couple to/grasp the pouch flaps so as move them toward the clamps.
  • Alternatives to vacuum cups include temporary and reusable adhesives, electrostatically-attracted pads, suction cup tape (Inventables, Chicago, Illinois), microstructured adhesive (e.g., SETEXTM (nanoGriptech, Pittsburgh, Pennsylvania)), and expanding elements which enter holes in the flaps.
  • Vacuum cups 85 may be circular as shown in Fig. 8(a), rectangular as shown in Figs. 1 0(a)-(b), or another shape.
  • the contacting surfaces 124 of the cups may be flat as in the 3D view of Fig. 10(a) or the cross-sectional view of Fig. 1 0(b), and provided with a multitude of holes 126 and outlet 128 for air flow in direction 130. They may also be flat with a series of surface grooves that communicate vacuum over the contacting surface.
  • the flap is not forced to buckle or wrinkle as it might be if drawn into a concave cup, which can create a gap/air leak between the cup and flap that can greatly reduce the traction force.
  • the contacting surfaces of the cups may be soft/elastomeric to allow them to conform to small-scale irregularities in the flap.
  • Vacuum cups 85 may be mounted on moveable supports driven by actuators, neither shown, allowing them to move the flap, once it is grasped, toward the clamps.
  • the vacuum cup moves in a circular path that i s approximately centered on the upper edge of the flap, such that the flap need not slide vertically relative to the cup as the cup reorients it.
  • the moveable cup supports can be a simple arm to the side of the dispenser, driven by a stepper motor or rotary solenoid, for example. The arm may al so serve to conduct vacuum to the cup, or tubing can be used, etc.
  • the cups holding a given flap may be moved outwards (i.e., away from one another) as well, e.g., before or while moving the flap toward the clamp, which can help stretch (if the material i s elastic) or at least tension and flatten the flap, since the flap may be distorted by the contents of the pouch.
  • Simultaneous rotating and outwards movement may be achieved by using a lead screw (e.g., with a high pitch) and nut to rotate and translate the cups: lead screws on opposite sides of the dispenser may therefore have opposite handedness.
  • Outwards movement prior to rotating can be achieved using linear actuators known to the art.
  • the di spenser may comprise one or more blades 83 over which the films comprising the walls of the pouch are bent and redirected while the pouch i s peeled.
  • the blades 83 in the 3D view of Fig. 8(k) may be long and supported at their ends by mounting means, not shown.
  • the blades may have a thick portion for rigidity, combined with a thin portion whose lower edge 170 can be made reasonably sharp (e.g., several thousands of an inch radius), depending on the film 172 used to make the flap and pouch (e.g., PET is robust to being wrapped around even a relatively sharp blade).
  • the blade should be wider than the film and the film kept away from any corners, or if that i s not practical, then the blade can incorporate curve 1 74 at its corners (Fig. 8(k)). Since the films are thin (e.g., 0.5-4 mils) they can conform easily to the blade edge when under tension and thus the radius of their inner surfaces (on which food residues may be adhered) is al so small: this helps food residues fall off the film.
  • Fig. 8(e) depicts a 3D view of a pouch 132 compri sing pouch body 134 (containing an ingredient cavity) and flaps 123 having top edges 125, grasped by one or more grippers 100 which can deliver the pouch to the dispenser.
  • the seal of pouch 132 i s not chevron-shaped at the bottom, but in some embodiments it is.
  • Grippers may be much wider than those shown in the figure, especially if a single, e.g., central gripper i s used.
  • the grippers are attached to an arm (not shown) moved by a motion stage (not shown) providing at least the Z (vertical) axis of motion if the pouch will be peeled open.
  • the di spenser allows for the pouch to enter the dispenser from the top, from the bottom, or from the sides, a choice that may be determined by the pouch storage location (e.g., from below if the pouches are stored below the di spenser).
  • the pouch i s within the dispenser at a particular height, supported by the grippers.
  • the height in some embodiments is such that lines 9 are aligned with the rotation axis of cups 85, and in some embodiments may be sensed by suitable sensors which detect edge 13, a marking on the pouch, etc.
  • the cups can be moved out of the way, but once the pouch is in position, they are moved against the flaps as in Fig. 8(g).
  • the position of the flaps can vary, and the flaps may not be planar as shown, due to distortion of the pouch caused by its contents.
  • the cups are moved to the position shown where they are opposed and sandwich the flaps, at minimum the portions of the flaps adjacent to the cups are forced to be in the required location.
  • vacuum i s not applied to the cups until they have sandwiched the flaps.
  • the cups engage the flaps more centrally and then slide outwards to the positions near the vertical edges of the pouch as in Fig. 8(f); if thi s is done before the cups start to move the flaps, reduced vacuum, or no vacuum, may be used.
  • Peeling/unsealing of a pouch that has not previously been opened is an active process that requires the application of forces to directly and conti ollably separate the films that are sealed together (in some embodiments the forces can be reduced significantly such as by pre-weakening the seals (e.g., using a light-degradable adhesive similar to that used in wafer dicing tapes in the semiconductor industry)). While useful in some cases (with flowable ingredients), it is in many cases undesirable to achieve opening by merely applying pressure to the pouch, since this can result in rapid, uncontrolled ejection of the pouch contents. Prior to unsealing it for the first time, the pouch should be fully sealed to prevent premature release of its contents or exposure to the environment.
  • FIGs. 8(g)-(j) depict elevation or partial elevation views of a peeling sequence of the peelers in operation. I n Fig. 8(g), the pouch is in position, ready to be peeled. In Fig. 8(h), cups 85, with vacuum turned on, have rotated away from one another in direction 136, pulling flaps 123 (which deform easily while passing lower clamp 1 16 if needed) with them in direction 138 and reorienting the flaps until they are near or touch the lower surface of upper clamps 1 14. In Fig.
  • the cups may have continued to move in direction 142 (e.g., to get out of the way), and the lead screws have been rotated to raise the lower clamps in direction 140 and pinch the flaps between the upper clamps 1 14 and lower clamps 1 16, and the upwards motion of the two, moving as a unit, has continued somewhat further such that the flaps are wrapped around the edges of the blades.
  • a further small upward motion of the clamps pulling on the flaps will cause the lower seal of the pouch to be opened, which for a Type 1 or 2A item is all that i s required of the peeler.
  • the clamps continue to move upwards.
  • the clamps have moved upwards and simultaneously, the grippers have moved the pouch downwards to maintain an approximately constant tension in the film, and the pouch has been partially peeled, such that a portion of each pouch wall i s now being exposed and is either already bent over the blades or still upstream (in the direction the film is moving) of the blades on its way to the blades.
  • a compliant element is provided to facilitate thi s, especially if the film is relatively stiff: a spring may be provided in the arm supporting the grippers, for example.
  • the cups have rotated further in Fig. 8(j), such that they do not interfere with the upward motion.
  • some items 152 e.g., heavier, larger
  • Other items 156 may adhere temporarily to the film inner surface, possibly sliding downwards along it but not falling off.
  • those items approach the edge of blade 83—the lowest point of the film and where the film suddenly changes direction— in most cases they will detach in direction 158, also entering the receptacle.
  • the angle 144 between the two flaps has been established, and by that of Fig. 8(j), the angle 146— representing the change in direction of the film as it wraps around the blade edge— is al so established.
  • Angle 144 can be changed if desired by adjusting the pouch position within the dispenser using the Z motion stage: a parameter that can be varied according to the particular food item.
  • a small angle 144 provides a steeper film surface, encouraging moi st adherent food item s to slide toward the blade edge, and also increasing angle 146.
  • a small angle 144 makes it difficult for the bulk of the item to break free of the film, and a larger angle 144 may be preferred.
  • angle 144 can be adjusted according to stored data (e.g., in a database, in a code on the pouch) for a particular food item; the data may include other parameters associated with dispensing the item, such as the squeegee speed and the clamp speed, and the type of item (1 , 2A, or 2B), thus instructing the machine controller which dispensing technique should be used.
  • Fig. 8(j) it may be noted that trajectory 148 of lower clamp 1 16 and trajectory 150 of upper clamp 1 14 are parallel to the film downstream or (above) blades 123, given the angled mounting of the peeler lead screws and guide rods.
  • the angle 146 can be maintained throughout peeling as long as angle 144 is also constant.
  • the grippers holding the top edge of the film descend in a synchronized movement so as to maintain a controlled (constant or variable) tension in the film. If the film tension is too low, then it will not conform well to the blade edges and food residues may fall off at the blades; if the tension i s too high, the film may stretch undesirably or break. Especially if the film is stiff, an element such as a spring in the arm supporting the grippers may be used to provide compliance and help maintain proper tension. It may be appreciated from Fig. 8(j) that the blades serve a further purpose of preventing the clamps from pulling sideways on the pouch as they move.
  • the pouch walls have been fully peeled. I n some embodiments the upper seal of the pouch i s peelable, while in others it is non- peelable. Moreover, at some point the pouch cannot be further peeled because of the grippers grasping it at its top. If there is some head space in the pouch above the food item, then at the end of the upward stroke of the clamps the film forming the head space may be between the blades. To allow the maximum amount of peeling, the grippers may be lowered more than usual just before peeling ends to increase angle 144.
  • Figs. 12(a)-(d) are elevation views of a method and apparatus used in some embodiments to grasp flaps 123 of pouch 132.
  • the flaps are shown approaching the nip between two counter-rotating rollers 182 rotating in directions 184 and 186, provided with surfaces which attract the flaps to them (e.g., as the result of vacuum supplied through apertures in the rollers (e.g., apertures only exposed at the bottom of the rollers), or as the result of other approaches discussed above in the context of vacuum cups).
  • Fig. 12(b) pouch 132 has moved in direction 188 and the rollers have engaged the flaps and the flaps are attracted to and are conforming to the roller surfaces.
  • clamps 190 located below as shown, or to the sides of the rollers have moved in direction 192 and pressed against the flaps by translating and/or rotating, to sandwich the flaps between clamps and rollers and positively grasp them. During this step, the rollers may cease rotating.
  • the rollers, with the clamps still in contact have separated in direction 194 to provide a space between them for the food items to be dispensed. The rollers may continue to rotate as shown while the pouch descends, or remain in the orientation of Fig. 12(c).
  • the rollers move so that the pouch film is pulled and directed over blade edges as in Fig. 8(i) and pulled as the rollers continue to move (e.g., along a track such as the J-shaped track of Fig. 13(d)).
  • the pouch is peeled by continuing to rotate the rollers so that the walls roll up around them.
  • Figs. 13(a), (b), and (g) depict 3D views of a dispenser used in some embodiments which incorporates squeezers similar to that of Fig. 34 and blades 83, but employs another method and apparatus (and a modified pouch 199) for grasping and moving the flaps.
  • the pouch flaps are not the full width of the pouch as in the 3D view of Fig. 13(c), but are cut (e.g., die or laser cut) or punched so there are areas where one flap does not overlap the other, and there is a gradual transition 197 from the flap to the full width of the pouch wall, e.g., using a fillet that avoids sharp convex corners.
  • Fig. 13(c) also indicates other aspects of the pouch, such as a peel able seal 200 that is chevon-shaped at the bottom and includes the vertical portions at or near the pouch edges, as well as a top seal 202 which may or may not be peelable. Differences in appearance of pouch 199 in Fig. 13(c) vs. other figures can be ignored. I n the embodiment of Figures 13(a)-(g) the pouch may be introduced from the top of the dispenser, or introduced from the side and then lowered.
  • two tracks 204 are provided having curved section 206 as well as straight section 208 (which may be angled, as with the rods of Fig. 34) or a curved section (possibly with a different radius than the straight section, or variable radius).
  • straight section 208 which may be angled, as with the rods of Fig. 34
  • a curved section possibly with a different radius than the straight section, or variable radius.
  • a short straight (shown) or curved section 209 may al so be provided, and may be shorter than shown.
  • One track is located close to one vertical edge of the pouch shown in Fig. 13(a), while the other i s arranged with circular symmetry (around a vertical axis) close to the opposite edge.
  • each track e.g., using linear bearings, now shown
  • a trailing clamp 210 and a leading clamp 212 which can move along the curved track but cannot rotate with respect to the track.
  • one clamp may be attached to the other (e.g., through a pivot) such that only one i s directly guided by the track.
  • the clamps are designed with lateral extensions 214 (Fig. 13(g)) which allow them to grip the flaps along a wide area, while allowing the tracks to be outside the area in which food items will fall, avoiding contamination of the tracks.
  • leading clamp 212 is leading and trailing clamp 210 i s trailing.
  • clamps may be propelled along their respective tracks by an actuator and associated hardware not shown, such as a motor fixed to the clamp which turns a pinion that engages rack-like teeth on the track, or turns a friction wheel that engages the surface of the track, or turns a winch that pulls on a cable wrapping around the track, etc.
  • clamps may be attached to a flexible member such as a cable, chain, or belt, or to hinged rigid members, and pulled or pushed along by an actuator located elsewhere.
  • only the trailing clamps are actuated and the leading clamps are urged toward the trailing clamps (once the leading clamp has moved partway along the track) by a spring or other element, and thus are pushed along by the trailing clamps.
  • Figs. 13(d)-(e) depict in elevation view how the flaps can be pinched between the tips of the leading and trailing clamps on both tracks (Fig. 13(d)) and then pulled apart so that the flaps contact the blade edges 213 as in Fig. 13(e) after clamps have moved as shown by the dashed arrows. Further motion of the clamps as they climb the tracks will then serve to peel the pouch. As is shown in the 3D view of Fig. 13(f), as long as the clamps are widely separated when the pouch is loaded, then the flaps will enter the gap between the trailing and leading clamps, and regardless of the flap orientation, the clamps will be able to grip them as long as they're long enough.
  • the clamps are actively moved to the positions of the flaps by sensing those positions using a sensor such as a camera and machine vi sion.
  • pouches have more than two partial flaps that are interleaved, such that clamps from one track can engage odd-numbered flaps and those from the other track can engage even-numbered flaps; thi s can provide a more uniform peeling force.
  • the tracks may also serve to twist the clamps as they move.
  • a dispenser based on the design of Fig. 39, if intended mostly for a Type 1 or 2A food item, may have shorter and possibly simpler (e.g., straight and horizontal, or arc-shaped) tracks.
  • a dispenser with curved tracks can be used with pouches having full-width flaps if the flaps can be slightly separated enough to allow clamps similar to those described above— or clamps which are much narrower and which slide in horizontally— to grasp the flaps from both sides.
  • Fig. 14 depicts 3D views of a di spenser 218 used in some embodiments which incorporates squeezers and peelers similar to those of Fig. 8, but employs another method and apparatus, and optionally a modified pouch, for delivering the pouch flaps to the peeler clamps, in lieu of moving vacuum cups or similar.
  • the pouch 199 enters from the side of the dispenser in direction 220 as in Fig. 14(a), and in doing so the flaps 222 are spread apart in directions 223 by a fixed (or moving) deflector 224 such that the flaps enter the gap between upper and lower clamps (Fig. 14(b)).
  • the deflector 224 can reliably fit in between them.
  • the flaps may be formed into a shape which facilitates thi s. Fig.
  • FIG. 14(c) depicts a flap which has been formed into a D-shaped loop 226 and then sealed below (and possibly above) the loop to its neighboring flap with a temporary (e.g., peelable) seal 228 so that it retains thi s shape; in some embodiments the "D" shape of loop 226 may be much larger (e.g., the two flaps may be joined together lower down, possibly even at the bottom of the non-formed flap.
  • the deflector of Fig. 14(d) can then easily enter the loop, peeling or otherwi se separating the pouches at the seal as the pouch moves relative to it in direction 227. If the loop is not near the seal at the bottom of the pouch, the flaps may also be sealed together above the loop.
  • Pouches that are peelable or otherwise allow their walls to be mostly separated allow for the most flexibility in dispensing and therefore can accommodate the greatest variety of food items; however, pouches containing Type 1 or 2A items need only be able to be opened at their bottoms.
  • Universal dispensers which can handle Type 1 , 2A, and 2B items are described above; however, in a machine handling a limited number of items, or using multiple dispensers (using different ones to handle different item types) thi s may not be required.
  • a dispenser for a Type 1 item only packaged in a pouch with a burstable seal might involve only a squeezer such as that of Fig. 8(b) or B.
  • a dispenser for a type 2A item might involve only a peeler such as that in Fig.
  • dispensers may therefore include any combination of means for grasping flaps (e.g., vacuum cups), means for pulling flaps apart (e.g., peelers), means for squeezing the pouch (e.g., squeezers using squeegees or bladders), and means for bending and redirecting the film (e.g., blades).
  • means for grasping flaps e.g., vacuum cups
  • means for pulling flaps apart e.g., peelers
  • means for squeezing the pouch e.g., squeezers using squeegees or bladders
  • means for bending and redirecting the film e.g., blades
  • Fig. 15 depicts a flowchart from start to end for di spensing a food item from a pouch and into a receptacle such as a dish or cooking vessel according to some embodiments, and assumes a universal dispenser able to di spense food items of all types, and use of a peeler to open the pouch regardless of the type. Multiple di spensers, each more specialized, can also be used, with slight modifications to the process flow. Boxes in the flowchart represent a series of action and decision steps which are both carried out in a process and implemented in algorithm s and code executed by a controller.
  • the gripper(s) e.g. those shown in Fig.
  • a map of pouch locations within the pouch storage area of the food preparation system may be generated ahead of time (e.g., by scanning bar codes on each pouch) or a suitable pouch may be identified when needed (e.g., as the grippers, equipped with a means of reading data from the pouch (e.g., a code contained in a bar code or RFI D tag) approach a pouch).
  • the grippers have grasped the pouch (e.g., on its upper edge/seal).
  • the pouch is optionally scanned and inspected to determine any information that i s not already known.
  • the expiration date of the pouch, and the food item(s) within may be known by the controller upon reading the code and referencing a database. This data may be however verified at this time as a precaution.
  • the pouch may also be inspected for possible damage. For example, if a force sensor such as a load cell is provided in the arm to which the grippers are attached, and the pouch hangs freely from the grippers, the pouch weight can be measured and compared to an expected or previous weight. Any significant weight loss likely indicates a ruptured pouch.
  • the pouch may be placed in the view of a camera and machine vision system provided with algorithms that can detect color and/or shape changes that may indicate that the ingredient has spoiled (e.g., signs of mold), has become crushed, etc.
  • the controller determines whether the pouch has expired. If not, the process continues but if so, it is moved to a waste container (box 1508). The system may regularly purge expired pouches so thi s determination is unnecessary.
  • the controller determines whether the food item i s the correct one needed; normally that may be the case and the process continues but if not, the pouch is disposed of or optionally re-classified if otherwise good and returned to storage.
  • the controller determines via sensor input whether the pouch contents are damaged or spoiled. If not, the process continues, but if so, the pouch i s disposed of. If the pouch is di sposed of for any reason, the process starts over again. If the pouch passes all tests, it is moved to the dispenser (box 151 4).
  • the controller determines (box 151 8) the approach to dispensing it will use, based on the food item type (1 , 2A, or 2B).
  • Per box 1520 if the item is not Type 1 , then it i s necessary to determine if it Type 2A or 2B in box 1522.
  • I n box 1524 if the item i s not Type 2B (thus, type 2A), the pouch is opened at its bottom seal (either fully all at once, or partly/gradually, to control the outwards flow) to discharge the item, and time i s allowed (box 1526) for the item to come out.
  • the pouch is peeled fully open (box 1528) by the dispenser while the gripper moves to support the pouch and provide tension in the film. With peeling completed, the peeling motion is reversed (box 1530).
  • Per box 1520 if the item is Type 1 , then based on parameters of the specific ingredient (e.g., viscosity), the controller determines (box 1532) whether to peel open the pouch to its full width (and if so, how quickly) or just partially (e.g., forming a narrow funnel by partially peeling a chevron or diagonal bottom seal).
  • the squeezer is activated, in box 1540, time i s allowed for the ingredient to completely fall out, and in box 1542, the squeezer is reset to prepare for the next pouch.
  • the flaps are released (box 1544) and the pouch is extracted from the dispenser and disposed of (box 1546).
  • the weight of the pouch or that of the receptacle into which the item is falling can be monitored, and when the weight gain reaches a threshold indicating the pouch is empty or nearly so, the process i s allowed to continue.
  • the pouch is accelerated or jerked upwards, vibrated, shaken, etc.
  • an ingredient may be categorized of Type 1 or 2A, it may not adequately dispense if so handled, e.g., due to variations in the specific food item, temperature, humidity, etc.
  • weight loss of the pouch, weight gain of the receptacle, or motion of ingredients leaving the pouch can be sensed, and if the evidence suggests ingredients remain within, then full peeling can be implemented according to the (slightly more time-consuming) 2B approach.
  • FIG. 16(a) depicts a 3D view of a feeder drawer 230 used in some embodiments to hold pouches, which can be removed by being picked up with grippers on their upper edges. Whereas a simple drawer may be translated entirely to position a particular pouch beneath the grippers, the feeder drawer in Fig. 16(a) actively feeds pouches 232 toward a pickup end 234. In some embodi ments of the feeder drawer, the pouches are provided with overhanging hangers 236 (see the 3D view of Fig.
  • the springs may be turned by short coaxial shafts 242 at one or both ends which are motorized (e.g., they all may be turned by a single motor using gearing, belts, chains, etc.). If shafts are provided at both ends, then the springs may be slightly stretched to keep them straight.
  • the springs are supported on long shafts 244 (at least equal in length to the springs) that counter-rotate in direction 246 beneath them as shown in the elevation view of Fig. 16(c); these shafts may al so deliver torque to the short shafts through gearing, etc.
  • a cap 248 (see the 3D view of Fig. 16(d)) may be provided over each spring having funnel-like surfaces 250 which direct the hangers between the turns of the spring.
  • the grippers can reject pouches by pushing them downwards and out of the housing (e.g., through a slot in the floor), bending or breaking the hangers while so doing.
  • Pouches with stiffeners near their upper edges, such as the pouch of Fig. 28(a) but with the top seal bent portion extended outwards to overhang the pouch on both sides, may be advantageous.
  • Drawers may be stacked in multiple tiers and translated short di stances along their long axes to provide gripper access to the pickup ends of drawers below.
  • Figs. 17(a)-(d) depict 3D views of pouch storage wheel s 251 wherein pouches 252 are arranged in a circular pattern around a hole 253 and can rotate in directions 249.
  • Fig. 1 7(b) shows a section view of the same wheel, while Fig. 1 7(c) depicts a group of three wheels which may be rotated independently or ganged together.
  • Fig. 17(a)-(d) depict 3D views of pouch storage wheel s 251 wherein pouches 252 are arranged in a circular pattern around a hole 253 and can rotate in directions 249.
  • Fig. 17(a) shows a single wheel with a horizontal axis i s shown in which pouches may be withdrawn in direction 254.
  • Fig. 1 7(b) shows a section view of the same wheel, while Fig. 1 7(c) depict
  • FIG. 17(d) depicts a vertical axis wheel with inner and outer ring-shaped wall s 255 and a ring-shaped floor; pouches may be loaded or withdrawn in direction 257 or the opposite direction (through apertures in the floor).
  • the wheel rotates in directions 261.
  • dividers which are used in some embodiment variations to separate the pouches from one another.
  • pouches may generally be lightweight (e.g., 0.25-0.5 lb.), in horizontal-axis wheels, pouches on the lower portion of the wheel might normally slide out. To prevent this, clips such as spring clips (not shown) can be provided to retain them, yet allow removal when the pouch is grasped by grippers. As shown in Fig.
  • pouches can be removed from the top (12:00) position of the wheel by pulling them out in direction 254, parallel to their major surfaces. This allows for example a pouch to be retrieved from a wheel below the level of the di shes and pulled up into a dispenser above the dishes. However, pouches can also be pulled out at other angles such as those shown in Fig. 17(b), wherein the pouches may first be withdrawn parallel to their major surfaces and then redirected vertically upwards in direction 256, if needed to be transported vertically.
  • Figs. 18(a)-(c) depict 3D views of a shelf-like storage device for storing pouches, having a front 257 and a rear 259.
  • Fig. 18(b) i s a sectional 3D view
  • Fig. 18(c) i s a closeup view of an area outlined in Fig. 18(a).
  • the shelf comprises a housing 258 and a plurality of individual cubbies 260 equipped with supports 262 which are angled such that a pouch inserted into the rear of the cubby top end first and placed onto the support will slide downwards until its upper, leading edge rests against stops 264 (as shown in the 3D view of Fig.
  • stops may be used, such as stops which intercept the upper edge when it i s close to the support, but which allow the pouch to easily pass through when the edge i s raised.
  • motion of the pouches e.g., lightweight pouches
  • Pouches in all cubbies will all have their top edges at approximately the same position, facilitating grasping by the gripper(s), regardless of pouch height/length, which may vary according to the item inside.
  • cutout 266 is provided at the lower end of each support.
  • the pouch can be pulled out of the cubby by a motion that i s horizontal, parallel to the support, or similar. Since the pouches are flexible, their edges can deform temporarily when the pouch is pulled so that they clear the stops. For transportation of a shelf containing pouches, a panel can be placed over the front surface of the shelf to retain the pouches in case vibration or shock would otherwise cause them to move significantly.
  • a pouch such as that of Fig. 1 may be loaded at the rear of a cubby such as that of Fig. 19(a).
  • Cubbies need not be self-contained as in Fig. 19(a) but can be a portion of a monolithic shelving unit, shelf, or module, in which case the sides 267 of the cubby (adjacent to the ramps in Fig. 19(b)) may not be needed, if other elements prevent sideways movement of the pouch.
  • the pouch will slide until its upper edge (near the top seal) comes to rest against the stops, establishing a known, repeat able position within the plane of the support. Vibration may be imparted to pouches to help them—especially those lighter in weight— to move downwards and rest their upper edges against the stops (Fig. 19(c)). Thi s vibration can be done during pouch loading, before pouch use, or just before pouch extraction from the cubby.
  • vibration may be imparted in various ways including i) incorporating a vibrating device in the grasper, and making contact with the cubby to transmit vibration to it; or ii) incorporating a vibrating device in the entire shelf, a shelf module, or an individual cubby.
  • vibration i solation e.g., supporting springs
  • the stops are designed to be wide enough to prevent the pouch from travelling too far, but narrow enough to allow the pouch to deform so it can be pulled out of the cubby through gaps 269 (and the center region of the cubby which is free of ramps) by graspers or similar means introduced at the front of the cubby (Fig. 19(d)). Since heavier pouches may, due to their momentum as they slide, continue past the stops, it may be preferable in some embodiments to use a smaller angle from the horizontal, accompanied by vibration of the cubby. I n some embodiments the top seal of the pouch may be stiffened (e.g., by bonding one or more extra thicknesses of material to it).
  • cubbies such as those in Fig. 18 may be provided with one or more ramps located near the end of the cubby at which the pouch is extracted.
  • cubbies with two ramps 268 (upper) and 270 (lower), as well as bottom supports 262, cutouts, 266 and stops 264, are shown.
  • the ramps located only near the vertical edges of the pouch (see Fig.
  • sensing of the pouch position relative to the cubby or grasper jaws may be implemented using approaches that include mechanical, optical, and capacitance-based sensing.
  • grasper 274 may compri se grasper jaws 272, grasper fingers 276, a grasper body (e.g., actuators such as pneumatic cylinders 278 and mounting components), and a rotary actuator 280 such as a geared stepper which rotates grasper 274 around pivot 282 so as to adjust the pouch angle to closely match the cubby, di spenser, etc.
  • the inner surfaces of the jaws may be covered with a material such as 3M Gripping Material (3M, Saint Paul, Minnesota), a soft elastomer, etc.
  • Cubbies may be individual as in Figs. 19(a)-(d) or may be designed without a top as in Figs. 19(e)-(f) so when stacked vertically, the support of one cubby serves as the top of another below it.
  • cubbies such as those in Fig. 18(a) or Fig. 19(a) may be provided which can hold more than a single pouch each, which can greatly increase the number of pouches that may be stored in a single food preparation machine.
  • several pouches may be arranged in tandem (in the sense of tandem parking for cars: one pouch in front of another), with provi sion made to load one or more pouches into a cubby at a time, and release one pouch at a time from the cubby.
  • Pouches within the cubby may at least partly overlap other pouches.
  • pouches in a given cubby may contain the same ingredient in some embodiments, in other embodiments, different ingredients (e.g., the ingredients used to make a particular dish) accessed in a particular order may be loaded into and removed from a single multi-pouch cubby.
  • gates/barriers/stops may be provided within the cubby which prevent pouches behind the "lead pouch" (that nearest the front cutout (Fig. 18(c), 19(a)) from moving to the lead position until the lead pouch has been removed from the cubby at least partially.
  • Such gates can be opened by withdrawing them horizontally or vertically, rotating them (e.g., if shaped like a partial cylinder), flattening them (e.g., deflating if inflated, collapsing by applying vacuum), etc.
  • FIG. 20(a)-(n) depict cross-sectional elevation views of a sequence for loading and unloading a tandem cubby holding three pouches, and comprising support 286, stop 288, and two moving gates: Gate 1 (290) and Gate 2 (292) (shown for clarity as moving up and down, but may rotate, etc.).
  • Gate 1 290
  • Gate 2 292
  • pouches have yet to be loaded into the cubby.
  • Pouch 1 (294) has been inserted, and since no gates are closed, it slides until its top edge 295 contacts the stop as shown in Fig. 20(c), where it awaits being grasped and removed. I n Fig.
  • the cubby support i.e., floor
  • a high friction material e.g., rubber, 3M Gripping Material
  • vibrating the support e.g., with inexpensive cell phone-type vibration motors
  • the entire cubby may be used to control feeding of pouches toward the stop.
  • each pouch may be fed to a desired resting location with the cubby without di sturbing other pouches.
  • a sequence for loading and unloading a tandem cubby using this principal is shown in the cross-sectional elevation views of Figs. 21(a)-(n).
  • Fig. 21(a) three tilted, substantially coplanar supports A (302), B (304), and C (306) are shown, and stop 308 similar to stop 288 is provided.
  • Supports A, B, and C need not be separate elements, but can be a single element able to vibrate differentially in different regions, or comprise multiple elements joined by a continuous surface that allows for independent motion of the supports (e.g., a thin film, elastomer).
  • Pouch 1 (298) has been inserted onto Support A and Supports A, B, C are vibrated (e.g., along the direction 310 shown, or parallel to the support surface, or in another or in multiple directions) so that the pouch can cross the entire cubby.
  • Fig. 21(b) Pouch 1 (298) has been inserted onto Support A and Supports A, B, C are vibrated (e.g., along the direction 310 shown, or parallel to the support surface, or in another or in multiple directions) so that the pouch can cross the entire cubby.
  • Pouch 1 has traveled to Support B after which vibration (similar arrows as 31 0) of Support A has (optionally) ceased as it i s not currently needed, while both Supports B and C are vibrated so that pouch can continue to move forward.
  • Fig. 21(d) Pouch 1 has travelled to Support A and come to rest against the stop, where it is ready to be grasped and removed, and vibration is stopped.
  • Fig. 21(e) Pouch 2 (296) has been inserted onto Support A, which along with Support B i s vibrating so that (as shown in Fig. 21(f)), Pouch 2 can slide to Support B.
  • Pouch 3 (298) has been inserted onto Support A while it i s vibrated (if needed), and in Fig. 21(h), vibration has stopped. At thi s time, all three pouches are loaded in the cubby.
  • Fig. 21(i) Pouch 1 has been removed from the cubby.
  • Supports B and C are vibrated and Pouch 2 has advanced to the stop.
  • Support A may also be vibrated, so as to achieve simultaneously what will occur in Fig. 21 (k).
  • Fig. 21(k) Supports A and B are vibrated to allow Pouch 3 to move forward to Support B.
  • Fig. 21(1) Pouch 2 has been removed, and Supports B and C are vibrated so that Pouch 3 can move to Support 3.
  • Fig. 21(m) Pouch 3 has come to rest against the stop and vibration has ceased.
  • Fig. 21(n) Pouch 3 has been removed.
  • the cubby support 31 1 may be covered with a conveyor belt 312 running over outer pulley 313 and inner pulley 31 6 which is optionally provided with regularly-spaced flights 314 as in the cross-section elevation view of Fig. 22(a).
  • the flights project from the belt and can help to avoid pouches overlapping one another; in some embodiments they are not continuous across the width of the belt, but only wide enough to engage pouch 316 near its edges (much like the stops of Fig. 1 8(d)), and may in some embodiments serve as stops.
  • the belt may be moved actively in direction 318 or in the opposite direction (for loading pouches by the inner end) by a motor or other actuator in some embodiments, while in other embodiments (e.g., if supported by low-friction bearings) the belt may be made to move passively (e.g., due to the weight of pouches placed on it).
  • a mechani sm e.g., spring- loaded
  • a mechani sm can be provided that is actuated by the weight of the pouch when it i s near the front (right end in Fig. 22(a)) of the cubby, or by the pouch's front edge, preventing belt motion when actuated.
  • the belt moves again if there is a pouch on it until that pouch reaches the front. If the belt i s moved actively, it can be moved based on sensing of pouches on the belt, or the machine controller—which normally will "know" how many pouches are in a given cubby and how many have been removed from it— will advance the belt when needed, or simply advance it after every pouch i s removed, regardless. In some embodiments the belt need not be tilted as shown, but can be horizontal for example.
  • the belt is designed to not move on its own, and the grasper— used to remove pouches from the cubby and bring them to the dispenser— may also be used to advance pouches within the cubbies.
  • the grasper used to remove pouches from the cubby and bring them to the dispenser— may also be used to advance pouches within the cubbies.
  • a hook 324 fixed to the body of the grasper engages a flight behind the pouch.
  • the belt is also forced to move in direction 326 as the flight is advanced.
  • 22(b) depicts the configuration after the pouch— which had previously been resting against another flight— has already moved forward partway.
  • the belt moves only when pulled and then stops quickly, while in other embodiment variations, once tugged by the hook, the belt is provided with a mechanism that keeps it moving until it reaches the next detent position (at which the next pouch i s ready to be grasped).
  • pulley 315 can be driven through a coupler by an actuator fixed to grasper 322.
  • pouches located within a single tandem cubby can be accessed regardless of their position by arranging for the grasper to reach far into the cubby.
  • the grasper body may be made long enough and/or openings may be provided in the cubby to allow access of the grasper as well as its support structure.
  • the grasper is able to load pouches into cubbies when so commanded by the machine controller, not only remove them. Thi s capability allows pouches (e.g., multi-compartment pouches) whose ingredient has only been partly dispensed, to be replaced in a cubby.
  • the pouch support may have the form of a flat continuous paddle, one or more relatively rigid, possibly slender rods, or similar, and may be moveable (e.g., retractable as shown) if the grasper continues to hold the pouch during dispensing (in other embodiments a different grasper may be used) and there is an interference between paddle and di spenser components (e.g., the squeegee of the squeezer).
  • a pouch is held by jaws 330 with the paddle retracted, while in the next step of Fig. 23(b), paddle 332 has been extended in direction 333.
  • grasper 328 has rotated in direction 335 to approximately match the angle of the cubby into which the pouch will be loaded; pouch 334 is held in this orientation paddle 332 beneath it, which may only support it in a narrow area (e.g., down the center of the pouch).
  • the pouch has been loaded into a cubby, and inserted far enough that the upper edge is beyond the cubby stops.
  • the grasper jaws have opened, releasing the pouch, which then can slide down until its upper edge i s against the stop as in Fig. 23(f). Also in Fig. 23(f), the grasper has moved away from the cubby and the paddle has retracted.
  • paddles may be at least partially extended when removing a pouch from a cubby, to prevent the pouch from suddenly tilting to a vertical orientation if that is undesirable.
  • the bar code, RFI D, or other identifying, machine-readable code on it can be scanned by passing the pouch before a scanner before loading it into a cubby.
  • the entrance to the cubby can be provided with a sensor (e.g., photoelectric) so that the controller knows in which cubby the just-scanned pouch is placed.
  • pouches can be scanned (e.g., passing them before a fixed scanner) just before placing them into cubbies, and since the controller knows which cubby receives which pouch, the sensor may not be needed.
  • pouches are loaded into cubbies randomly, and then scanned to identify which ingredients are where, as well as pouch parameters such as expiration date; a scanner for that purpose may be incorporated into the grasper or associated hardware, or may be more remote if it has a longer working di stance (e.g., a long-range barcode reader).
  • shelves may compri se cubbies, while in other embodiments, shelves may comprise modules which comprise cubbies.
  • modules serve as smaller shelving units which can be a) combined to form larger shelves; b) can be individually removed and replaced in the machine; c) can mutually interlock to facilitate transporting several modules at once.
  • Modules or shelves may also be insulated, and may include doors (e.g., rollup or accordion- style) to prevent possible loss of pouches during transportation and maintain internal temperatures better.
  • Shelves or modules can be collapsible (e.g., accordion-style) or be rigid, and can be reusable or single-use.
  • cubbies, modules, or entire shelves may be able to tilt temporarily for loading so that when loading a pouch from the "front" (i.e., exit end) of a pouch, the cubby is oriented with the cubby exit is the highest region of the cubby, rather than the lowest region as usual.
  • the pouch may be swung while hanging from the grasper as in Fig. 23(a), or suddenly decelerated, so that its lower end (i.e., the flaps) enter the cubby.
  • Fig. 24(a) depicts an elevation view of a pouch storage system comprising a set of pouch boxes 336 which are attached to a continuous belt (or chain) 338 through pivots 340, allowing them to remain upright as the belt moves.
  • Boxes can contain a significant number of pouches and ca have a controlled environment within (e.g., temperature, humidity) that is specific to the ingredients within. Boxes are preferably spaced apart such that they can move without mutual contact.
  • pouch boxes can be manually loaded by rotating them around their pivots (e.g., by 90 degrees) or around other pivots, or by disconnecting one end and swinging them out (e.g., around a vertical axi s) to provide access.
  • Boxes can al so be fully detached from the chain, allowing them to be quickly replaced (e.g., with a box full of fresh pouches). Boxes may be subdivided into other boxes, and may be insulated to keep their contents at temperature while being transported. Boxes may include doors (e.g., rollup or accordion- style). Boxes can be loaded in bulk elsewhere, e.g., automatically just after they are sealed, and then brought to the machine and quickly attached to the belt during restocking.
  • a machine using such a storage system can include at least one storage system such as that of Fig. 24(a) (e.g., on either side of a di spenser and dish transport).
  • pouch boxes (which may be elongated) are supported by pivots and belts at both ends; only one belt and set of pivots can be seen in the figure, however. Pouch boxes may contain pouches in any desired orientation (e.g., tilted as shown in Fig.
  • pouches are arranged vertically within the box, like they are shown in Fig. 1 6(a), with their top seal s at the top.
  • they may have no hangars to support them within the box. Rather, they may rest on their flaps, be retained by clips (e.g., made from compliant material such as spring steel) which allow them to be inserted or removed from either the top or the bottom of the box, or they may be held within cavities shaped like the pouch itself, and which support the pouch around the chevron seal so as to minimize weight on the flaps, which may di stort them.
  • clips e.g., made from compliant material such as spring steel
  • pouches 344 inside can be accessed by using a grasper 346 to grasp the top seal area of the pouch and then withdraw it in direction 348. While the grasper may need to move in and out of the plane of the figure to access different pouches in a box, it need not move over a large vertical distance.
  • Fig. 24(b) depicts a similar system but in which the use of extra pulleys allows multiple boxes to be accessible at the top; this facilitates transfer of pouches from one box to another. Moreover, there is now enough space so that the dispenser 350, dish 352 (with dish transport, not shown), and waste bin 354 can be included within the loop formed by the belt of boxes. In thi s configuration, pouches can be grasped by the grasper and— assuming the pouch box allows for pouches to exit from its underside— decoupled from the box and lowered into the dispenser below where the ingredient can be dispensed.
  • the grasper, dispenser, and dish are designed so they can move along that axi s, thus allowing any pouch to be accessed.
  • the box may contain a feeding mechanism for pouches such as rotating springs 238 of Fig. 1 6(b), which bring the pouches to a specific location and then may drop them through an aperture in the box floor.
  • the grasper accesses the pouch without passing through the box and may be attached to the di spenser; thus, once one pouch i s accessed, the system can move so as to prepare to access another pouch (e.g., in another box).
  • a first grasper descends through the box and then immediately hands off the pouch to a second grasper (e.g., as in Fig. 27) such that the first grasper can exit the box quickly, allowing such preparation.
  • a second grasper e.g., as in Fig. 27
  • only one grasper is used, either entering the box from above or from below. If the latter, pouches may be loaded into the boxes inverted (top seal down) and the grasper i s able to invert the pouch before using.
  • pouches are pushed out of the box by a mechani sm (e.g., located above) and fall into mechanism which allows them to be held during dispensing, e.g., by a grasper that is part of the dispenser.
  • the first grasper, dispenser, and second grasper are able to move along an axi s perpendicular to the figure, while the boxes, waste bin don't move along that axis.
  • the dish may move along that axis for some purposes (e.g., delivery to the customer) but in these embodiments doesn't have to move between ingredients, since the dispenser can move over the bin (e.g., located behind it, along that axi s) to drop an empty pouch, etc.
  • a di spensing sequence may involve 1) moving the di spenser under a specific pouch; 2) bringing the pouch into the di spenser; 3) moving the dispenser over the dish; 4) dispensing; and 5) moving the dispenser over the bin to discard the pouch.
  • the dispenser may be split into two portions such as in Figs. 40(a)-(b).
  • the bottom of each box is open and pouches may be retained, e.g., by spring clips which hold them by on their vertical seal s; this allows a grasper to simply push pouches straight down into the di spenser (which can to move perpendicular to the plane of the figure to select the intended pouch).
  • Fig. 24(c) depicts an arrangement similar to that of Fig. 24(b), but in which the belt follows a more complex path that allows more boxes/pouches to be included within the machine without excessively increasing its height.
  • Fig. 24(d) shows a cross-sectional elevation view of a pouch box having within it a number of pouches, held in place by retaining clips 353, which can be spring-like. I n the figure, one pouch is being lowered into the box by a grasper, while another pouch i s being lowered out of the box and is about to enter a di spenser.
  • pouch boxes are not attached to a belt, but are simply stacked vertically (e.g., along one or more sides of the machine). I n such a case, boxes are actuated to individually slide outwards (e.g., one at a time) and back so that their contents can be accessed, somewhat like a file drawer can open and close.
  • pouches are placed in pouches with their top seals 356 down, and are withdrawn from the bottom of the box by grasper 346 held by support 358.
  • the grasper can flip them over so their flaps are at the bottom before introducing them into the dispenser.
  • the pouch can be allowed to fall onto a specially-shaped chute or other surface that catches them momentarily, allowing them to be grasped, or causes them to tilt and at least partially invert, facilitating grasping of the top seal, etc.
  • clips retaining pouches are released by a mechanism near the dispenser.
  • Machines having multiple di spensers may be configured similarly to those of Figs. 24(a)-(c), but with fewer boxes per dispenser (e.g., just one as shown in Fig. 25).
  • the pouch box may be arranged to move along an axis normal to the plane of the figure, or can rotate if shaped like the pouch holders of Fig. 1 7(a) or 1 7(d), or may use pouch feeders such as Fig. 1 6(b).
  • Pouches may be arranged in the box with their top seal s 356 up as in Fig.
  • top seal s down e.g., internally they can include ramps such as those in Fig. 1 9(b)) and are pulled from the bottom of the box by the grasper shown, then flipped over before entering the di spenser.
  • machines may store ingredients in highly-insulated chambers (e.g., vacuum or aerogel- insulated) to reduce the power consumption required for operation, and allow ingredients to remain edible even after a power failure of reasonable length.
  • highly-insulated chambers e.g., vacuum or aerogel- insulated
  • Such machines may incorporate a "cold" fetching system that works entirely within the chamber, and which brings pouches to an external pouch transport system which can bring the pouch to the di spenser and possibly participate in di spensing its contents.
  • Pouches may pass through a single opening in the chamber that is normally kept closed, and which may incorporate a double door.
  • FIG. 26(a)-(g) A system intended to serve multiple customers, using shelves and a single dispenser such as that of Figs 8(a)-(k), is shown in the 3D views of Figs. 26(a)-(g).
  • FIG. 26(a) major components of the system are shown.
  • Four shelves 360 of the kind shown in Fig. 44 are provided, two on each side of the system, though more or fewer can be used. While this arrangement of shelves may be suitable for a vending-type kiosk, other arrangements may be more suitable for other formats. For example, in a food truck format for preparing food automatically, there may be shelves against the driver's side of the truck and dispensers along the passenger/delivery window side of the truck.
  • Di spenser 362 i located toward the center of the system in the embodiment shown, with waste bin 364 in front of it, and with a "mise en place" pouch holder 366 (designated "MEP") and pouch heater 368 behind it.
  • the waste bin may be used to hold empty pouches, or pouches which have been rejected (e.g., pouches past their expiration dates).
  • the bin may be larger than shown and may advantageously be located close to the di spenser to minimize the likelihood that any food residue remaining on a pouch will fall or drip elsewhere than into the bin.
  • the MEP may be used to temporarily hold pouches that have been fetched from a shelf and which will shortly be used in the preparation of a meal; it may comprise individual compartments separated by dividers 371 , which support pouches in a substantially vertical orientation, allowing the system' s grippers to easily deposit a pouch into a compartment and retrieve it later.
  • the heater may be used to heat the contents of pouches before they are dispensed, though in some embodiments ingredients may be heated while still in the shelves, or once di spensed into a dish.
  • the heater may comprise apparatus implementing one or more heating methods such as microwave/RF heating, immersion in a hot water bath, a convection oven, etc. that are compatible with the materials of the pouch and the ingredients within.
  • the heater may also comprise individual compartments separated by dividers as shown, and a moveable, actuated lid, such as sliding lid 370 seen in Fig. 26(e), which in the case of microwave heating, for example, provides a radiation barrier.
  • a moveable, actuated lid such as sliding lid 370 seen in Fig. 26(e)
  • the MEP and heater may be combined into a single unit.
  • the di spenser i s dish 372 which can be moved by a dish transport 374 allowing the dish to be located under the dispenser in one or more positions and/or orientations such as toward the front of the system (e.g., if empty dishes are manually inserted by the customer, or for delivery to the customer of a meal), etc.
  • the transport may provide two or more axes of motion, such as both X and Y (per the coordinate system on Fig. 26(a)), or Y and rotation about the Z axi s.
  • Below the di sh transport i s service module 376 which may house electronics such as the system controller and power supplies, as well as refrigeration equipment that maintains the system or portions of it at the required temperature, vacuum pumps, etc.
  • pouches 378 are transported by a manipulator comprising graspers 380 having grippers (e.g., pneumatic) fixed to a rotary actuator 381 similar to 280 supported by arm 382 which is moved along the X, Y, and Z axes by X (384), Y (386), and Z (388) linear stages, respectively. In other embodiments, other stages, including those with rotary joints may be used.
  • the rotary actuator allows pouches to be fetched either from (or in some embodiments returned to) shelves on left or the right side of the system, and allows the pouch to be re-oriented vertically (e.g., Fig.
  • FIG. 26(d) A vertical gantry configuration i s depicted in Fig. 26(a), compri sing two X axis stages (one at or near the top of the apparatus, and one at or near the bottom), which move a Z stage, which in turns moves a Y stage.
  • the arm is attached to the carriage of the Y stage in the embodiment shown.
  • the system is enclosed by panels, several of which are shown in Fig. 26(a).
  • the X stages are fastened to rear panel 390, and access panel s 392 are provided on the sides of the system which can rotate to provide access to the rear of each shelf, allowing pouches can be loaded individually or in groups. Alternatively, entire shelves may be swapped out (e.g., an empty shelf for one that is pre-loaded with pouches), speeding up the restocking procedure for the machine.
  • the camera/scanner may be mounted so it can function regardless of the orientation of the rotary actuator.
  • Figs. 26(b)-(g) depict 3-D close-up views of steps in a process whereby a pouch is fetched from the cubby of a shelf, delivered to the heater for heating (assuming the ingredient (e.g., black beans for a burrito bowl) requires heating), then brought to the di spenser to dispense the food item, and then carried to the waste bin to dispose of the empty pouch.
  • the controller has rotated the rotary actuator so that the jaws 394 of grippers 396 are substantially parallel to support 262 and the pouch, and well oriented to grasp the upper portion of pouch 378.
  • the controller then moves the grippers close to the pouch and within the cutout 266 of the cubbies, then closes the jaws in directions 398 around the upper portion (e.g., top seal) of the pouch, grasping it.
  • the controller has moved the arm 382 using, for example, the X and Z stages (e.g., parallel to the support and the gripper jaws), pulling the pouch out of the cubby along direction 400 (e.g., parallel to support 262) while deforming it slightly to release it from the cubby stops.
  • the controller may al so raise, lower, or (if a twisting axi s is provided) twist the gripper pouch slightly to help release it from the cubby.
  • Fig. 26(d) the pouch has been completely removed from the cubby and the controller has reoriented the rotary actuator in direction 402 so that the pouch is hanging vertically.
  • the controller has moved the necessary stages so that the pouch i s above a compartment of the heater and i s being lowered into it, between dividers 371. While the pouch is within the heater, it may be held by the grippers, or el se the grippers may release the pouch to allow the heater lid to be closed if needed. If the pouch does not require heating and is di spensing from it is not imminent, it may be placed in the EP instead of the heater.
  • the controller has caused the pouch to be re-gripped (if it had been released) and using the necessary stages (e.g., Y and Z) has then removed the pouch from the heater (having had its contents heated), and has started to insert it into the di spenser.
  • the controller has also moved a dish below the di spenser using the dish transport.
  • the pouch may continue to be supported by the grippers. For example, if the pouch contains a Type 2B ingredient, the grippers may descend inside the dispenser as the pouch walls are peeled.
  • the necessary stages e.g., Y and Z
  • the controller has removed the pouch from the di spenser using the necessary stages (e.g., Y and Z) and positioned in within the waste bin. Lastly, the controller opens the gripper jaws (not shown), dropping the pouch into the bin. If no further ingredients are to be added to the dish, the controller may move it forward (not shown) using the dish transport for delivery to the customer.
  • the necessary stages e.g., Y and Z
  • the controller opens the gripper jaws (not shown), dropping the pouch into the bin. If no further ingredients are to be added to the dish, the controller may move it forward (not shown) using the dish transport for delivery to the customer.
  • the rotary actuator or grippers may incorporate at least one paddle which can support the pouch from underneath when it is not vertical, e.g., when it is in the position shown in Fig. 26(c).
  • the paddle allows pouches to be inserted into cubbies by the manipulator, in addition to being able to remove them from cubbies.
  • a system with at least one paddle and in some cases, a camera, machine vision software, and/or additional degrees of freedom can take pouches provided to it (e.g., in a box) and automatically insert them into cubbies, while recording the location and data about each pouch thus inserted. This may allow for faster system resupply than having a technician insert pouches into the cubbies manually.
  • the manipulator may al so fetch and move pouches where are not inserted into the dispenser, but rather, placed into a chute or delivery compartment directly.
  • Such pouches include ingredients which the customer requests to be "on the side" such as a sauce or a salad dressing, pouches which are close to expiration which are to be given to charity unopened, etc.
  • the system can also di spense unpackaged items (e.g., fruit such as bananas) if they can be grasped, cutlery and napkins (e.g., packaged in a pouch), beverages (e.g., Capri Sun, Kraft Foods) in pouches, or snacks in pouches (e.g., trail mix, chocolates).
  • the manipulator can dispense item s in other than in flexible packages, such as in bottles. Grocery items, ready-to-eat meal s/snacks, and packaged components of meal kits (e.g., to be used for home cooking) are among the items that can be provided to a customer.
  • the system may incorporate at least one additional manipulator, e.g., a secondary manipulator (e.g., one able to move in Y and Z) which can take over some of the functions of the di spenser described.
  • a secondary manipulator e.g., one able to move in Y and Z
  • the primary manipulator may fetch pouches from a cubby and deliver them to the MEP or heater, while the secondary manipulator may remove them from the MEP or heater, bring them to the di spenser, participate in di spensing their contents, and move them to the waste bin.
  • the system controller knowing (e.g., through sensor feedback) the position of all elements of each manipulator, can i ssue commands that avoid any collisions.
  • system s similar to that of Fig. 26 may incorporate more than a single dispenser, single MEP, single heater, single dish transport, etc., single primary manipulator, etc.
  • System elements such as these, as well as shelves and other elements, may be shared.
  • a system designed to prepare two meals at once and equipped with at least dispensers may draw pouches from a common shelf or set of shelves.
  • Grasping the top of the pouch repeatably and symmetrically (e.g., grasper centered on the pouch, pouch inserted into grasper the same distance everywhere) from a cubby like that of Fig. 19(d) can be challenging if the pouch doesn't slide against the stops evenly on both sides, slides preferably to one side or the other, or i s inserted off-center, etc.
  • Correcting thi s can be achieved in various ways, including i) vibrating the cubby so that the pouch settles at the stops more symmetrically (and optionally, detecting thi s condition with sensors such as optical or mechanical switches); or ii) enabling the grasper to rotate about an additional axis, so the grasper can be made parallel to the pouch edge (the edge orientation can be sensed, e.g., by switches built into the grasper). In some embodiments as long as the pouch is grasped securely even if not symmetric with respect to the grasper, adjustments can be made after the pouch is removed from the cubby.
  • An error in the orientation of the pouch can be compensated for using one or more suitable actuators which can rotate the grasper jaws, while an error in the location of the pouch within the jaws can be compensated for by adjusting the position of the axis (e.g., Y axi s) along which the grasper travel s and/or adjusting the vertical (e.g., Z axi s) position of the grasper at key pouch locations (e.g., the location at which the pouch is peeled open).
  • Such errors can be identified by methods known to the art such as using machine vision, using mechanical, optical, capacitive, or acoustic sensors, etc. If the pouch is placed into an MEP (e.g., Fig. 26(a)) before being grasped again and brought to the dispenser, adjustments in its position and orientation can al so be made during the second grasp, or afterwards.
  • the grasper in some embodiments compri ses at least two separate pairs of jaws spaced apart and moveable relative to one another. With such a design, once the edge is grasped, the pairs can be moved apart in a way that applies tension to the top seal of the pouch to flatten it, if necessary.
  • At least two separate robotic grasping/pouch transport systems may be used in the same machine, the first of which removes the pouch from storage and the second of which brings the pouch to the dispenser and optionally, participates in dispensing the ingredient. While the second system is doing this, the first system is free to fetch the next pouch, or the first system can return an incompletely di spensed pouch to storage while the second system brings a pouch from the MEP to the dispenser, etc.
  • the first system may place a pouch in an MEP, pouch heater, etc., from which the second system then picks it up.
  • Fig. 27 depicts a pouch 404 held by three grippers 405 to facilitate hand-off.
  • One gripper i s moved by bent support 406, and two grippers are moved by straight supports 408.
  • thi s can be reversed, and in some embodiments, there can be two of each kind of support, or all graspers can use bent supports (some bent in the opposite direction than others).
  • the use of both straight and bent supports enables, for example, the pouch to be initially held by a first grasper with a bent support, and, without colliding with thi s, second and third graspers with straight support can then grip the pouch in other locations, thus allowing the first grasper to release its grip.
  • a bent grasper support can straighten itself out when not needing to be bent.
  • pouches may be used having specialized features.
  • the pouches shown in the 3D views of Figs. 28(a)-(c) are intended to be fully peeled apart (except for their tops) using a dispenser such as that of Figs. 8(a)-(k), e.g., in a system such as that of Figs. 26(a)-(g).
  • the pouches illustrated have flaps 41 0 at their bottoms which may be manipulated to open and/or peel the pouch, chevron-shaped seals 412 near their bottoms to facilitate peeling and/or form a narrow funnel-like opening if desired, etc.
  • Vertical (e.g., peel able) seals 413 are also provided.
  • the pouches al so have stiffening elements 41 4 or 41 6 near or coincidence with their upper edges and top seal s 41 8, which keep the upper edges more straight and flat than they might otherwi se be.
  • element 41 4 compri ses a bend in the film forming the pouch and/or a thicker strip of material laminated to the upper portion of the pouch.
  • element 416 comprises a corrugated upper portion of the pouch.
  • Both stiffening approaches may be implemented with suitably-shaped heated dies which form the pouch material (presumed to be a thermoplastic and/or a portion thereof (e.g., the pouch may have multiple layers) into the desired shapes.
  • Fig. 28(c) shows a pouch which uses one or more D-shaped loops 420 (with the corners not necessarily as sharp as shown) formed from films 421 and 423. These are similar to those of Fig. 14(c), but near the pouch top edge for stiffening purposes, retained by seals such as 422.
  • Pouches may al so incorporate air- or liquid (e.g., water)-filled chambers near their tops as stiffeners.
  • the pouch of Fig. 28(d) is designed to accommodate a significant volume of an ingredient while remaining fully peelable (i.e., up to the top seal, or including it), and minimally di storting the shape of its sides and flaps. It compri ses one or more pleats 424 (four are shown) in which the film comprising one wall of the pouch has been folded, including the vertical seal s 426. Some pouches may have pleats on both walls. When an ingredient is loaded into such a pouch through opening 428, the pleats can expand the internal volume.
  • Fig. 29 depicts an elevation view of a pouch similar to that of Fig. 3 having zig-zag seals 429 as well as vertical seal s 431. If the maximum fill levels shown in Fig. 3 are used, then there i s room for a thin squeegee or roller to be placed again the pouch on one or both sides in the positions shown as #1 (430), #2 (432), and #3 (434). With the squeegee in position #3, a food item in the bottom compartment can be di spensed, assuming a Type 1 item, without di sturbing items in upper compartments, by lowering the squeegee to expel the item.
  • the items in the next two higher compartments can be di spensed, and with the squeegee in position #1 , the item s in all compartments can be dispensed.
  • the amount of a food item needed can be varied, and gradual dispensing from a multi-compartment pouch can be implemented by using a squeegee or roller the impingement height of which on the pouch can be varied.
  • Figs. 30(a)-(e) show elevation cross-sectional views (in which the side seals are not visible) of a pouch that i s not compartmentalized, but which through the use of multiple clamps, can be made to dispense ingredients gradually.
  • pouch 436 with upper seal 437 and flaps 439 is unopened and upper clamp 438 and lower clamp 440 on either side of the pouch are separated so as to not significantly compress the pouch.
  • both sets of clamps have moved in the direction of arrows 442 and compressed the pouch, dividing the food items within into multiple (three as shown) portions.
  • the items may be of Type 1 , or of Type 2A or 2B in some cases.
  • a Type 2A item is assumed (i.e., the item can readily fall out of the pouch without assi stance) but using moving clamps serving as squeegees, actual squeegees, full peeling, etc., other types can be accommodated.
  • the pouch has been opened, allowing item s 444 below the lower clamp to exit the pouch in direction 446.
  • lower clamp 440 has also been opened, allowing more items to exit
  • upper clamp 438 has al so been opened, allowing all the remaining contents to exit.
  • Figs. 31(a)-(c) depict cross-sectional elevation views of a process in which a relatively large ingredient 447 can be controllably di spensed into a vessel 448 such as a dish by using coordinated/synchronous motion of the dish relative to the dispenser.
  • a slice of bread in a pouch within di spenser 441 may be laid down onto a plate, and a slice of a beefsteak tomato, piece of cheese, cold cuts, or a cooked hamburger patty may be laid onto the bread using this technique.
  • the food item is initially substantially vertical as in Fig. 31 (a) suspended by gripper 435 and arm 433, and enters the dish and makes contact with it, possibly off-center as shown in Fig. 31 (b).
  • di sh transport 429 moves dish 448 underneath the pouch in direction 445 (Fig. 31(c)), causing the item to reorient, tilting in direction 443 and eventually falling out of the pouch and onto the plate as desired.
  • this method can be particularly advantageous in ensuring the desired orientation. Also, such a method can minimize splashing of one ingredient descending into a di sh containing another, especially when a preferred order in which ingredients are added (liquids after solids) cannot be used.
  • coordinated motion between dispenser and vessel has broad utility in automated food preparation.
  • Coordinated motion between vessels receiving ingredients and the di spenser—such as motions which allow a particular ingredient to be placed in a particular location or orientation in a vessel, or on/adjacent to another ingredient already in the vessel, or to allow 2D or 3D printing or dispersion over a large area— may involve motions imparted to the vessel, a vessel carrier transporting the vessel, the dispenser, or a combination thereof.
  • the vessel may be transported on a carrier that i s moved by an X/Y stage and/or rotates; such a stage can al so serve to put a dish into a heating chamber, deliver a dish to the end user, etc.
  • FIG. 32(a)-(g) show elevation views of a pouch having multiple pieces of a food ingredient (e.g., slices of pepperoni) which can be dispensed one at a time very controllably using rollers.
  • a food ingredient e.g., slices of pepperoni
  • rollers move upwards with respect to the pouch, gradually releasing pieces of a food item.
  • Such a high level of control can be combined with the ability to accurately control the position of a receptacle or food item (e.g., a pizza crust) so as to allow an ingredient (e.g., solid) to be placed preci sely in the receptacle/on the item in a non-contact manner.
  • a receptacle or food item e.g., a pizza crust
  • an ingredient e.g., solid
  • pieces such as piece 1 (450), piece 2 (452) and piece 3 (454) are arranged in the particular pattern shown, and are substantially immobilized in that pattern by one method or another such as vacuum packing, internal seals (continuous or discontinuous), the use of an internal perforated sheet which may be partly attached to the pouch (e.g., at the top), thermoformed pockets within one or both films of which the pouch is comprised, tension maintained on the sides of the pouch, etc.
  • vacuum packing internal seals (continuous or discontinuous)
  • the use of an internal perforated sheet which may be partly attached to the pouch (e.g., at the top), thermoformed pockets within one or both films of which the pouch is comprised, tension maintained on the sides of the pouch, etc.
  • vacuum i assumed. Once the pouch has been opened, vacuum can no longer retain the pieces.
  • the pouch has been inserted into a sleeve 456 having an interior width small enough to prevent pieces from passing one over and past the other.
  • Figs. 32(b)-(f) depicts steps in the process of di spensing two pieces. I n Fig. 32(b), the pouch is shown with sleeve 456, and below the pouch are a pair of rollers 458, one behind the other (alternatively, one roller and a substantially rigid backing plate may be used in some embodiment variations). In Fig. 32(c), the pouch has started to descend in direction 460 relative to the sleeve, and pieces such as pieces 1 and 2 are starting to become slightly compressed between the rollers which are rotating in direction 462.
  • piece 1 (450) eventually i s no longer compressed by the rollers as in Fig. 32(d) and fall s out of the pouch in direction 464.
  • piece 2 also falls, as does piece 3 (454) (Fig. 32(e)).
  • Fig. 32(f) eight pieces have been released, one at a time. Since the pieces may shift slightly before release, the exact pouch position at which each piece is released may vary. However, if these positions are sensed (e.g., using machine vision), the pouch can be moved to the exact location needed to release a piece at the correct time.
  • FIGs. 32(g)-(i) depict a version of the arrangement of Figs. 32(a)-f) in which the pouch does not only descend, but i s also peeled, which can facilitate reliably di spensing the pieces.
  • Fig. 32(g) depicts a pouch in a state similar to that of Fig. 32(e), but now the film beyond the roller has been wrapped around the roller as seen in the sectional view (section line 466) of Fig.
  • FIG. 32(h) which shows piece 4 (468) nearly released as the film is pulled in direction 470 as well as still-retained pieces 472.
  • the arrangement of Fig. 32(h) has been modified with the addition of blades 474 which can help dispense any residues that may remain on the film (e.g., for an ingredient that isn't very dry).
  • Fig. 32(j) depicts a pouch which also has its pieces dispensed in a highly-controlled way.
  • the pouch i s subdivided into vertical compartments (e.g., four) such as compartment 1 (476) and compartment 4 (478) by seals 479. Since the compartments are relatively narrow, they may not deform as much as one piece tries to pass another due to gravity, and so a sleeve may not be needed to prevent one piece passing another.
  • Each compartment i provided with its own roller 480 which can be independently controlled.
  • the roller for compartment 4 has already risen so as to release two pieces of ingredient 481 , whereas the roller for compartment 1 is rotating in direction 482, ri sing in direction 484, and preparing to release the first ingredient for that compartment.
  • ingredients can be dispensed in bulk but packaged and dispensed so as to retain a particular arrangement of the pieces within the package.
  • pepperoni slices meant to be di stributed over a small circular pizza can be arranged in a suitable pattern within the pouch, and the pouch vacuum packed to prevent the slices from moving. Once the pouch is opened, it can be peeled open gradually while the pizza moves underneath in a coordinate motion. To prevent the slices from shifting their positions once vacuum is lost (assuming they don't adhere to the package film normally, or an edible adhesive i s not used), the "conveyor" approach of Fig. 51 can be used. Or, the pouch can be compressed between two surfaces (e.g., by liquid-filled bladders) during di spensing.
  • Methods and apparatus di sclosed herein can minimize or eliminate direct contact between machine and ingredients, with ingredients only contacting disposable/consumable materials, or those which can be easily removed for cleaning.
  • Direct contact can easily contaminate the machine, cross-contaminate other ingredients, and necessitate regular and thorough machine cleaning (which can make unattended operation difficult if not impossible). Avoiding direct contact in a home appliance saves time and effort in cooking. In a public/vending-type machine, it reduces the need for service visits, greatly improves food safety, and eliminates the need for rinse liquids and waste disposal (e.g., water and drain plumbing), thus allowing the machine to be installed temporarily or permanently in a much larger variety of locations/venues.
  • rinse liquids and waste disposal e.g., water and drain plumbing
  • the pouch sides whose inner surfaces are exposed to ingredients and may have adherent residues, are at their lowest height as they pass over the blade edges (Fig. 8(j)).
  • any ingredient on the surface will not be able to slide or fall upwards so as to contaminate the clamps or other parts of the di spenser, even if the ingredient does not detach and fall into a vessel placed below.
  • Redirection of the pouch sides by the blades also allows the peeling motion induced by the peeler clamps to be other than downwards (toward the dish): a direction in which there i s little or no room to move. Rather, the direction can be sideways/horizontal or preferably as shown, upwards.
  • Figs. 8(a)-(k), Fig. 34, Figs. 35(a)-(b), Figs. 36(a)-(b), Figs. 37(a)-(c), Figs. 38(a)-(f) depict 3-D views of a di spenser designed to di spense ingredients of types 1 , 2A, or 2B from a pouch having flaps at its bottom, such as the pouch of Fig. 1 , whose seal is chevron-shaped at its bottom, the chevron having a lower tip or apex at the outside bottom of the sealed region.
  • the vacuum cups of Fig. 8(h) are replaced with pads (e.g. soft Sorbothane (Sorbothane, Kent, Ohio) which i s naturally tacky) which may be perforated to provide vacuum or air to the pad surface.
  • the peeler is provided with upper and lower clamps as in Fig. 8(c), but the squeezer shown in Fig. 8(b) is replaced with a design in which the squeegee can be extended or retracted by its own actuator(s), regardless of the squeezer' s vertical position.
  • Additional elements have also been incorporated, such as grippers and slides which prepare the pouch to allow easy separation of the flaps, and a film which guides the pouch into the dispenser even if the pouch i s distorted, while protecting the di spenser from potential leaks in the pouch.
  • the di spenser can be subdivided into multiple subsystems.
  • Figs. 33(a)-(b) depict 3-D views focused on showing a spreader (i.e., a flap separating/reorienting/spreading subsystem) comprising arm s and pads used to spread the flaps of the pouch, while
  • Fig. 34 depicts a 3-D view that includes the spreader and a tensioner (i.e., a pouch tensioning subsystem). Tubing providing vacuum and/or air to the pads is not shown in the figure.
  • Fig. 35(a) depicts a 3-D view focused on showing the tensioner
  • Fig. 35(b) is a side elevation view of the pouch and tensioner clarifying how the pouch is tensioned.
  • Figs. 36(a)-(b) depict 3-D views focused on showing a portion of a peeler (i.e., a peeling subsystem), while Figs. 37(a)-(c) depict 3- D views focused on portions of a squeezer (i.e., a squeezing subsystem).
  • Figs. 38(a)-(f) depict 3-D views of the dispenser and show multiple systems, including a guider (i.e., a guiding subsystem).
  • the di spenser in some embodiments includes two blades (e.g., Fig. 8(k).
  • the spreader of Fig. 33a serves to engage the pouch flaps and separate them from one another, reoriented the as in Fig. 8(h).
  • Each spreader compri ses one or more pads 486 and 488: one for each flap.
  • Each pad is supported and moved by arms 490 and 492 (e.g., rotating arms which rotate about a pivot: the axis of rotation may in some embodiments correspond to the apex of the chevron).
  • the pads may comprise Sorbothane, a reusable adhesive, SETEX or similar, a material such as Regabond-S (Exel Trading Company, Tokyo, Japan), an array of micro suction cups, an electroadhesion- based pad (Grabit, Sunnyvale, California), etc.
  • the pads may also comprise a material that is not itself adhesive and not necessarily compliant, but to which a source of vacuum is attached. Vacuum may al so be used with some materials as a supplement, as i s shown by the vacuum port 494 in Fig. 33(b).
  • the pads may incorporate sensors (e.g.,
  • tactile/pressure/mechanical, capacitive, optical to sense the position of the lower edge of the pouch flaps or other indicia such as printed marks on the flap (or sensors may be used el sewhere to sense other features (e.g., the apex) or indicia on the pouch) and allow adjustment (e.g., vertical motion) to ensure reliable operation.
  • Substantially symmetric, simultaneous rotation of the two arms can be produced by various mechanism s including independent motors, motors with gearing, and the mechanism shown in Fig. 33(a), in which a linear actuator 496 supported by bracket 498 is provided which translates a lead screw 500.
  • the lead screw i s fastened to a connector 502 which includes pivots 504 for links 506 and 508 which rotate about the pivots.
  • the lower ends of the links are connected to the arms through pivots (e.g., 51 0), while the arms turn about pivot 51 1 which is attached to support 51 3.
  • the arm s are rotated in directions 512 and 514 such that the pads move toward the center plane or separate from one another and move upwards.
  • the arm s are shaped so as to not interfere with blades 515.
  • flaps 51 6 and 51 8 of pouch 520 having apex 522 are located in the space between the pads as in Fig. 33(b).
  • the pads When the pads converge toward each other, they push the flaps together toward the center plane (the flaps may initially be off to one side or to both sides).
  • the pads When the pads converge, they compress against the flaps and make good contact with them. Subsequent to this, the pads are separated by reversing the actuator, each one pulling one flap along with it and rotating the flap to an orientation where it can be pinched between the peeler upper and lower clamps.
  • the pouch Due to the weight and volume of the ingredient within the pouch and/or due to outside air pressure (if the pouch is vacuum packed) or due to the pressure of an internal gas (e.g., if packed with air or a modified atmosphere), the pouch may be distorted such that the flaps are no longer substantially planar as in Fig. 1 , and may be quite curved to one side. Such curvature, along with the distorted shape of the pouch above the flaps, has the effect of stiffening the flaps and making them much harder for the spreader to separate and re-orient the flaps and deliver them to the peeler clamps. Pouch di stortion may be especially pronounced with pouches made from film s that are relatively stiff such as PET. Folding of the pouch as in Fig.
  • a pouch tensioner may be included in the dispenser in some embodiments.
  • a suitable tensioner should work regardless of the ingredient within the pouch.
  • a tensioner used in some embodiments is shown partially in Fig. 34, and in more detail in Figs. 35(a)-(b).
  • the tensioner comprises a gripper 524 (e.g., pneumatic) equipped with fingers 526 and finger extensions 528, the latter of which may be lined with a non-slip material such as 3 Gripping Material.
  • the gripper is fastened to an air slide table 530 or other actuator through a gripper mount 532.
  • the table i s able to move the gripper substantially horizontally (though in some embodiments a curved motion may be used) towards or away from the center of the pouch.
  • the finger extensions may be positioned approximately at the height of the pouch apex, so that when the gripper fingers are closed, the pouch is grasped near its vertical edges at a height that is approximately coincident with the apex.
  • the gripper fingers are closed near pouch vertical edges 533, outside the internal edges 535 of the vertical portions of the pouch seal. This causes the pouch to be securely gripped.
  • the grippers are pulled outwardly/away from one another by the air slides (or other means) in directions 534 to apply tension to the pouch; this motion can be linear or along an arc.
  • the effect of this on the pouch is very significant as it causes the pouch to change its shape and in particular, causes the flaps to become substantially flat (and thus easier to separate and move) even with a fully-loaded pouch.
  • the shape change has little or no impact on the pouch contents (which may be friable), however, the shape of the flaps is greatly improved.
  • the flaps With the pouch under tension, the flaps are more flexible and easier to separate and reorient.
  • the pads for example can converge on the flaps, separate them, lift/reorient them, and deliver them to the peeler clamps as described above.
  • each peeler comprises an upper clamp 536 and a lower clamp 538, the clamping surfaces of which are shaped to securely capture the pouch flap (which has passed around the blade best shown in Fig. 8(k)) and pull it upwards.
  • Upper and lower clamping surfaces 540 and 542 are covered in some embodiments with a material such as 3 Gripping Material.
  • the lower clamp rides (e.g., through bushings) along peeler guide rods 544 which are angled with respect to the vertical, and a lead screw 546 rotated by motor 547supported by bracket 549 (Fig. 38(a)) is provided, along with lead nut 548 fastened to the lower clamp.
  • the upper clamp comprises two holes which may also be lined with bushings. Passing through the holes are the peeler guide rods, and a clearance hole for the lead screw is provided. While the lower clamp is actively driven along the guide rods by the lead screw, the upper clamp i s passively driven by the motion of the lower clamp.
  • weight box 550 having tab 552 is fastened to the upper clamp as shown.
  • the weight box is filled with a dense material (e.g., brass) so as to increase the weight of the upper clamp, which itself may be made of a relatively heavy material such as stainless steel or brass.
  • the gripping pressure of the upper and lower clamping surfaces on the pouch flap are increased, thus providing a more reliable grip.
  • the angle of the upper and lower clamping surfaces in addition to being optimal to allow contact with the flap, may also improve gripping since the flap is forced to bend sharply around the lower clamping surface.
  • the upper clamp can be urged against the lower clamp and travel along with it by providing a mechanical spring, a gas spring, a cable connected to a weight running over a pulley, a constant force spring, magnets (e.g., two magnets— one each on the lower and upper clamp— or one magnet on one clamp and a ferromagnetic material on the other), electropermanent magnets, electromagnets, etc.
  • a mechanical spring e.g., a gas spring, a cable connected to a weight running over a pulley, a constant force spring
  • magnets e.g., two magnets— one each on the lower and upper clamp— or one magnet on one clamp and a ferromagnetic material on the other
  • electropermanent magnets e.g., two magnets— one each on the lower and upper clamp— or one magnet on one clamp and a ferromagnetic material on the other
  • electropermanent magnets e.g., two magnets— one each on the lower and upper clamp
  • Fig. 37(a) i s a view of a squeezer (one of two) from below, while Figs. 37(b)-(c) show views at a higher angle.
  • the squeezer compri ses a squeegee 554 which is mounted on pivots 555 so it can rotate to an extended position (e.g., Figs. 37(a)-(b)) before use, or rotate to a retracted position (e.g., Fig. 37(c)) when not being used (to allow the pouch to enter the dispenser).
  • Squeegees preferably span the entire width of the ingredient-containing compartment of the pouch, and may be wider still, extending into and even past the vertical seal.
  • Squeegees may be translated, rotated, or both translated and rotated. To allow a pouch to enter the di spenser initially, the squeegee may be retracted. The squeegee is extended and retracted by two air cylinders 556 turning on pivots 557 or other actuator whose shafts are connected to two couplers 558 which connect to the side of the squeegee through coupler pivots 560. Once extended, drag forces acting on the squeegee as it moves downwards along the pouch or guider film (discussed below) produce a torque in the same direction as the cylinders, helping to keep it extended. When the squeegee i s fully extended, the couplers rest against pivots 555, preventing over-extension.
  • the inward edge of the squeegee may be tipped by a material (e.g., PTFE) that has preferably low friction when sliding on the pouch wall s or guider film, and may be somewhat compliant.
  • the tip 562 may be sandwiched between the squeegee and a tip support 564 or just held in place with fasteners, adhesive, etc.
  • the tip may be replaced by one or more rollers (e.g., passively rotating).
  • the gap between the tips may be small (e.g., no larger than the thickness of the films comprising the pouch and guider films, thus forcing the pouch contents in regions impinged by the squeegees to be expelled substantially completely.
  • the squeezer also comprises a frame 566 to which the squeegee is mounted through pivot 555, and which moves the squeegee downwards along the pouch when the frame is driven along two guide rods 568 by two lead screws 570, the latter turning within lead nuts 572 attached to the frame.
  • the screws, equipped with pulleys, are rotated by a motor 574 turning pulley 577 which moves belt 576 running over idler pulleys 578 as in Fig. 38(a).
  • the cylinders are mounted to the frame through pivots 557 which allow the cylinders to rotate as needed when extending or retracting the squeegee.
  • An optional guider 580 can be seen in Fig. 38(a), along with other subsystems. It comprises guider film 582, film supports 584, and pouch guides 586 (the latter are better seen in Fig. 38(b)-(e), in which film 582 is removed for clarity). Guider 580 serves as a "funnel" to deliver the pouch into the dispenser as it i s lowered by the grasper, even if the pouch is significantly distorted, or swinging from side to side after it i s moved.
  • the film is a flexible material such as PET, polyethylene, polypropylene, or nylon, and preferably has a low surface energy, minimizing friction when the pouch and squeegee tip slides against it.
  • the film i fixed at or near its top by two curved or tilted film supports attached to top plate 588, and may be secured to the supports in other locations. To the top plate i s attached a number of other components as is evident from the figures. Lower regions of the film extend adjacent to the pouch guides, to which in some embodiments the film may be attached (e.g., at its lower ends).
  • the guider film is generally loose and flexible enough in its lower regions that it does not interfere with the pouch entering between it and the opposite guider film.
  • the pouch guides may be rigid or flexible, attached to the top plate, and may be spring-loaded as mounted if rigid. The gap between guides is greater (normally, or if the guide is deflected) than the thickness of the pouch in the region (e.g., the pouch seals along the sides of the compartment) that passes through the guides, so the pouch can move easily.
  • the entire guider may be easily detached for the di spenser and removed (e.g., for cleaning after contamination by a ruptured pouch or by an ingredient falling from the open end of a pouch from which most of the ingredient has been already dispensed if the pouch is lifted out of the di spenser for disposal, etc.).
  • the guider film may extend further, so as to wrap around the blades and protect them from contamination as well.
  • the guider film may be provided in an extended shape (e.g., a web stored on a spool and taken up by another spool), a continuous loop, etc.). In such cases, damaged, worn, or contaminated sections of the film can be automatically moved out of position (with new/clean sections replacing them) and collected for di sposal/recycling, or cleaned automatically within the system.
  • Figs. 38(a)-(f) provide general views of the dispenser (as noted, only one of two subsystems normally present are shown for clarity), depicting the relationship between subsystems.
  • Fig. 39 depicts a flowchart for di spensing using a dispenser similar to that shown in Fig. 38(a)-(f).
  • the flowchart assumes a pouch which is sufficiently distorted that tensioning is required.
  • certain steps can be bypassed (e.g., closing the grippers, moving the grippers outwards).
  • the flowchart al so assumes that the flaps are pulled to separate and reorient them, e.g., using the pads of Fig. 33(a). If the flaps are instead pushed (e.g., Fig. 46) then certain changes to the flowchart are required.
  • Certain steps in the flowchart may in some embodiments not be in the strict chronological order shown or described herein, but may occur in a different order or simultaneously.
  • the grasper grasps the pouch and brings it to position at the entrance to the dispenser (e.g., between the guider films).
  • the di spenser is initialized (box 590) to move all actuators to their required initial states if not there already.
  • the spreader arm s may be separated, creating a gap between the pads; the grippers of the tensioner may open to allow the pouch to enter the space between the finger extensions; the air slide tables may move the grippers inwards in preparation for moving outwards to tension the pouch once it is securely gripped; the peeler may be lowered so that the lower clamp is at its lowest position and the upper clamp rests on the support rod, creating a gap between the two clamps; and the squeezer may be raised to position the squeegee to squeezer out the contents of the pouch (for a Type 1 ingredient) and/or to not interfere with the peeler if the latter must travel a long distance upwards (for a Type 2B ingredient).
  • the pouch is lowered into the dispenser (box 592).
  • the grippers are closed (box 594) and then moved outwards, tensioning the pouch and substantially flattening the flaps.
  • the spreader arms may then be moved together (box 596) until the pads firmly contact the flaps.
  • thi s can be done at least partially before tensioning, since it may be acceptable to make contact between pads and flaps even when the flaps are not flat.
  • vacuum is used to assi st pulling on the flaps, it may be delivered to the pads (box 598) if not already applied.
  • the arms are separated (box 600), moving the pads further from one another, and pulling the flaps apart and into a new orientation.
  • the lower clamps of the peeler are rai sed (box 602) until the flaps are sandwiched between the lower and upper clamps and thus are securely grasped. If vacuum has been used, it may now be turned off (box 604).
  • compressed air may be delivered to the pads at thi s time; once the flaps are separated, this can be turned off.
  • the grippers if used, may be opened (box 606). Then, the peeler lower clamps are raised; this also raises the upper clamps since the lower clamps push them upwards box 608).
  • the grasper To avoid slippage of the flaps in the peeler or of the pouch in the grasper, or rupture of the pouch, and to maintain a desirable tension in the pouch films (especially as they pass around the blades for Type 2B ingredients) as the peeler rises, the grasper must descend.
  • the relative speeds of movement of these can be determined geometrically and implemented open loop, or in some embodiments a sensor (e.g., a switch in contact with the film, preferably on its clean, outer surface) may be used to sense tension in the pouch and adjust the relative speeds accordingly.
  • a sensor e.g., a switch in contact with the film, preferably on its clean, outer surface
  • controlled tension may be more easily achieved.
  • the ingredient i s determined (box 61 0, e.g., by consulting a local or remote database with the code on the pouch) to be of Type 1 (e.g., flowable), it can be di spensed by use of the squeezer. Before this, it may be required to further open the pouch (box 612).
  • the amount by which the pouch i s peeled open i.e., how much of the chevron is peeled: the region near the apex, the entire chevron to full width of the ingredient compartment, or an amount in-between) before using the squeezer depends on several factors.
  • the squeezer speed (whether variable or fixed) may be adjusted according to factors such as ingredient viscosity, the desired size of the opening (if less than the full width), and the peel strength of the seal, and should not be exceeded since that may increase the pressure within the ingredient compartment of the pouch and potentially widen the opening or cause seal/pouch rupture.
  • the squeezer may be lowered to a suitable position (e.g., below the graspers) (box 614).
  • the squeegees can be extended (box 616) and lowered (box 618) until as much of the ingredient as desired has been dispensed. Some time may be required (box 620) for the ingredient to be discharged before the pouch is extracted from the dispenser, after which the squeegees may be retracted (box 622).
  • the grasper may be raised, pulling the pouch upward through the squeegees: this may require that the pouch flaps are released or the peeler is lowered.
  • the ingredient may be of Type 2B (box 624). If so, then the peeler continues to rise while the grasper continues to descend (box 626) as already described. The motion of these is then reversed (box 628) beginning the process of removing the pouch from the dispenser, and also giving the ingredient more time (box 625) to fall off the pouch inner surfaces (e.g., while the surfaces pass around the edges of the blades). If the ingredient is of Type 2A, a delay may be provided for it to fall out of the pouch.
  • the pouch flaps may be released (box 630) and the pouch then extracted (box 632) from the dispenser once the dispensing process is completed. The pouch can then be transferred to a waste container.
  • Figs. 40(a)-(b) depict elevation views of a dispenser (with spreader and tensioner removed for clarity) in which the left half 634 and the right half 636 of the dispenser can be moved away from and toward one another.
  • the two halves are separated as they may be for pouch loading/unloading and/or if necessary, cleaning, while in Fig. 40(b), they have moved in direction 638 to a position in which they can be used for dispensing from the pouch.
  • the squeegees are shown extended in both figures, but may be retracted or extended.
  • the squeegees can always be extended (with no actuators to extend/retract) since the dispenser halves can separate to allow pouch access and squeegee positioning.
  • the pouch (not shown) may enter from above as shown by arrow 640, or sideways (e.g., perpendicular to the plane of the figure).
  • both dispenser halves move, while in other embodiments only one may move. Movement can be linear, rotational, or a combination of the two; if rotational, the lower regions of the dispenser halves may remain approximately at the same location, while the upper regions rotate (e.g., clockwise and counterclockwise) to create a space between the two halves. Movement can be provided by various actuators such as electric motors or pneumatics.
  • Fig. 41(a) depicts an elevation view of two films (which may be portions of a continuous web) having width (641) which are formed into a pouch.
  • one film e.g., Film 1 (642)
  • the other film e.g., Film 2 (644)
  • Film 1 (642) comprises a material having a peelable heat- seal able coating on one surface
  • Film 2 (644) comprises a material having either a peelable heat- sealable coating on one surface, or no coating.
  • At least one film may be imprinted with graphics, text, photos, and as shown, machine-readable code (646) (e.g., bar or QR code) and/or human-readable information 648 (e.g., description of contents, expiration date, weight as packaged, number of pouch compartments). In practice, this may happen after the pouch is made (i.e., the code and information may not be added to the films, but rather, printed on the pouches later).
  • machine-readable code e.g., bar or QR code
  • human-readable information 648 e.g., description of contents, expiration date, weight as packaged, number of pouch compartments.
  • the two films have been combined (with the peelable coating(s) facing inwards) to form a pouch, by forming a peelable seal 650 that comprises the lower portion of a compartment 652 for an ingredient, and (after loading with the ingredient), by forming top seal 654 (which may be peelable or non-peelable) which seals the ingredient within the ingredient compartment by overlapping in region 655.
  • the pouch may be grasped by the grasper in the area of the top seal, for example.
  • the peelable seal in some embodiments comprises a chevron-shaped portion 656 at the bottom, the lowest region of which is apex 658.
  • the lower portion of both films, beginning just below the apex is unsealed, forming a pair of flaps 670, one for each film; peeling open the pouch comprises grasping and pulling on these flaps as described herein.
  • the films may be misaligned (i.e., partially but not fully overlapped) such that when combined, the width of the pouch exceeds the width 641 of one film, and vertical regions 643 on either side of the peelable seal comprise only Film 1 or Film 2, since in such regions there is no overlap of the films. Having portions of the flap not overlap facilitates access of the arm s to the flaps, and allows flaps to be pushed in regions 660 and 662 (optionally while being clamped between two bodies)— not just pulled— to separate and reorient them in preparation for clamping by the peeler.
  • Pushing/clamping can be more reliable and repeatable than pulling, can allow for greater force (and reduce the need for pouch tensioning), and can avoid the possible need for tacky materials (which may become contaminated with dust, etc. or otherwise become less tacky), vacuum pumps, etc.
  • Pouches such as that of Fig. 41(b) may be produced using two film webs which are misaligned.
  • Flap 1 i For clarity in the figure, Flap 1 i s shown being reoriented (and if applicable, separated from Flap 2) by moving clamps, while Flap 2 is shown as being stationary. However, Flap 2 would normally be reoriented/ separated (e.g., simultaneously) in the opposite direction in the same manner.
  • Fig. 42(a) the flaps are shown with active clamp 668 on one side and passive clamp 670 on the other.
  • the active clamp e.g., supported by an arm
  • the active clamp can be driven (e.g., by a stepper motor) so as to move (e.g., rotate about an axis coincident with the apex) in direction 672 to engage and reorient Flap 1.
  • move e.g., rotate about an axis coincident with the apex
  • a secondary clamping element is used in some embodiments, e.g., a passive clamp which can engage the opposite/outside surface of the flap and apply clamping pressure that sandwiches the flap between the clamps and prevents slippage, especially if the surface of at least one clamp i s high friction (e.g., 3M Gripping Material).
  • the passive clamp i s able to move when moved by the active clamp, but in the embodiment shown, i s prevented (e.g., by a stop, not shown) from moving counterclockwi se past a certain angle (e.g., that shown in Figs. 42(a)-(d)).
  • the passive clamp i s held in a position such as that of 61(f) (i.e., more clockwi se) by an actuated stop (one that can be switched on an off) and can be released so it descends to meet the active clamp and sandwiches/clamps the flap film.
  • rotation of the passive clamp requires overcoming a resi stance (e.g., lifting the weight of an arm supporting the clamp, overcoming torsion in a spring).
  • the passive clamp i s magnetically or electrostatically attracted to the active clamp (e.g., one or both may comprise a permanent magnet, electromagnet, electropermanent magnet, or ferromagnetic material); thus, when both clamps are near one another, they compress and trap the flap between them.
  • both clamps are active.
  • the passive clamp may be attached to and rotate with the active clamp (e.g., hinged so it can flip over to the other side of the flap).
  • the two clamps have moved to a position in which the flap is between the upper and lower clamps of the peeler and can be reliably grasped by raising the lower peeler clamp against the upper clamp.
  • the active clamp can rotate counterclockwise away from the passive clamp (e.g., returning to its original position as in Fig. 42(f)).
  • the passive clamp will return to its original position (or stay where it is, if held by an actuated stop) when no longer held by the active clamp and/or flap. If the two clamps are mutually attracted, then the passive clamp may rotate along with the active clamp until it is prevented from further rotation by the stop, if applicable.
  • a pouch formed from perforated (e.g., pre-perforated) films may be used such as those shown in Fig. 43(a). While all perforations/apertures are within the flap area, perforations 674 in Film 1 (676) are in different locations than perforations 678 in Film 2 (680), such that when the two films are combined as in Fig. 43(b), the perforations don't overlap.
  • a dispenser having arm s each of which i s terminated in a pin can be used.
  • the pins which are curved in some embodiments, are arranged so as to pass through the perforations of one flap and press against the surface of the adjacent flap.
  • the pouch design of Fig. 43(b) can be difficult to fabricate in volume since films are normally punched together during pouch manufacturing and the perforations in one film cannot match those in the other.
  • the perforations in one film are offset relative to those in the other film in one direction only as shown in Figs. 44(a)-(b)
  • manufacturing becomes much easier and economical. Indeed, such a design allows pouches to be manufactured at little if any premium over un erforated pouches, and allows several pouches to be made at a time using wide webs of film.
  • Fig. 45(a) depicts two narrow webs of film (only one pouch wide: in practice, wider webs with multiple pouches may be used) which are to be punched, sealed, and cut to form pouches such as those in Fig. 45(b). In some embodiments more than two film s may be used.
  • the two webs Film 1 and Film 2 are shown side-by-side for clarity, but in fact are superimposed such that, for example, the right edge of Film 1 i s aligned with the right edge of Film 2.
  • the figures also show just a short section of both webs corresponding to five pouches, not the entirety of both webs.
  • the webs move in feed direction 682 shown (e.g., from supply roll s) past punches, sealing, and (optionally), cutting stations.
  • each region of the webs corresponding to a pouch has been punched twice in locations shown by the dotted lines 686, resulting in a total of four perforations in the two overlapped films.
  • mechanical punches may be used, while in other embodiments, other means of producing apertures in the film may be used, such as lasers or knives.
  • Fig. 45(d) The third and possibly final step in producing pouches such as those in Fig. 45(b) is shown in Fig. 45(d), in which the pouches have been cut along the cutting line. In some embodiments singulating the pouches is deferred until after they are loaded, and in other embodiments (those using a continuous chain of pouches) it is not performed at all. If using wider webs, pouches are al so cut parallel to the web motion direction to separate pouches/pouch chains.
  • Figs. 46(a)-(d) depict 3D views illustrating the use of curved pins 690 in some embodiments to separate and rotate flaps 691 a and 691 b of a pouch similar to that shown in Fig. 44(b), so as to reorient and deliver the flaps to the peeler clamps.
  • the pins are attached to clockwi se hub 692 and counterclockwise hub 694 which turn on shafts (not shown) and are actuated to rotate clockwise or counterclockwi se (as seen from one angle), causing the pins to pass through holes 696 and engage the opposite flap to push on it.
  • Fig. 46(a) the flaps are together, while in Fig. 46(b), they have been pushed apart. In Fig. 46(c), they have been pushed apart even further, at which time the peeler clamps can engage the flaps and the pins can reverse their motion and retract from holes 696. In Figs. 46(c)-(d), the hubs have been joined in pairs by struts 698 such that only one hub on each end needs to be rotated and the remaining hubs rotate passively on shafts (not shown).
  • the tips of the pins may be coated with a non-slip material, or may be sharp and penetrate the film (the pin may be much wider away from the tip, to prevent the pin from penetrating too far).
  • the pins may also be hollow and provided with vacuum such that the film is forced tightly against it.
  • the tips of the pin are larger than shown, and may be designed differently (e.g., as small suction cups).
  • Figs. 47(a)-(c) depict 3D views of an alternative mechani sm for separating and rotating the flaps of pouch 700 with seal 701 and flaps 691 a and 691 b used in some embodiments; the mechanism uses an approach similar to that of Fig. 42(a)- (f).
  • Perforations 703 e.g., one per flap as shown
  • the flaps are separated and rotated by pins 702 moved by actuators 704 (e.g., air cylinder) which pass through the perforations and extend (e.g., horizontally), pushing on the flap surfaces opposite the perforations.
  • actuators 704 e.g., air cylinder
  • the pins are only slightly extended, and the flaps are nearly together.
  • a view from below the flaps of this situation is shown in Fig. 47(b).
  • the pins may be hemi spherical at their tips and in some embodiments the pins may be tipped with a high-friction material, may pierce the film, may be provided with vacuum, etc.
  • actuators 704 e.g., air cylinder
  • the pins have extended much more, forcing the flaps to separate and rotate through angles large enough to allow them to enter the gap between the upper and l ower peeler clamps.
  • pins 702 can be retracted from holes 703.
  • the peeler clamps can be notched so as not interfere with the pins, or the clamps can be built as two separate pieces, each one on one side of the pins, possibly extending all the way to the corners of the flap, or the clamps can partially close around the flaps, allow the pins to retract, and then fully close.
  • pins similar to those of Figs. 47(a)-(c) may be used for the entire process of unsealing and dispensing from the pouch in the case of Type 1 or 2A ingredients, without the need for the peeler of Fig. 36(a) or similar.
  • four offset pins are preferably used, with each pair of pins located close to the corners of each flap so as to avoid interaction with falling ingredients. The tip of one pin of each pair contacts flap 691 a and the tip of the other pin of each pair contacts flap 691 b, with both pins passing through apertures in the opposite flap.
  • the tips need to be able to have traction on the flaps they contact. In some embodiments this is achieved by making the tips sharp enough (at least at their tips, though they may be wider more proximally) to penetrate the flaps, or by providing a small hole into which the tips can enter, or by using high friction tips and clamping the flap between the tips and a moveable pad (similar to that of pad 740 on passive arm 738, below), with the pad resisting the motion (e.g., via a gas spring) and able to move parallel to the pin (e.g., horizontally).
  • both flaps can be engaged and then tensioned so as to open the pouch and dispense the ingredient, after which the pins retract to allow the pouch to be removed from the dispenser.
  • Flap apertures suitable for use in these embodiments can be formed with the method of Figs. 45(a)-(d) as well. If small holes (for pin tips) are desired, these can be punched through both film s simultaneously after the large apertures are punched and after the films have been shifted, just prior to sealing.
  • Figs. 48(c)-(k) depict 3D and orthographic views of a portion of a di spenser for dispensing from a pouch including seal 710, top seal 712, flaps 714 and chevron seal 71 1 such as that shown in Fig. 48(a), in which one corner of each flap has notches or apertures 706 and 708.
  • Film 1 has its right corner missing (indicated by a dotted line since Film 1 is in the background) while Film 2 has its left corner missing.
  • Fig. 48(b) shows five pouches as they would be manufactured, before cutting them apart, as seen from the opposite site, with Film 1 in the foreground. Using the method shown in Figs.
  • the pouches are produced by punching with the notches offset much like the perforations described above, in this case by an amount that puts the notch in one film adjacent to that in the other (Fig. 49(b)).
  • the cutter can be aligned so that the punched notches are open on two sides as desired.
  • Fig. 48(c) is an overview of a portion of the spreading/rotating mechani sm along with a notched pouch 716 and the blades 718 of a dispenser, while Fig. 48(d) shows the mechanism without the mount, blades, or pouch, for clarity.
  • a dispenser may comprise two such mechanism s located at opposite ends of the blades; the mechanism is asymmetric and the two mechani sms are not mirror images, but rather, identical.
  • the mechani sm in the embodiment shown comprises mount 720 which can attach to the dispenser or a nearby structure; stepper or servo motor 722; bracket 724 to mount the mount onto carriage 726 that can translate a short distance along rail 728 (other methods of allowing the motor to translate may be used, such as flexures); lead screw 730 (preferably with multiple starts); lead nut 732; a clamp (not shown) holding the lead nut to the mount; coupler 734 to join motor shaft 735 to the screw; two arm s (736 fixed to the screw and rotated by the motor, and 738 passive) each ending in a pad 740 (preferably having a non-slip surface), standard and thrust bearings used inside and on the sides of the passive arm; at least two springs; a collar 752 which retains the arms, bearings, and springs on the screw, and an actuator (here a small air cylinder).
  • mount 720 which can attach to the dispenser or a nearby structure
  • stepper or servo motor 722 to mount the mount onto
  • passive arm 738 is initially held in a raised position (Fig. 48(e)) by the extended rod 746 of the cylinder 747, which enters cavity 748 (Fig. 48(h)) in the arm.
  • actuated arm 736 is rotated by the motor to a similar orientation, such that both pads are well away from the flaps of the pouch when the pouch enters the dispenser.
  • the actuated arm has rotated, and the passive arm (which is weighted or spring-loaded in some embodiments) has been released by the cylinder so that the two pads surround right flap 742 (the pad of the passive arm contacts the flap through Notch 1) on both sides.
  • the passive arm which is weighted or spring-loaded in some embodiments
  • the actuated arm has rotated further, pushing the passive arm (the pad of which presses tightly against the actuated arm' s pad due to the arm's weight or a spring), clamping the right flap between the pads and rotating and separating it from the left flap 744.
  • right flap 742 is between the upper and lower clamps of the peeler, and by rai sing the lower clamp, can be captured.
  • the passive arm's cavity i s aligned such that the cylinder rod can enter it again and lock it in position, after which the actuated arm can return to its original position, the result being the configuration shown in Fig. 48(e), with the mechanism ready to repeat the cycle for the next pouch.
  • the identical mechanism at the other end of the blades has re-oriented the left flap by clamping it between the passive arm's pad and the active arm's pad, the latter of which passes through Notch 2 to reach the left flap.
  • pins manipulate the flaps more or less symmetrically (in two locations, or roughly centered).
  • the mechanism involving the notched flaps manipulates the flaps asymmetrically (near one corner), and the flexibility of the flaps can lead to the flaps not entering the space between peeler clamps as evenly and completely as desired.
  • a tensioning force is applied to compensate for this.
  • Fig. 48(i) i s a 3D view of the pouch, showing the flap notches, the contact location 755 of pads 740 which clamp the flaps, and the rotation of the flaps to reorient them so they can be captured by the peeler clamps.
  • the figure also depicts the tensioning force 758 which applied by the pads as they are reoriented in direction 760, rai sing the flaps high enough in their entireties so that they enter the peeler clamps completely.
  • actuated arm which appears as multiple pieces in the section view
  • passive arm which al so appears as multiple pieces
  • the function of the lead screw and nut (and the carriage and rail) is to impart a linear motion to the pads (parallel to the lead screw axis) while the arm s rotate, thus applying the tensioning force noted above.
  • this linear motion might be achieved using a separate actuator and may not be simultaneous with flap rotation; however, use of a lead screw and nut allows for a simpler mechanism.
  • the linear motion is shown in Figs. 48(j)-(k), which are views of the mechanism from below.
  • Fig. 48(j) the arms are in the position of Fig. 48(e) and the gap between passive arm and mount is Gap A (754), while in Fig. 48(k), the arms are in the position of Fig. 48(f), and the gap has decreased to that of Gap B (756).
  • pouches with notches in their corners may be unsealed by apparatus similar to that of Fig. 48(d) in which pads 740 are able to travel further, applying tension to the flaps that causes them to open; linear translation of such pads (e.g., horizontally) vs. rotation may be used in such embodiments.
  • Figs. 49(b)-(d) show plan views of a method for fabricating pouches having partial flaps (hereinafter, "tabs"), much like those in Fig. 1 1 (c), which allows the peeler clamps to reach the flaps and separate them (e.g., by traveling along curved tracks as in Fig. 13(d).
  • tabs partial flaps
  • the dispenser needs no mechanism to move the flaps into the peelers, and if the grasp is secure enough
  • apparatus such as the grippers and slide tables of Fig. 54(a) of the Fig. 57(e) may al so be superfluous in some embodiments, since tightly-grasped flaps may in some embodiments be pulled apart reliably even if the flaps are initially curved/di storted rather than flat.
  • Fig. 49(a) shows the shape of punch 762 used in some embodiments to create the desired tab geometry. I n Fig. 49(b), Film 1 (764) and Film 2 (766) are shown side-by-side for clarity, but in fact would be overlapped, with their left edges aligned. Both films have been punched, creating Film 1 tab 770a and Film 2 tab 770b.
  • tabbed pouches similar to those shown, but with two or more tabs per film per pouch can be made similarly (and with a smaller relative shift), resulting in a set of interleaved tabs which can be grasped by the peeler clamps, and more uniformly apply peeling forces to the flaps.
  • Figs. 50(a)-(f) depict elevation views of a method and apparatus for separating and reorienting the flaps of a pouch that requires no offsetting (as in Fig. 41(b)), perforation, or notching.
  • the flaps of pouch 774 having upper part 776, has been inserted between pad 778 adjacent to Flap 1 (780a) and wheel 781 (in some embodiments one of two, e.g., at opposite ends of the flap) adjacent to Flap 2 (780b).
  • the pad and wheel are capable of m oving (e.g., along arced paths).
  • Pad 778 i s retained (e.g. by an actuator such as the cylinder of Fig.
  • Wheel 781 is actuated both to move and to rotate.
  • the surfaces of both pad and wheel have high friction with respect to the pouch material, allowing Flap 1 to remain in place as Flap 2 slides against it, and allowing the roller to turn with minimal slippage against Flap 2.
  • Fig. 50(b) the pad and wheel have moved toward one another (e.g., along directions 782 and 784) pushing the flaps together.
  • Fig. 50(c) the wheel has rotated in direction 786 while in contact with Flap 2, causing the flap to buckle and start to be displaced upwards, and with further rotation of the wheel (Fig. 50(d)), Flap 2 no longer intervenes between Flap 1 and the wheel, and the wheel has contact only with Flap 1.
  • the wheel can now move in direction 788 in the direction of the pad, carrying Flap 1 al ong with it while the latter i s clamped between pad and wheel, leaving Flap 2 behind.
  • Flap 1 is then clamped by the peeler clamps on the left side.
  • the pad remains in its original, upper position while the wheel swings in direction 790 and contacts Flap 2, rotating it upwards and between the jaws of the peeler clamp on the right side.
  • the wheel returns to the position shown in Fig. 50(a).
  • the wheel rotation required can in some embodiments be produced by having the wheel turn eccentrically on shaft 792 (e.g., equipped with a torsional spring to return it to its original position) as shown in Fig. 50(g).
  • shaft 792 e.g., equipped with a torsional spring to return it to its original position
  • the wheel i s forced to rotate clockwise due to its eccentricity relative to the shaft being located below the center of the wheel.
  • the wheel diameter is large enough that its tangential motion is sufficient to displace Flap 2 and allow contact with Flap 1 as in Fig. 50(d).
  • the rest of the sequence is similar to that shown in Figs. 50(e)-(f).
  • the moving pouch films can serve as a "conveyor belt" transporting the adherent ingredients toward the blades, where they often detach and fall into a di sh or other substrate below as in Fig. 8(j).
  • a vertically-oriented pouch would allow the ingredient to fall out, rather than remain on the "belt”. As shown in Figs.
  • a tomato slice 806 (one example of many) can move in direction 808 and be l aid onto bun half 810 in a controlled manner (e.g., the correct side can be up (if applicable) and it can be well-centered).
  • film 800 and opposite file 812 are pulled (in direction 814 for film 800, and in direction 816 for film 812)
  • film 812 may pass over blade 820, or be pulled directly; grasper meanwhile moves in direction 822.
  • Other ingredients can be similarly dispensed: e.g., a pepperoni slice laid onto a pizza, pickle slices, grilled mushrooms, lettuce, or relish laid onto a hamburger, etc.
  • Vibrating, shaking, or tapping the film before and after it passes around the blade can be helpful to dislodge adherent ingredients.
  • this i s done directly to the film, while in others, it can be done to elements of the machine in contact with the film, such as the blade.
  • the blade which may be compliantly mounted, can be struck by one or more oscillating rods (e.g., from a small solenoid or air cylinder, e.g., impinging on its top surface), or may have mounted to it one or more small vibration motors.
  • Fig. 52(a) depicts dish 824 into which ingredient 826 such as a carrot has been dispensed (e.g., as a garnish).
  • a third axis as in Fig. 52(b) allows a more pleasing (and in some cases, more functional) arrangement of the ingredients, e.g., one that i s rotationally symmetric.
  • Pouch flaps generally become curved and distorted, and difficult to flatten and rotate to a position that allows them to be grasped (if they need to be separated in order to grasp them) due to the distortion of the pouch caused by the weight and volume of its contents, or due to the evacuation of air inside the pouch, or pressurizing the pouch with a modified atmosphere gas, as the case may be.
  • the effect of gravity can exacerbate the distortion when the pouch is oriented normally (flaps at the bottom).
  • the pouch can be tilted to another orientation (e.g., horizontal, partially or fully inverted) before the flaps are rotated. Once the flaps are grasped securely, the pouch can be reoriented as needed for di spensing.
  • the pouch can be opened (e.g., near the top) in a small area to allow gas exchange and minimize pouch distortion caused by the pressure differential between inside and outside the pouch. This can be done by piercing or ablating the pouch, peeling it in a particular region (e.g., a pull tab may be provided for this that the apparatus can grasp and pull), tearing or cutting it (e.g., a tear notch may be provided, etc.).
  • a permanent part of the machine comes into contact with the pouch, it preferably does not come into contact with the ingredient within the pouch.
  • a gas-permeable but otherwise impermeable material e.g., TYVEK® or GORE-TEX® may be incorporated into the pouch adjacent to the location where the pouch i s opened.
  • the pouch can be raised (while simultaneously lowering the peeler clamps) so that the squeegees can travel over more of the full height of the pouch; without this, the lower portion of the pouch may be too low for the squeegees to reach, such that some of the ingredient remains in thi s region.
  • the opening of the pouch as close as possible to the di sh or vessel below it (e.g., to reduce the risk of splatter as the ingredient falls).
  • Thi s can be accomplished by lowering the pouch relative to the blades, thus making the pouch film s between the blades more horizontal. Increasing the angle between the two films between the blades can also reduce the tendency of the ingredient to cling to the inside surface of the pouch as it issues from the opening.
  • Some ingredients within a pouch may tend to clump together. To separate them for use, several methods can be used, depending on the ingredient. For example, air may be let into the pouch if previously under vacuum, and the pouch may be inflated to increase its volume, after which the pouch can be sealed or held closed, and agitated (e.g., tumbled) to help break apart clumps. Without contacting the ingredients, the pouch can be vibrated, shaken, folded, twisted, rolled, etc., or one or more blunt tool s (e.g., interleaved) can impinge on the pouch walls (e.g., rolling, pushing) to help break up clumps inside.
  • agitated e.g., tumbled
  • Liquid e.g., water
  • the pouch can tend to separate clumps held together by surface tension; the liquid can then be drained before dispensing the ingredient.
  • separator sheets, tubes, or other shapes within the pouch can be included, made from parchment paper, wax paper, etc. These can be fixed to the pouch (e.g., at the top and/or sides) so that they don't fall into the di sh when the pouch i s opened.
  • pouches especially those containing Type 2B ingredients, can be everted (turned inside out) to dispense the ingredient within. This can be especially useful for pouches that are reusable and flexible (e.g., elastomer pouches used in a home appliance such as that in Figs. 31 (a)-(l) of the 074 and 253 filings.
  • the pouch may enter the di spenser from the side (i.e., horizontally), either when the pouch is at the correct height for dispensing, or at a greater height (after which it descends to the correct height).
  • the pouch guides of Fig. 38(b) may be spring loaded or otherwise moveable compliant such that a bulging section of the pouch can still pass.
  • the grasper of Fig. 19(d) filing may be provided with means of reading codes (e.g., bar codes) on the pouch using such methods as optical sensing and, if the codes are not perfectly flat and thin (but, for example, if they are embossed), tactile sensing.
  • codes e.g., bar codes
  • a pressure sensing array in the grasper jaw may be used to read such a code, or a sensor based on Gelsight technology (Gelsight, Waltham, Massachusetts) may be used.
  • the system can a) move the pouch past the dispenser center when moving horizontally, then center it; b) move the pouch vertically below the height at which dispensing will begin, then raise it to that height.
  • Bri stles or similar biased structures which preferentially allow motion in one direction (e.g., downwards) but not upwards can be useful to unfold the flap during these movements or otherwise.
  • the motion of the di sh below it can be coordinated with it nonetheless by sensing the actual rate and adjusting the bowl motion accordingly. For example, if the dish i s weighed during di spensing, and/or if the pouch is weighed, rates can be determined. Sensing may also be used, such as optical sensing to measure such behavior as an ingredient protruding from the pouch, detaching from the pouch, pouring out of the pouch with a particular stream diameter, etc. [0328] Pouches holding some ingredients (e.g., Type 1 or 2A) can be opened by means other than peeling, and therefore may not include flaps.
  • Ingredients e.g., Type 1 or 2A
  • Such means are preferably non-contact, to avoid any contamination of the system (thus cutting them open with a blade, unless di sposable or easily and thoroughly cleaned, i s undesirable).
  • pouches can be opened by using a laser (e.g., carbon dioxide, excimer, diode) to burn, melt, or ablate the pouch material along a path that opens the pouch.
  • a laser e.g., carbon dioxide, excimer, diode
  • plasma, electrical di scharge, and other methods may be used, depending on the pouch material (e.g., polymer, metal) in the region of the pouch to be opened.
  • System s such as that of Fig. 26(a) can be adapted to prepare foods which are cooked (e.g., stir fries, Mongolian bar-b-que, stews) by using di shes (e.g., metal) which are heated, and which may be in the form of foil liners within heated vessels as in Figs. 12 or 20 of the 074 and 253 filings.
  • di shes e.g., metal
  • Figs. 53-54 are flowcharts describing processes for providing a customer with food using a system such as those described herein. I ngredients stored within the system may be refrigerated or in some cases, frozen.
  • the flowchart of Fig. 53 assumes that at least one ingredient requires heating (or cooking) before serving, and heating is performed in the pouch, while that of Fig. 54 assumes at least one ingredient requires heating, and heating i s performed in the bowl (or dish, plate, or other vessel in which the food is served or further processed; for certain heating methods such as broiling or halogen cooking thi s may be a metal container such as an aluminum foil di sh).
  • Heating in the pouch may be achieved by a variety of methods such as infrared, microwave, RF, electroporation, pul sed ohmic heating (IXL Netherlands, Schalkwijk, The Netherlands), laser, halogen, immersion in hot liquid, and steaming.
  • the wavelength(s) or radiation that may be used for heating are selected so as to be minimally absorbed by the packaging materials and maximally absorbed by the ingredients.
  • Heating within the bowl may be achieved by methods such as microwave, RF, halogen, electroporation, hot air impingement, convection, pulsed ohmic heating, broiling, baking, and steaming.
  • the pouch After dispensing an ingredient from a pouch, the pouch may be disposed of, but if there is a useable quantity of an ingredient left within the pouch, the pouch may be returned to storage (e.g., cubby or MEP). If the pouch is subdivided into multiple compartments (e.g., each may have a chevron-shaped seal at the bottom) and fewer than the total number of compartments i s opened, or if the pouch i s resealed (e.g., thermally, ultrasonically, using a zipper, possibly along with a vacuum or tacky film to remove contamination before resealing), the pouch may be returned to storage if the ingredients haven't expired and a use is anticipated.
  • storage e.g., cubby or MEP
  • a pouch may be disposed of before it i s empty (e.g., if the customer wants less of an ingredient stored in a pouch that cannot be resealed).
  • unwanted quantities of an ingredient in a pouch may be dispensed into a waste container (e.g., one beneath the bowl, while the bowl is moved out of the way).
  • a waste container e.g., one beneath the bowl, while the bowl is moved out of the way.
  • the first category may include rice and beans, and the second category may include salsa and guacamole
  • those to be heated may be dispensed first, then heated, followed by di spensing into the bowl the non- heated ingredients.
  • a customer order is received (e.g., for a burrito bowl).
  • the machine controller moves a new/clean bowl (or other dish) under the dispenser in Box 830, and in Box 832, the ingredients required for the order (based on a digital recipe and customer preferences) are determined.
  • the controller identifies, based on stored data, in which storage locations (e.g., which cubbies) the required ingredients are located, considering expiration dates (e.g., giving priority to ingredients closer to their expiration).
  • the controller moves the grasper to the location of the first ingredient to be added to the bowl and the pouch containing it i s grasped and removed from the storage location.
  • the controller determines in Box 838, based on stored data and possible customer preferences, whether the ingredient requires heating (e.g., beans), and if so, under what conditions (e.g., time, temperature, power level). If the ingredient requires heating, then in Box 840 the controller brings the pouch to a heating system or vice-versa and the pouch is heated (e.g., by immersion in hot water, microwave, RF). After heating, per Box 842, the controller moves the pouch to the di spenser, and in Box 844, the controller directs the ingredient to be dispensed into the bowl. If the ingredient does not require heating, the pouch proceeds directly to the di spenser.
  • the ingredient e.g., beans
  • the controller determines (e.g., based on knowing the pouch characteristics that are contained within the barcode or other identifier, based on how much di spensing was done, pouch weight after di spensing (if measured), etc.) in Box 846 whether any usable ingredient remains in the pouch (which may be a multiple-compartment pouch, or a resectable pouch). If usable ingredients remain, the controller directs the grasper in Box 848 to return the pouch to storage, whereas if no such ingredients remain, the controller directs the grasper in Box 850 to transfer the pouch to a waste bin (e.g., allowing it to drop into a bin located below the dispenser, in which case the grasper is simply opened (possibly after the pouch is further lowered). The controller then determines in Box 852 whether the order requires any other ingredients. If so, then the controller directs the process described above to be repeated starting at Box 836. If not, then the controller delivers the bowl to the customer in Box 854 and the process ends.
  • the pouch which may be
  • a customer order is received.
  • the machine controller moves a new/clean bowl under the dispenser in Box 858, and in Box 860, the ingredients required for the order are determined.
  • the controller identifies, based on stored data, in which storage locations the required ingredients are located, considering expiration dates.
  • the controller moves the grasper to the location of the first ingredient to be added to the bowl and the pouch containing it i s grasped and removed from the storage location.
  • the controller moves the pouch to the dispenser and in Box 868, the controller directs the ingredient to be di spensed into the bowl.
  • the controller determines whether the ingredient requires heating. If the ingredient (e.g., lettuce) does not require heating, then the controller determines in Box 872 whether any usable ingredient remains in the pouch. If usable ingredients remain, the controller directs the grasper in Box 874 to return the pouch to storage, whereas if no such ingredients remain, the controller directs the grasper in box 876 to discard the pouch in a waste bin. If the ingredient (e.g., chicken) does require heating, the controller determines in Box 878 whether other ingredients to be added to the bowl also require heating.
  • the ingredient e.g., lettuce
  • the controller directs the process described above to be repeated starting at Box 864. If no other ingredients require heating, then the controller directs in Box 880 the ingredients to be heated while within the bowl (e.g., using microwave or RF radiation). The controller then determines in box 882 whether any additional (non-heated) ingredients are required, and if so, then the controller directs the process described above to be repeated starting at Box 864. If not, then the controller delivers the bowl to the customer in Box 884 and the process ends.
  • Some automated food preparation systems may include fire detection and suppression systems, as required for safety.
  • Some system s may generate fumes and/or grease vapor/gas/particles or smoke and may include an exhaust duct or other filtration system that can be cleaned or replaced.
  • the system may include at least one chambers which is refrigerated (e.g., for ingredient storage) and at least one other chamber in which heating of ingredients takes place.
  • double doors or airlocks may be used to transfer pouches and/or dishes and vessel s from one chamber to another, to minimize heat transfer between them.
  • Some automated food preparation systems may be used on a vehicle, such as an airplane, bus, or train. Such system s may al so include delivery to passengers. For example, a system may di spense (and possibly further process, such as heat) ingredients into a dish, add a lid (snap-on, heat sealed film, etc.), then move the di sh to the passenger via an overheat conveyor/trolley (having sensors to avoid collisions). With such a system it becomes possible to eliminate the standard approach to serving meals on a plane, for example, which requires a cart pushed by flight attendants (who may have other responsibilities, or in case of turbulence, should be belted into a seat), resulting in fresher/better meals and snacks.
  • a system may di spense (and possibly further process, such as heat) ingredients into a dish, add a lid (snap-on, heat sealed film, etc.), then move the di sh to the passenger via an overheat conveyor/trolley (having sensors to avoid collision
  • a food preparation system can be very mobile: collecting from a fixed (or larger mobile) storage system only the pouches needed for a particular dish or dishes, and transporting these to the customer, preparing the food while en route or upon arrival to maximize freshness.
  • system s can be built which provide food to a hotel, hospital, or dormitory room; apartment or condominium; or which using small robots (e.g., autonomous) and other platforms to bring food to passengers of a car (parked or moving) by rolling, flying, or (if the passengers are in a boat), optionally navigating on water.
  • a docking station may be provided on the vehicle so that the delivery/food preparation platform can temporarily dock with the vehicle while transferring food to it. For example, delivery of fresh food to a car, truck, or bus that is moving toward a destination i s achievable.
  • machines may incorporate peri staltic pumps to transport flowable ingredients, with the pump tubing replaced when needed (e.g., potentially very infrequently if pumping water).
  • multiple squeegees/rollers may be used in a dispenser on each side of the pouch, such that the contents are pushed out by more than one, acting in succession, or with each squeegee/roller travelling over only a portion of the pouch compartment height.
  • one or more paddle wheel-like devices exterior to pouch 885 can be used to control dispensing of ingredients from the pouch (e.g., those which might ordinarily fall out too quickly).
  • Fig. 55 depicts an elevation view of two such paddle wheels 886a and 886b rotating on pivots 887, which are shown with two paddles 889 each, but which can have one or more than two. As the wheels turn (typically in directions 888, but they can turn in the opposite direction) and optionally move in direction 895, they trap ingredients between the paddles, releasing them gradually according to the paddle angle.
  • Paddle wheel s such as those in Fig. 55 may replace the squeegees of squeezers used to dispense Type 1 ingredients from pouches in some embodiments, in which case they can translate (downward as shown, or upward) as well as rotate.
  • mixing, blending (e.g., to prepare a smoothie), and similar operations on ingredients may be performed such that no cleaning of the machine is required, since no non-di sposable/non-consumable portion of the machine comes into contact with any ingredient.
  • an immersion-type blender with blades, a shaft driving the blades, and a motor at the top turning the shaft may be lowered into a disposable cup used for serving the smoothie.
  • the blades and shaft of the blender may be covered with a disposable coating material such as a plastic film, which can be automatically inserted and removed by the machine.
  • the blades— and in some embodiments, the shaft— can be disposable.
  • a di sposable blender blade and shaft (e.g., made from a high-impact polymer such as FDA-compliant ABS) which includes a shell 896 that covers a permanent core up to the maximum height ingredients may reach during blending.
  • the core comprises shaft 898 that is square, hexagonal, splined, etc. in cross section and the inner cross-section of the shell can match this shape. Since disposable materials such as molded plastic may not be sufficiently strong or stiff to serve themselves as blender elements and it is desirable to dispose of/recycle as little material as possible, the shell can be made thin (e.g., via blow molding) into which i s inserted a reusable stronger and stiffer (e.g., metal) core (Fig.
  • the core can compri se tongues 890 which can elastically deform (e.g., spring steel, superelastic nickel-titanium alloy) in the region of the blades and bend easily in one direction but be stiff and strong in a perpendicular direction (the direction in which force is primarily exerted on the blades).
  • elastically deform e.g., spring steel, superelastic nickel-titanium alloy
  • the tongues may have the form of bendable leaf springs, and inserting the elements into the shell may compri se sliding in direction 892 the tongues into cavities within the shell, the tongues bending to conform to the inner shape and/or desirably shaping the shell, which itself may be flexible.
  • the blender rotates in direction 900, it may be translated axially or perpendicularly and/or rotated to more effectively blend the contents.
  • Other tool s besides blender blades may be implemented similarly using a di sposable polymer shell that i s reinforced by a stronger and stiffer core.
  • a knife e.g., an ultrasonic knife, which might be used for cutting sandwiches
  • a disposable film e.g., foil, hard plastic like PET
  • cleaning or an ultrasonic knife it can be made more effective by applying/immersing it in a cleaning fluid (e.g., water) to the knife while ultrasonically vibrating it.
  • Slicing and chopping of ingredients within a pouch can be achieved using pressure and/or ultrasonic energy applied through the pouch wall s. I ngredients can be separated (e.g., torn, broken) within a pouch by clamping two portions of the pouch and pulling them apart, twi sting, bending, etc.
  • System s having surfaces that do come into contact with ingredients can be sterilized by a number of methods such as hot air, hot water, sterilizing liquid (e.g., heated), steam, ultraviolet light, e-beam or other radiation, etc.
  • a "mold” may be provided for pouches which clamps the pouch along its peelable seals (sides, chevron) but bends or deforms to allow the pouch to expand and open for loading (vacuum may be used to help the pouch open/stay open).
  • the mold allows ingredients to be forcefully "stuffed” into the pouch without the risk of peeling/damaging the seal s.
  • grippers which grasp the pouch while in a pre-made pouch filling/sealing machine can also prevent peeling; such grippers can be larger than usual to protect more of the seal, including the chevron. Such grippers can al so shake the pouch to encourage settling of an ingredient l oaded therein, allowing more to be added and ensuring the top seal region of the pouch is free of the ingredient.
  • Pouches can be filled with ingredients in some embodiments by 1) pulling apart their opposite walls (e.g., using tacky pads and/or suction cups provided with vacuum) at least partially; 2) inserting a curved liner/expander (Fig. 57) into the pouch; 3) filling the pouch; and 4) withdrawing the liner/expander (e.g., while the ingredient i s introduced into the pouch).
  • the liner/expander having the shape of a flattened funnel whose inner and outer surfaces don't communicate except at the bottom 902 and top 904, serves to keep the inside surfaces of the pouch free from contamination by the ingredients in the area to be sealed; maintains the pouch in an widely-open configuration, facilitating loading; and may facilitate pouch "stuffing", e.g., with ingredients that are normally low density (e.g., cut-up kale) such that it without some compression, an adequate weight cannot easily be made to fit into a given pouch. If the pouch i s peelable at least in part, stuffing an ingredient into it may cause premature peeling.
  • the ri gidity of the liner/expander prevents forces from being transferred to the pouch walls.
  • Each ingredient to be loaded in a pouch may be loaded using its own liner/expander. While the inner surfaces of the liner/expander will be contaminated with a particular ingredient, the outer surface will generally remain clean since even a flowable ingredient will not flow onto the outside of the liner/expander if the latter i s withdrawn as the ingredient is added.
  • the top seal of a pouch may be created using a vari ety of sealing methods including heated (impul se or constant heat) or ultrasonic sealers. If using a band sealer, pouches can be fed into the moving band using feed rollers or belts whose tangential speed is lower than that of the band sealer, and with provision for the pouch to slip within the rollers/belts (or their drive can be made to slip using a clutch), thus providing tension across the top seal area prior to sealing, to ensure the seal i s formed correctly and without wrinkling or other potential sources of leakage.
  • heated imppul se or constant heat
  • ultrasonic sealers If using a band sealer, pouches can be fed into the moving band using feed rollers or belts whose tangential speed is lower than that of the band sealer, and with provision for the pouch to slip within the rollers/belts (or their drive can be made to slip using a clutch), thus providing tension across the top seal area prior to sealing, to ensure the seal i s formed correctly
  • Pouches in a continuous chain (Fig. 7(a) as-fabricated and before singulating (or if used in chain form, as-is) can be loaded by a system that sequentially opens each pouch, fills it, tensions it (this can be easier when the pouches form a chain) and passes it on for sealing (e.g., in a band sealer). After loading and probably sealing, pouches can be cut apart if desired.
  • a group of pouches to be filled may be supported (e.g., in an "eggcrate"-like structure lying horizontally, or a pouch box, or a shelving unit or module thereof (e.g., a module with rotatable cubbies with the open ends of the cubbies pointing upwards), and filled one by one (or with at least some pouches filled simultaneously) and then sealed.
  • an "eggcrate"-like structure lying horizontally, or a pouch box, or a shelving unit or module thereof e.g., a module with rotatable cubbies with the open ends of the cubbies pointing upwards
  • a vacuum snorkel can be used (which can move along with the pouches if using a band sealer), or the pouch can be mostly immersed in a container filled with liquid (e.g., water) which moves along with the pouch on the sealer' s conveyor belt, or has the form of a long trough through which the pouch moves.
  • liquid e.g., water
  • a fluid-filled flexible bladder or bag e.g., moving along the belt, may be provided to surround the pouch and squeeze out air.
  • ingredients and the system that assembles/processes them before serving a meal or snack it i s desirable to perform various heating (or cooling, as the case may be) and cooking operations within an ingredient package (e.g., pouch).
  • the package can be one that contains at least one of the ingredients, or one specifically used for heating/cooking and into which ingredients are transferred.
  • surfaces of the system can be made easily cleanable or covered with replaceable (e.g., single-use) materials that prevent direct contact with ingredients.
  • the 3D view of Fig. 58 depicts a method and apparatus for heating or cooking, e.g., toasting or roasting, an ingredient.
  • a slice of bread 908 i shown being toasted, but many other ingredients and combinations thereof are possible, e.g., a sandwich (e.g., grilled cheese), a Portobello mushroom cap.
  • the ingredient is initially within a pouch (not shown) and once released from the pouch, descends between heat-resistant, preferably narrow and inexpensive supports 910 (e.g., stainless steel wires or rods, PTFE/fiberglass strips) which may be vertical as shown, horizontal, or at other angles (not all need be at the same angle) and which are preferably di sposable (in some embodiments the supports are in the form of continuous wire or strips which are advanced after each use).
  • the supports are incorporated into the pouch and already surround the ingredient, and the walls of the pouch are peeled away.
  • the ingredient descends until it reaches dish 912 below, such that the ingredient is held upright (or at another angle) by the support and dish and at the desired distance from one or more radiation sources, allowing it, in some embodiments, to be heated/cooked from multiple sides.
  • the dish may be position off-center as in the figure, allowing the ingredient to fall onto the dish in a desired (e.g., centered) position once the supports are moved (e.g., sideways) or removed.
  • radiation sources 914 may be on either side (e.g., I R lamps, heated wires, lasers (which can heat selectively, in a pattern), heated hot, RF or microwave energy generators, etc.) and expose the ingredient, heating or cooking it.
  • the rods form closed loops passing under the ingredient, suspending it, in which case juices in the pouch and produced while heating can fall into a waste bin below (the dish can be introduced beneath the ingredient afterwards). Crumbs or other small pieces of the ingredient that are in the pouch or which shed during processing fall into the dish, which can be disposable (e.g., single-use), rather than contaminating the machine.
  • no supports are needed.
  • the ingredient can be retained (e.g. in a vertical orientation) near its top, and exposed to a heat source.
  • a slice of bread may be toasted by peeling the pouch while lowering it vertically until the bottom of the slice rests on a dish or other substrate.
  • the top of the slice can be stabilized by the pouch films or the dispenser squeegees (which may be extended to clamp the slice near its upper surface if needed).
  • the pouch can be rai sed by the grasper and removed. The squeegees can be extended above the slice to ensure it doesn't move with the pouch as the pouch is rai sed.
  • an ingredient to be heated can be suspended from one or more wires or other filaments (e.g., passing through the ingredient and forming one or more closed loops, or loops with larger, anchored, or supported ends), which may be attached to the pouch (e.g., near its top) so that it is accessible to heating apparatus yet remains in a controlled position.
  • the heating apparatus can include at least one surface brought into contact with the ingredient, or producing infrared radiation, a source of microwave or RF energy, hot gas or liquid, a laser, a steam generator, and others. If the wires are thin and easily broken, raising the pouch as described with the squeegees extended break the wire to allow release of the ingredient.
  • ingredients can be heated, grilled, or otherwi se cooked in a non-contact fashion (e.g., via indirect contact with one or more heated surfaces, through the pouch wall s) as depicted in the cross- sectional elevation views of Figs. 59(a)-(b).
  • an ingredient 916 e.g., a raw, fully-cooked, or partially-cooked hamburger patty or boneless chicken breast
  • a pouch 918 or other retaining structure the "inner pouch” located inside another pouch 920 or other structure (the "outer pouch” that is fully sealed if needed.
  • Outer pouch 920 may serve to improve barrier properties, further protect the ingredient from the environment, protect inner pouch 918 from damage, and prevent any portion of the ingredient from leaving the pouch.
  • the inner pouch serves to retain the ingredient during further processing once the outer pouch i s opened (and in some cases, moved out of the way, so as to provide access).
  • the two pouches may be made of different or the same materials (e.g., a heat-resi stant material such as metal foil or parchment paper for the inner pouch, and PET or nylon for the outer pouch). Both pouches may be peelable (e.g., with flaps 922 and 924 as shown).
  • the top portion of the inner pouch may be attached to top seal 926 of the outer pouch (e.g., it may be sealed along with it) and can serve as tether 928, allowing the inner pouch to be suspended from the outer pouch.
  • Fig. 59(b) the outer pouch has been peeled away around the dispenser's blades 929, which allow the outer pouch's films to be kept well above the inner pouch.
  • Heated plates 930 (which may be ribbed so as to impart grill marks on the ingredient) are shown converging in direction 931 on the sides of the inner pouch, about to contact the ingredient through the inner pouch walls.
  • other methods of heating e.g., microwave, RF
  • One or more holes may be made in the inner pouch (e.g., in its upper portion) to vent steam, gasses, etc. which may be generated while cooking.
  • a hood or tube provided with an exhaust or vacuum fan may be introduced to withdraw anything issuing from the inner pouch to the outside, pass it through filters, etc.
  • juices 932 may collect at the bottom of the pouch (this area may be isolated using a discontinuous or porous seal below the ingredient (not shown), such that the ingredient is suspended and the juices collect beneath it) or if the bottom i s perforated or porous, or peeled open (plate pressure will retain the ingredient), juices will drip into a waste bin below. Once juices have been captured, a di sh can be moved underneath the inner pouch and the pouch peeled open to release the ingredient onto the dish.
  • the inner pouch may include openings (e.g., open sides, slots or other perforations) which allow for the ingredient within, or portions thereof, to be released at the appropriate time without having to open the pouch.
  • Perforations in the inner pouch can allow liquids, gasses, and/or ingredients or particles smaller than the perforations to enter or exit the inner pouch.
  • potatoes, rice, or pasta may be packaged within an inner pouch having the form of a mesh, then lowered into a container of boiling water for cooking once the outer pouch has been peeled and pulled out of the way.
  • Fig. 60 depicts a specialized, preferably disposable pouch having flaps 933 for grilling or other forms of processing and cooking in which the pouch is subdivided into multiple compartments.
  • An ingredient 934 such as a burger patty may be cooked entirely within such a pouch without the ingredient or its emi ssions coming into contact with and contaminating the food preparation apparatus.
  • the pouch may be made primarily of material s such as PET or another polymer and may compri se several compartments: 1) a lower liquid compartment 936 intended to contain drippings 937, and having a peelable frangible seal 938 along its bottom and an interrupted/discontinuous/liquid permeable and peelable frangible seal 940 (e.g., produced by heat sealing) or alternative ingredient support along its top; 2) a central ingredient compartment 942 containing the ingredient to be processed, having a heat-resi stant material 935 (e.g., metal foil, parchment paper) on one or both sides of the ingredient and peelable frangible seal 944 along its top which prevents the ingredient or any part thereof (e.g., juices) from entering the filter before seal 944 i s opened; and 3) an optional upper filter compartment or region 946 containing and retaining a filter 948, having in some embodiments peelable seal 950 along its top.
  • a lower liquid compartment 936 intended to contain drippings 937, and having
  • one or more pouch walls or portions thereof may serve as a filter.
  • the filter may comprise at least one porous filter material such as filter paper, metal wool or mesh, cotton, synthetic, nonwoven polyester, viscose, an impregnated material, activated charcoal, or oleophilic materials such as wool (U.S. patent 7,465,332) or combinations thereof, able to trap and filter out pouch emissions such as gas, vapor, and/or particulates (e.g., grease in all its forms), water vapor, and/or odors so that none of these reach the apparatus, where they can create problems of sanitation and intercontamination and/or interfere with system functions, or escape into the air (unless desired: e.g., the smell of cooking food might be advantageous to release outside the system).
  • the filter material preferably fills the filter compartment and/or i s sealed to it so that the only path out of the pouch is to pass through the filter. At the top of the pouch i s top seal 952.
  • the di scontinuous (or porous) seal between the liquid and ingredient compartments may be peelable, allowing the ingredient to be removed after cooking. Since the seal is di scontinuous, liquids within the ingredient compartment can enter the liquid compartment during cooking.
  • Some filter materials may be food-safe and be effective wet as well as dry, in which case seal 944— provided to avoid contact between the ingredient and the filter— may be unnecessary. If provided, seal 944 may be peelable or rupturable so it can be opened by the expansion of steam, etc. generated by heating the ingredient and/or liquid in the ingredient and/or liquid compartments, or by compressing one or both of those compartments within the apparatus (especially if they are pi e-filled with gas such as air). Once seal 944 has been opened, the filter material should not detach and descend into the ingredient compartment.
  • Thi s can be achieved— assuming the filter material remains a continuous, non-shedding mass— by providing a discontinuous or porous seal below the filter, or by sealing/bonding the filter to at least one pouch wall. If the filter material can shed or otherwi se break apart, then it can be contained above or within a material having pores fine enough to hold back the filter material, but allow grease, etc. to pass through.
  • seal 950 At the top of the pouch peelable seal 950 i s provided in some embodiments (e.g., those in which seal 944 is not used), above which are one or more pre-made holes 954 to vent emissions which have been filtered, allowing them to escape the pouch. Emissions may also vent through a porous upper region of the pouch if provided, or the upper region of the pouch may be pierced within the apparatus (e.g., by one or more needles) to allow venting. Since seal 950 (or seal 944) is peelable rupturable, other seals in the pouch subject to the same pressure should be stronger. An exhaust duct with fan to generate airflow may be provided in some embodiments near the top of the pouch to collect emi ssions from the pouch.
  • a burger may be cooked and dispensed according to the following sequence: 1) the machine controller causes the upper portion of the pouch (in some embodiments) to be pierced to establish vent holes; 2) the controller causes the ingredient to be heated (e.g., by bringing heated plates such as those of Fig.
  • the controller causes peelable seal 1 to be opened, allowing drippings accumulated in the liquid compartment to be released into a waste bin (or other container, if the drippings are to be retained for another purpose); and 5) the controller moves a dish or other receptacle (which may contain at least one other ingredient such as a bun, pasta, salad greens) below the pouch and then causes the interrupted seal below the ingredient to be peeled and the ingredient released into the di sh.
  • a dish or other receptacle which may contain at least one other ingredient such as a bun, pasta, salad greens
  • the drippings can be captured in compartment 936, e.g., by heat sealing the pouch above it, and the pouch opened above compartment 942 and tilted or inverted to release the ingredient; this is especially feasible if filter 948 i s fastened to the pouch; also, seals 938 and 940 need not be openable.
  • the pouch of Fig. 60 may also be used for steaming an ingredient using microwave, RF, or another heat source, in which case water may be provided in the liquid compartment (e.g., as-packed); the filter material may be chosen so as to trap water vapor, or no filter may be used if the steam can be exhausted effectively, or condensed and drained.
  • a vent hole can be provided for steam release, and/or a peelable portion of the pouch seal can be opened before steaming, or opened by steam pressure.
  • the pouch may be shaken, inverted, or otherwise manipulated to improve uniformity.
  • the controller may cause the pouch to be clamped between ingredient and liquid compartments so as to prevent communication between them (and thus leakage from the liquid compartment), or the pouch may be sealed between the compartments (e.g., heat sealed in this region using heated jaws).
  • the controller may then open the pouch at its top or el sewhere (e.g., the pouch may be slit beyond a peelable seal that can be opened) and when tilted or inverted so as to deliver the ingredient to a di sh. After this, the controller may cause the pouch to be returned to an upright position, undamped, and disposed of (e.g., dropped into a waste bin), possibly after sealing the pouch.
  • the pouch of Fig. 60 compri ses the inner pouch of a two-pouch system similar to that of Fig. 59(a).
  • Figs. 61 (a)-(f) depict an alternative heating/cooking (e.g., grilling) approach in which the ingredient is processed but preferably without the food preparation apparatus coming into contact with the ingredient.
  • the apparatus comprises a fixed (or moving) plate 956a and a moveable plate 956b (one or both of which is heated), disposable plate covers, a dispenser for a peelable pouch, a waste container, and a dish transport, while the material s compri se an ingredient (e.g., beef patty, chicken breast, tofu slice, hash brown potatoes, sausages, steak, shish kabob, fish, Portobello mushroom cap, eggplant slice, pineapple, etc.) to be processed and a pouch to contain the ingredient.
  • an ingredient e.g., beef patty, chicken breast, tofu slice, hash brown potatoes, sausages, steak, shish kabob, fish, Portobello mushroom cap, eggplant slice, pineapple, etc.
  • the two plates are shown having inner heated surfaces 958a, 958b.
  • the plates may be arranged in a "V" shape as shown with the inner surfaces facing one another and separated by an angle A (e.g., greater than zero and less than 180 degrees, with 45-90 degrees being preferred), though other shapes may be used in some embodiments.
  • the plates are spaced to allow the plate covers to be added.
  • the plates may be ribbed on their inner surfaces (e.g., to create grill marks on the ingredient).
  • the dispenser and pouch may need to move out of the way, e.g., perpendicular to the plane of the figure.
  • disposable heat-resistant plate covers 960a, b e.g., aluminum foil, parchment paper, optionally coated with a non-stick material (e.g., Reynolds Wrap Non-Stick Foil (Reynolds Consumer Products)), or oiled) have been placed over the plates and the plates have been brought closer together to prevent ingredients from falling in-between the plates.
  • a non-stick material e.g., Reynolds Wrap Non-Stick Foil (Reynolds Consumer Products)
  • the fixed plate may be horizontal and both plates may be flat (not ribbed).
  • the covers may be supplied from separate rolls (not shown)— possibly moving from supply to take-up rolls— may be pre-cut, and may be retained by the plates (e.g., by vacuum applied to holes within the plates) and conform to them (e.g., conform to any ribs, which preferably are curved in only one axis so that the cover material need not stretch (and not bend) in order to conform.
  • the covers may easily conform to ribs shaped like half cylinders extending from the top to the bottom edge of the plate.
  • the covers may simply be held in place temporarily by being continuous with roll s of cover material above the plates, etc.; in such cases, the pressure of a somewhat flowable ingredient (e.g., raw meat) against the covers in Fig. 61(e) will cause the covers to locally conform to the plate to some extent; it may be preferable to have the ingredient not perfectly conform to the shape of the cover, thus allowing channels to remain between ingredient and cover through which drippings can escape. Plates may be preheated or heated only after the ingredient is added.
  • a somewhat flowable ingredient e.g., raw meat
  • a pouch 962 has been peeled open, possibly involving blades 964, allowing ingredient 966 within to fall in direction 968 onto the covered plates. This is preferably done while the plates are above a waste bin, in case there are initial drippings (e.g., raw poultry juices) from the ingredient, and to prepare for drippings produced during processing. The ingredient typically will then settle (e.g., direction 970) onto either one plate or another (it doesn't matter which) as in Fig. 61(d).
  • initial drippings e.g., raw poultry juices
  • the moveable plate has moved (e.g., through both translation 972 and rotation 974) so as to change the angle of its inner surface to an angle smaller than A (e.g., 0 degrees, making the moveable plate parallel to the fixed plate) and a controlled pressure i s applied to the ingredient between the plates to prevent it from sliding off the plates and to make close contact with the ingredient, allowing good heat transfer, and optionally controlling the ingredient shape (e.g., thickness).
  • A e.g., 0 degrees, making the moveable plate parallel to the fixed plate
  • a controlled pressure i s applied to the ingredient between the plates to prevent it from sliding off the plates and to make close contact with the ingredient, allowing good heat transfer, and optionally controlling the ingredient shape (e.g., thickness).
  • the plate moves, its trajectory is controlled so that the gap between plates is not large enough to allow the ingredient to slip through (e.g., a rolling motion) and/or the ingredient i s continuously compressed to prevent slippage. While in the configuration shown in Fig.
  • the ingredient is processed (e.g., cooked), e.g., while over a waste bin 978, and drippings 976 run down the cover(s) and into the bin, avoiding contact with the plates.
  • a hood or tube provided with an exhaust or vacuum fan may be introduced near/above the plates to withdraw emi ssions from the ingredients and optionally, pass them through filters, etc.
  • Fig. 61(f) the ingredient has been fully processed and most all dripping has ceased.
  • the bin has moved out from under the plates (or the plates and ingredient have moved so no longer over the bin) and under the plates is now dish 980 or other vessel, in thi s case a di sh containing half hamburger bun 982 to which other ingredients (not shown) may already have been added.
  • the moveable plate has moved away from the fixed plate (optionally after rotating so that a portion (e.g., the lower part) of the ingredient is released first while another potion (e.g., the upper part) is clamped, to allow for further draining) in direction 983, allowing the ingredient to slide downwards in direction 984 and onto the di sh.
  • the dish i s moved in direction 986 at the same time the ingredient i s descending, its position on the dish (or bun) can be well controlled. Or, if the ingredient (e.g., patty) contacts the dish (or other ingredient such as a bun), it can stop due to friction and not move further until the di sh translates (e.g., to the right as shown).
  • the ingredient e.g., patty
  • the dish or other ingredient such as a bun
  • the fixed plate inner surface is oriented at a smaller angle to the horizontal such that the ingredient does not slide on its own.
  • the cover over the fixed plate can then be advanced downwards (e.g., using a gripper, rolling it up onto a take-up roller) and serve as a conveyor belt as in Fig. 51, delivering the processed ingredient conti oil ably onto the dish.
  • unheated plates covered with disposable, moving conveyor films can be used to control the delivery of an ingredient in a similar fashion: the ingredient can be dropped onto the conveyor film from a pouch, and then be controll ably delivered by the film.
  • the covers are released (e.g., cut loose from rolls above, if applicable) and fall (possibly with some air assist to dislodge them from the plates) into a waste bin (e.g., which can move back underneath the plates) and the cycle repeated.
  • a waste bin e.g., which can move back underneath the plates
  • the covers can be or advanced downwards (e.g., by edge or vacuum grippers, or by applying tension to take-up rolls) such that the plates are now covered by a pristine portion of the covers, ready for the new ingredient to be processed.
  • the grill plates move out from under the dispenser (e.g., off to the side), allowing the di spenser to dispense other ingredients that may be needed (bun, tomatoes, sauce, etc.).
  • the mechanism that moves the moveable plate as shown in 61(e) need not travel with the plates, since the plate can due to its weight remain in position.
  • multiple plate pairs forming a ring-shaped carousel are used, such that as the ring rotates from position to position, ingredients are added to plate pairs and then are processed and removed while the ring continues to rotate.
  • a system is able to randomly access any plate pair to add an ingredient or allow it to exit (e.g., facilitating different cooking times).
  • the ring can also index at a constant speed, with the first ingredients to be added being the first to be removed (first-in, first-out).
  • the plates of Figs. 61 (a)-(f) can also be used with the pouches of Figs. 59(a)-(b) or Fig. 60. Plates can be inductively heated if desired.
  • ingredients 988 skewered on sticks 990 may be cooked in an automated system in a manner that does not contaminate the apparatus as shown in Figs.
  • a rotisserie assembly which comprises at least one actuator 992 (e.g., a motor), releasable clips 995 (one per skewer) which are rotated by the motor (e.g., through a set of meshed gears 994), an actuator which can rotate the assembly about axis 996 (e.g., horizontal) in direction 998, an actuator that can open/close the clips, a heater, and an exhaust system.
  • the cooking process in some embodiments i s as follows: 1) package the sticks/ingredients in a pouch with the sticks oriented vertically (i.e., perpendicular to the top seal) as shown in the elevation view of Fig.
  • ingredients on skewers can be cooked without transferring the skewers to a roti sserie (e.g., while vertical). Ingredients can be pierced by skewers/wires (e.g., vertical) and fall off of these (or be pushed off) into a dish after cooking, or the skewers may be released such that the ingredients fall into the dish while still on skewers. If the ingredient would normally slide off the wire, this can be prevented initially by ensuring that the ingredient is supported by the di sh.
  • Skewers (or wires) can be released by various methods, e.g., their tops may be embedded within the pouch above the compartment holding the ingredi ent, and once the pouch i s peeled in that region, the skewer i s released. If skewers do not rotate as they would if using a rotisserie, then heating means such as heating elements can be used— preferably arranged on both sides of the group of skewers (i.e., moved into place after the pouch i s peeled)— to evenly cook the ingredients.
  • heating means such as heating elements can be used— preferably arranged on both sides of the group of skewers (i.e., moved into place after the pouch i s peeled)— to evenly cook the ingredients.
  • ingredients e.g., in a pouch or dish (e.g., if metal) can be heated or cooked using a flameless heater such as SpeedHeat (Sterno Products, Corona, California).
  • a flameless heater such as SpeedHeat (Sterno Products, Corona, California).
  • forced convection can be used to heat, cook, toast, and/or re-crisp ingredients (e.g., in a dish), similar to the way an air fryer, convection oven, or halogen oven works.
  • Ingredients can be supported during heating in some embodiments by or one or more wires (e.g., 2 underneath, or 3-4 at different angles) that are fed from supply spools (e.g., to take-up spool s, or they can be cut and dropped into a waste bin) such that for each new meal, the wires are advanced to a fresh section.
  • supply spools e.g., to take-up spool s, or they can be cut and dropped into a waste bin
  • ingredients can be supported while resting on raised ribs on a disposable foil tray (e.g., in which the ingredients are served) which allow air flow beneath the ingredients to heat them on the underside.
  • ingredients can in some embodiments be heated or cooked while within pouches or after being di spensed into dishes. This can be done selectively/differentially, thus for example all ingredients to be served can be dispensed onto a dish and then only some of them can be heated, and ingredients can be heated with different temperatures and times. Thi s can avoid the need to dispense some ingredients, heat them, and then dispense other ingredients which are not to be heated.
  • Precisely-beamed RF energy can be used to heat an ingredient inside a pouch while it is being transported to the dispenser, or to selectively heat one or more ingredients within a di sh while the di sh is still under the di spenser (the latter may also be achieved with other heating methods such as microwave).
  • RF energy can al so be used to selectively heat water in a pouch so as to steam an ingredient without directly cooking it.
  • pouches or di shes containing ingredients are placed in microwave/RF chambers to be heated for pouches or dishes.
  • Such chambers may be designed to be loaded or unloaded from the top, side, or bottom, and generally will include a door or other barrier.
  • RF chambers to the extent that RF energy can be preci sely beamed, a fully-enclosed chamber may be unnecessary.
  • An ingredient may be heated or cooked by more than one method, either sequentially or simultaneously.
  • a chicken breast may be heated on its underside by placing it into a disposable foil di sh in contact (e.g., enhanced by vacuum) with a heated chuck.
  • a radiant heater e.g., a quartz infrared heat lamp
  • one side i s heated by conduction while the other side is heated by radiation (of if the upper surface is exposed to hot air, then by convection).
  • a pouch design with multiple compartments may be used for steaming an ingredient: water may be contained in the lower compartment and heated (e.g., by direct application of microwave or RF energy, or by contact with a heated surface) and an ingredient to be steam in the upper compartment. Steam produced by the water ri ses through the channels into the upper chamber. Once the steaming i s completed, the pouch can be partially peeled so as to release the water into a waste bin, etc., after which the ingredient can be released into a dish by peeling the pouch further.
  • water may be contained in the lower compartment and heated (e.g., by direct application of microwave or RF energy, or by contact with a heated surface) and an ingredient to be steam in the upper compartment. Steam produced by the water ri ses through the channels into the upper chamber. Once the steaming i s completed, the pouch can be partially peeled so as to release the water into a waste bin, etc., after which the ingredient can be released into a dish by peeling the pouch further.
  • ingredients may be boiled, brai sed, soaked (e.g., beans), have their flavor contribute to a broth, etc. by using a similar two-compartment pouch.
  • the pouch contains liquid (e.g., water) which fills both the lower compartment and at least a portion of the upper compartment, while the latter contains the ingredients, which are at least partially immersed.
  • the liquid can be introduced during the packaging process, or later (e.g., by piercing the pouch with a needle).
  • the goal is to retain the ingredients in the upper compartment and di spose of or separately utilize the liquid, while in other situations (e.g., making soup), the goal i s to retain the liquid while disposing of or separately utilizing the ingredients (e.g., chicken, bay leaves, a tea bag) in the upper compartment, and in some situations both the liquid and ingredients are to be retained but need to be dispensed into different vessels.
  • the lower compartment i opened, releasing the liquid (e.g., into a waste bin, bowl, or secondary pouch) after which the upper compartment may be opened to release its contents (if these contents are to be disposed of, there may be no need to first release them, however).
  • Pouches may comprise conductive (e.g., metal foil or wire) patterns of electrodes/antennas which provide for resi stive (DC/low-frequency) or RF/dielectric (high frequency) heating of an ingredient within. If intimate contact between the conductive patterns and the ingredient is desired, the pouch can be vacuum packed. To facilitate recycling, the conductive patterns may be separable from other portions of the pouch (e.g., may be sandwiched between the ingredient and the polymer pouch walls).
  • an ingredient in a pouch may only be partially cooked (e.g., seared) by methods and apparatus such as those described above.
  • air flow e.g., generated by one or more air knives or vacuum plenums
  • i s arranged to flow across the vessel (e.g., horizontally), such that such contaminants are diverted from their normal trajectories and rarely if even end up on surfaces they would contaminate.
  • Figs. 63(a)-(f) are cross-sectional elevation views of a sequence for preparing an egg sandwich with melted cheese on a toasted bagel.
  • a bagel half 1016 e.g., pre-sliced, or sliced as it exits the pouch
  • the bagel half descends in direction 1020 and contacts the di sh, which in some embodiments is moving at the time of contact in direction 1022; thi s causes the bagel to rotate in the desired direction, continuing to descend until it lies flat in the di sh with the cut surface 1024 facing upwards.
  • the second half of the bagel (not shown) i s similarly dispensed onto the dish in another, non-overlapping location with its cut surface also facing upwards, so that both halves of the bagel can be toasted simultaneously.
  • the di sh has moved underneath one or more heating elements 1026 (e.g., halogen, resi stively-heated nichrome wire, possibly with a fan to provide air flow) and the bagel i s toasted, or equivalently, the element may move over the dish.
  • heating elements 1026 e.g., halogen, resi stively-heated nichrome wire, possibly with a fan to provide air flow
  • the dish with toasted bagel half 1027 has moved out from under the element and a cooked, heated egg 1028 (e.g., steamed, sous vide, fried, possibly in a circular format) is di spensed from the pouch, moving in direction 1030, e.g., as the dish moves in direction 1032 to one side such that the egg is compelled to lie flat and roughly centered on one bagel half.
  • cheese 1034 has been dispensed and moves in directi on 1036 on top of the egg, e.g., as the di sh moves in direction 1038, such that the cheese lies on top of the egg and is roughly centered (if desired).
  • a cooked, heated egg 1028 e.g., steamed, sous vide, fried, possibly in a circular format
  • cheese 1034 has been dispensed and moves in directi on 1036 on top of the egg, e.g., as the di sh moves in direction 1038, such that the cheese lies on top of the egg and is roughly centered (if
  • Fig. 63(e) the di sh is moved under the element and the cheese is melted.
  • Fig. 63(f) the di sh moves out from under the heating element in direction 1040 with melted cheese 1042, ready to serve.
  • a similar approach can be used to a) prepare a toasted bagel on which smoked salmon, cream cheese, tomato, etc. i s dispensed; b) assemble a pizza from various ingredients and then cook it prior to serving.
  • ingredients may be heated, cooked, toasted, cri sped, etc. while inside a heat-resistant pouch, or after transfer to a sleeve that is heat-resi stant and preferably, di sposable.
  • Materials which can be used include metal foil, metal mesh, PET, fiberglass, and PTFE-coated fiberglass.
  • Ingredients can be heated in-pouch by immersion into hot water, or using steam.
  • the outside of the pouch Prior to opening the pouch, if desired the outside of the pouch can be dried by hot air (e.g., via an air knife, shaking, centrifugation, drying similar to that of an Airblade (Dyson, Malmesbury, Wiltshire, United Kingdom), contact with an absorbent material, etc.
  • the pouch exterior can have a hydrophobic coating, or be surrounded by another pouch that i solates it from water or steam.
  • the first (ingredient-containing) pouch can be lowered into a second pouch surrounded by hot water whose bottom i s preferably anchored so it remains submerged. Hydrostatic pressure will push out air between the two pouches, providing intimate contact and good thermal contact between the first pouch and the water.
  • the latter can be lifted out of the water temporarily, or water can be introduced afterwards; actuated tabs may also help open the second pouch.
  • Some foods may benefit (at least aesthetically) from having an ingredient introduced by swirling, mixing, etc. once at least another ingredient has been introduced into a dish or other vessel.
  • a soup can be dispensed into a bowl (preferably first adding any solid ingredients to the bowl to avoid splashing) and then a cream, yogurt, etc. can be dispensed onto the surface and swirled into the soup using a disposable tool such as a plastic or wood stick held in a holder (e.g., clamped by a solenoid).
  • the bowl can be moved under the tool (or vice versa) with two axes of motion to achieve the desired swirl, etc. Once the bowl has moved away (e.g., to be served), the tool can be released into a waste bin below.
  • a new stick can be delivered (e.g., from a magazine) into the holder when needed.
  • a similar approach using a disposable tool can be exploited for mixing, blending, stirring, breaking up/di spersing, etc. ingredients within a vessel (e.g., as part of the process of preparing a meal).
  • At least one compartment of a pouch contains a gas such as air or a modified atmosphere (to preserve freshness), or a flowable liquid, peelable or bur stable seals can be opened in some embodiments by applying pressure to the compartment.
  • the seal can be between the compartment and the outside, or can be an internal seal between multiple compartments within the pouch. Once an internal seal is opened, the contents of multiple compartments may be combined (e.g. mixed, stirred) and may interact. Inter-mixing can be encouraged by shaking or vibrating the pouch, by tilting it (e.g., multiple times) or tumbling it, by pressing on the pouch or rolling/dragging across it using one or more rollers or other shapes, etc.
  • compartments with item s to be combined are not adjacent to one another, but are separated by a compartment intended for mixing.
  • ingredients that can be combined in a pouch are flour and water used to make a roll or pizza crust, salad greens and salad dressing, eggs and vegetables used to cook a frittata, etc.
  • a pouch it is preferable to dispose of a pouch by dropping it from the grasper into a bin (e.g., refrigerated) below the di spenser than to lift it out of the dispenser and move it to a bin. Dropping it is quicker and minimizes the risk of an ingredient dripping from or falling off of an open pouch during transport and onto the machine, contaminating it. Before dropping the pouch, it may be lowered until closer to the bin (or partway inside of it) to make sure that it goes entirely into the bin (and air resi stance or currents do not disturb this).
  • a bin e.g., refrigerated
  • the dish can move out of the way (e.g., along one or more tracks that do not obscure the bin), and then return to being under the di spenser.
  • the bin may al so be located alongside the dish, and optionally move along with it.
  • the bin can also be used to receive undesired contents of pouches (unwanted amount of ingredient, liquid), drippings from cooking, etc. More than one bin can be used in some embodiments, e.g., one for relatively empty pouches, one for liquids and solid waste (unwanted amounts of ingredients).
  • multiple bins can be provided, one below each dispenser.
  • Figs. 64(a)-(c) depict in elevation view an arrangement in which pouches 1044 are stored underneath dish 1045 and di spense from pouch supply 1046.
  • the manipulator comprising gripper 1047 and arm 1 049 may fetch a pouch from the supply through slot 1 048 in a plate 1 051 that supports the dish once the di sh has moved out of the way in direction 1050 as in Fig. 64(b).
  • the dish can return in direction 1052 to its position beneath the dispenser, and have the pouch contents emptied into it.
  • the dish can be moved by a linear stage, etc.
  • the delivery box described in the 074 and 253 filings can also serve as a heater such as a microwave oven: a di sh can enter, be heated, and if any additional ingredients need to be added, it can leave the delivery box, move to one or more dispensers, and then return to the box for delivery to the customer.
  • the box or a similar box may incorporate a double door/airlock and be positively pressurized and/or have high velocity airflow to prevent the entrance of insects or other vermin.
  • Machine vi sion may be used to verify that no undesired "vi sitors" have entered the box before it i s opened to the inside of the machine. Delivery boxes may be stacked vertically and completed meal s introduced in one boxes using an elevator-type device.
  • di shes may be moved by the system controller to and from dispensers independent of one another on "smart" carriers in a random-access (vs. serial) fashion.
  • Such carriers can bring dishes only to the dispensers (or other subsystem s, such as heaters) needed for a particular customer recipe/order, and in the required sequence.
  • Carriers may be wheeled or slide, driven by motors, linear motors (e.g., Sawyer-effect 2-axis linear motors), etc.
  • one or more robots can manipulate the carriers (e.g., from below using magnets) in a pick and place fashion.
  • the controller In system s with independently-moving bowls, the controller must coordinate the motion of the bowls to avoid any collisions, and holes can be provided below dispensers that provide access to one or more waste bins.
  • the carrier paths can be designed so that any portion of the carrier (e.g., wheel s) that might fall into a hole avoids it instead.
  • the dispenser may have a built-in weighing capability similar to that of Fig. 22(d) of the 074 and 253 filings, by incorporating a load cell or spring/linear scale (which also provides compliance/tension control) into the assembly above the grasper, and/or the dish carrier may incorporate weighing capability (e.g., load cell).
  • a load cell or spring/linear scale which also provides compliance/tension control
  • System s for automated food preparation can be restocked manually but also by robotic, remotely-controlled or autonomous resupply vehicles.
  • a system can be located out of doors and resupplied by a rolling delivery vehicle, or by an air vehicle (e.g., quadcopter) or boat-like vehicle that delivers individual pouches, groups of pouches, shelves filled with pouches, etc.
  • a quadcopter can drop pouches into a funnel or net one at a time, or feed a pouch chain to an outdoor system, without even needing to land.
  • a hole e.g., closeable
  • individual pouches may be used for restocking, or pouch chains (which may be separated using perforations, scoring, or by cutting within the system, if the system uses individual pouches rather than chains).
  • pouch chains which may be separated using perforations, scoring, or by cutting within the system, if the system uses individual pouches rather than chains.
  • Automated shuttles/drones airborne, rolling on the ground, sailing on water
  • an ingredient that is in demand generally, or as the result of at least one pre-order
  • the machine in some embodiments can 'defragment' storage so that it keeps pouches in as few modules or boxes as possible, thus freeing others (or filling them with pouches to be removed due to them not selling, being close to expiration, etc. ) to be removed and replaced with modules or boxes with new/fresher/more pouches. Defragging can al so facilitate/accelerate pouch fetching by the grasper, and machine servicing tasks such as loading and unloading ingredients.
  • the EP may be part of the shelving unit: an area reserved for pouches that are soon to be used for one or more meals. Once an order i s placed but it is not yet time to prepare it, the machine can create/allocate a MEP for that particular order. Space may be provided for multiple, simultaneous MEPs.
  • the machine may be restocked by merely placing inside the machine within reach of the grasper a box, case, etc. containing pouches, which may be randomly piled inside.
  • the controller can then direct the grasper to fetch each pouch from the box and using a scanner (e.g., barcode) and/or machine vi sion, identify each pouch, verify it and its contents are acceptable, and then place it in a known location within the shelf or pouch box. This operation can be done during idle times, when the machine is not preparing a meal for a customer.
  • a scanner e.g., barcode
  • a pouch has an ingredient that is only partially consumed (e.g., a multi-compartment pouch, or a pouch that has been resealed), it can be replaced in the shelf or box. If the pouch has been resealed, a new expirati on date can be established by the machine controller based on ingredient data and in recognition that the pouch may have been packaged under vacuum or a modified atmosphere, and these conditions may no longer exist in the resealed pouch (although in some embodiments the machine may vacuum reseal the pouch after evacuating air inside and/or backfilling with a modified atmosphere gas).
  • Vessels with detachable liners such as those shown in Figs. 10, 20, and 31 of the 074 and 253 filings are provided with vacuum in some embodiments since in many cases if vacuum i s not applied between the wall of a heated vessel and its liner, thermal conduction between vessel and liner can be poor due to the insulating layer of air between them, reducing efficiency, slowing heating and cooling, and limiting the temperature that the liner can practically attain.
  • the liner is preferably thin (e.g., 0.0005-0.0050" inch) and made of low-cost, heat-stable and food-compatible materials such as aluminum foil, anodized aluminum foil, or stainless-steel foil) so that it can readily be disposed of.
  • Liners may be provided with small openings (e.g., widely spaced, or contiguous, as with a screen or mesh) or with a membrane or porous/filter material.
  • Such liners may be used for procedures such as frying that may generate steam or gasses which should be allowed to escape. Openings can be made using laser or mechanical drilling, by stamping, by fixing a mesh over a larger hole, etc. While allowing steam and/or gasses to escape, such a liner/vessel can retain droplets such as oil which should be keep inside the cooking environment to avoid contamination of the system.
  • a thermally-conductive liquid, gel, or soft elastomer may be used.
  • Flowable materials such as water (e.g., under pressure to avoid steam evolution, possibly superheated), or a high-temperature stable working fluid may also be introduced into the space between vessel and liner in order to heat or cool the liner.
  • the volume between the vessel wall and liner can behave similar to a heat pipe in which heat i s transferred from vessel to liner via an evaporating liquid such as water, which then condenses on the liner, heating it; condensed liquid then returns to the vessel surface and is evaporated again.
  • liners may be heated using jets of fluid (e.g., steam or hot air jets), or by using inductive heating (e.g., using a liner containing a ferromagnetic or relatively low electrical conductivity material).
  • the bases depicted may incorporate channel s for vacuum which can be communicated to the lower base through a rotating vacuum fitting, and to the upper base via such a fitting or flexible tubing.
  • ingredients which tend to adhere if completely raw e.g., meat
  • a single-use scraper e.g., plastic, or plastic with a metal edge
  • Vessels such as those in Figs.
  • 31 (a)-(l) of the 074 and 253 filings may contain actively or passively driven elements (e.g., a washable, passively driven weighted scraper attached to a pivot) which serve to mix or scrape ingredients (to prevent sticking, in the case of raw meats or eggs, etc.), e.g. while the vessel is rotating.
  • actively or passively driven elements e.g., a washable, passively driven weighted scraper attached to a pivot
  • a washable, passively driven weighted scraper attached to a pivot serve to mix or scrape ingredients (to prevent sticking, in the case of raw meats or eggs, etc.), e.g. while the vessel is rotating.
  • the dish or cooking vessel into which ingredients are dispensed already has one (or more, if mutually non-interacting) ingredient in it, such that the dish serves as a food storage device (in lieu of a pouch) as well.
  • an acai bowl might be prepared using a bowl in which refrigerated/frozen acai is already packed into the bottom of the bowl; to this could then be added various topping.
  • Ingredients in the dish can be sealed within by a peelable film, etc. Thi s approach may be useful for example when it i s difficult to dispense the ingredient into a dish in a way that a) delivers it entirely into the dish; and/or b) has it properly placed or shaped within the dish.
  • the system controller can prevent food sales from the machine if temperature ever ri ses above a particular level for too long a time, and notify the appropriate personnel.
  • the machine can include an uninterruptable power supply to prepare for possible power outages and to allow the machine to be temporarily di sconnected for transport without first removing the ingredients within. While operating on battery, machine functions other than refrigeration and critical sensing, data logging, and communication (with parties responsible for tending to the machine) may be di sabled.
  • the system may include a variety of temperature sensors, such as those which monitor ingredient temperatures. If monitored temperatures become too high or too low (signaling possible freezing) for too long (e.g., due to malfunction or power loss), the affected ingredients can be identified and disposed of if needed.
  • the machine can prepare frozen desserts (e.g., ice cream, sorbet, custard, yogurt) as follows:
  • the dessert mix in liquid form can be initially within a pouch.
  • the mix can be dispensed onto a cold plate (e.g., covered by a thin, di sposable film which may be held tightly against the surface by vacuum) and a disposable or cleanable spatula can be used to scrape the frozen mix off the plate and into a bowl for Thai-style rolled ice cream, etc.
  • the mix can be dispensed onto a disposable film and the film manipulated (e.g., bent, passed around a blade as in Fig. 8(k)) such that the frozen treat peels off and drops into a bowl, cone, etc.
  • the machine can adapt the meal s which are offered according to ingredients available or which should be consumed first (based on expected expiration and/or general or machine/location-specific usage patterns), and offer substitutions to the customer, and can also refer customers directly or through a mobile app or web site to another nearby machine if what they want is not available.
  • On the side ingredients that are always delivered directly in a pouch to a customer can be contained in pouches that are intended for customer use (e.g., size, shape, graphics, method of opening) rather than for machine use, and may be stored within the machine in the same shelf, pouch box, etc. in some embodiments, or in other storage locations if not compatible with such storage.
  • a pouch intended for machine use but containing an ingredient a customer requests to be "on the side” can be delivered (e.g., dropping the pouch down a chute) after a trimming operation which removes portions of the pouch (e.g. reduces the size of flaps) that are not needed by the customer or would be suboptimal.
  • the machine can include a "black box” compri sing a data recorder that records images from the machine camera of every pouch before its contents are dispensed, every dish before it i s served, pouch bar codes, and other photos (possibly photos of people in the vicinity of the machine, to help solve vandalism crimes), as well as data collected by various sensors. This data can be transmitted as needed (for pouches that a machine vision system determines are questionable) and/or periodically.
  • accurately determining the configuration of a previously-dispensed bun or bread slice can allow a filling (e.g., tuna salad, cheese slice), condiment (e.g., mustard), or other ingredient to be dispensed correctly, by adjusting the position of the dish beneath the di spenser before and/or during the dispensing of the ingredient.
  • a cooked egg can be well-centered on a bagel, etc.
  • the configuration of pre-dispensed ingredients— effectively creating a 2D or 3D map of what is in the dish, which may include grayscale or color information— can be determined using sensors known to the art such as cameras, 3D scanners, stereo cameras, time-of-flight sensors, and laser distance sensors (collectively, “scanners” in a process of "scanning”). Scanning may be done before an ingredient is dispensed and/or while an ingredient is being dispensed, since the configuration may change dynamically during dispensing (e.g., a previous ingredient may be moved by a new ingredient), and the dispensing may advantageously be made into a closed-loop process based on real-time sensing and feedback.
  • sensors known to the art such as cameras, 3D scanners, stereo cameras, time-of-flight sensors, and laser distance sensors (collectively, “scanners” in a process of "scanning”). Scanning may be done before an ingredient is dispensed and/or while an ingredient is being dispensed
  • Feedback may adoptively influence the apparatus to vary location and orientation of a di sh, adjust the order in which ingredients are dispensed, modify the dispensing parameters such as squeezing speeds, etc. If scanning i s before dispensing, then in some embodiments the di sh can move to a position where it can be scanned without obstruction by the dispenser, etc. If scanning is during dispensing, then if impractical to scan from one vantage point due to obstructions, scans can be taken from multiple vantage points and the results combined. In some embodiments a clear or translucent dish (e.g., with a light above the dish) may be used to allow scanning from below. In some embodiments a scanner i s attached to the di spenser or above the di spenser. Scanners may also be used to scan the final meal as prepared, for purposes of documentation, publicity, and quality control.
  • scanning i s before dispensing then in some embodiments the di sh can move to a position where it can be scanned without obstruction by the dispenser, etc.
  • Fig. 65 depicts a 3D view of a pouch that like Fig. 28(d), includes peelable pleats or folds to increase pouch capacity and/or reduce pouch distortion due to the contents.
  • the folds are vertical and are formed between films 1054a and 1054b which are folded in regions 1056a and 1056b and openably (e.g., peelably) sealed in regions 1058a and 1058b.
  • Near the bottom of the pouch i s shown in region 2060 can be an openable chevron seal 1060 and below that, flaps 1062.
  • a set of rotating plates may be used sequentially (similar in some respects to the plates of US5,912,035A) to fold a tortilla, etc. once one or more ingredients has been di spensed onto it.
  • Each plate can be independently actuated, and the set of plates can be stationery (e.g., beneath a di spenser).
  • a dish e.g., molded pulp
  • a shape e.g., letter "U”
  • a dish having a shape e.g., wide letter "V”
  • a shape e.g., wide letter "V”
  • Systems for automated food preparation may include frying subsystems such as air fryers (optionally having screens which confine the ingredient to be fried to a limited area while air circulates, avoiding system contamination) and deep fat fryers (e.g., with automated oil exchange and/or filtration/recycling).
  • air fryers optionally having screens which confine the ingredient to be fried to a limited area while air circulates, avoiding system contamination
  • deep fat fryers e.g., with automated oil exchange and/or filtration/recycling.
  • System s may be fully, partially, or not refrigerated depending on design, ingredients to be stored, and desired shelf life.
  • systems are designed so some or all storage devices are refrigerated, but not the rest of the system, which can be more efficient and reduce system cost.
  • a storage device for pouches might be in the form of a heavily-insulated chamber (e.g., standard insulation, aerogel, vacuum), and a fetching mechanism (e.g., grasper 274) may be within the chamber, along with motion stages.
  • the mechani sm can then deliver a pouch requested by the controller to a port in the chamber (e.g., a revolving door which can bring the pouch from inside to outside while not opening the chamber) where another mechanism can take over.
  • Food can be prepared for a customer in one of a multiplicity of automated machines/kiosks depending on the customer's preferred machine location and in a way that minimizes waste.
  • An algorithm for facilitating the ordering process may include the following steps: 1) input the preferred location; 2) search the current ingredient inventory and expiration dates of the machine at that location; 3) compare packages having the soonest-to-expire ingredients with a recipe database and determine which recipes to offer; 4) offer recipes and solicit input; 5) if an offer i s selected, prepare the food, or, if an offer is not selected, then offer additional recipes which require ingredients that will take longer to expire, and if an offer is selected, prepare the food.
  • Food can be prepared for a customer so that it i s ready at exactly the time requested, without any wait, using an algorithm that may include the following steps: 1) input the customer's recipe selection and preferred machine location; 2) calculate the preparation time for the recipe (this can be done with great accuracy if dispensing times for given ingredients are programmed or measured in advance, if grasping/travel time for a given pouch to reach the dispenser, for heating, etc., is taken into account); 3) determine available time slots for the particular machine that accommodate the preparation time; 4) offer available pickup times to the customer and solicit input; 5) once a pickup time is selected, allocate the time slot accordingly to the customer's order; 6) monitor the customer interface for possible change requests; 7) if a change request is made, repeat beginning at step 3; 8) when the time slot start time arrives, start preparing the food.
  • an algorithm may include the following steps: 1) input the customer's recipe selection and preferred machine location; 2) calculate the preparation time for the recipe (this can be done with great accuracy if dispensing times for given ingredients are
  • the algorithm can further suppress any pickup times that are too soon, and optionally modify the pickup time, automatically selecting another available time slot, if customer location and speed indications suggest that the customer will not arrive within a few minutes after her planned pickup time.
  • An algorithm can be used that inputs a customer's food selection, location (e.g., GPS coordinates), and desired distance, then executes steps that may include: 1) determine which machines within the specified distance have the required ingredients for the selection, optionally prioritizing those having ingredients closer to expiration; 2) calculate preparation time and identify available time slots for each nearby machine; 3) di splay a choice of machines and available pickup times for each machine, e.g., in order of increasing distance; 4) solicit and receive an order; 5) add the order to the selected time slot for the selected machine.
  • pouches may be made in which one flap is longer than the other, thus allowing one flap to be separated from another more easily.
  • Such pouches may be made two across from film webs as shown in Figs. 66(a)-(b).
  • the two webs 1064 and 1066 have been offset laterally and then sealed on both sides of cutting line 1068 to form two columns of pouches.
  • the pouches have been cut apart along line 1068, producing two columns of pouches each of which has long flaps 1070, short flaps 1072, and top openings 1074.
  • Digital recipes used by automated food preparation systems can include ordinary recipe information regarding ingredients and quantities (number of pouches or pouch compartments, or fraction of a single compartment (though often pouches will have the pre-measured weight or volume required for the recipe, taking into account the number of servings)), but may also include: information required for di sh/di spenser coordinated motion; locations and orientations of ingredients to be deposited within a receptacle; stirring or other manipulations to be performed within a receptacle; in-pouch processes to be performed, and associated parameters; heating and cooking (in-pouch, in-vessel, etc.) and associated parameters; type of dish for serving, and whether a lid i s provided; whether to supply utensil s with food, and which kind; whether the pouch needs to be drained of liquid (e.g., by partially opening it and allowing liquid to drain into a waste container) before dispensing, and for how long; for grilling, time, temperature, and plate pressure; for stir-
  • a shape other than that which might be obtained by simply compressing the pouch and allowing the ingredient to i ssue through the opening at the bottom of the pouch compartment.
  • a spherical shape will be assumed below. Methods of achieving such a shape include that of cross-sectional elevation view Fig.
  • the pouch comprises one or more pre-formed (e.g., thermoformed) cavities— here, hemi spherical— within at least one (here, two) of film s 1076a and 1076b used to make the pouch.
  • Ingredient 1078 is introduced into the cavities while loading the pouch and the pouch is sealed with an openable seal that extends from the bottom to approximately the top (line 1080) of the cavities.
  • Flaps 1082 may be provided as usual, allowing the pouch to be opened (e.g., peeled open) up to line 1080 to release the item.
  • the item is not too adherent to the inner cavity surface and leaves little residue behind; the inner surface may comprise a low surface energy material to assi st with release.
  • Fig. 68(a) depicts an elevation view of pouch 1084 capable of multiple cycles of dispensing a molded flowable ingredient or other substance.
  • the pouch comprises reservoir region 1086, cavity region 1088, and flap region 1090. Openable seals 1087 are used for region 1088.
  • ingredient 1092 has been loaded in regions 1086 and 1088, which communicate through inlet 1094.
  • a pre-molded amount of ingredient 1092 is in the cavity, ready to dispense as in Fig. 67 by opening the pouch up through line 1096 in Fig. 68(b).
  • Figs. 68(b)-(f) depict a sequence for dispensing and then remolding the ingredient multiple times.
  • Fig. 68(b)-(f) depict a sequence for dispensing and then remolding the ingredient multiple times.
  • flaps 1090 have been separated and the pouch has been opened (not shown) up to line 1096, resulting in the ejection of molded ingredient 1092 as i s shown in Fig. 68(c).
  • the pouch films forming the cavity are brought together again and seal 1087 i s closed. If seal 1087 is resectable, it may spontaneously reseal and have adequate strength for molding.
  • external clamps 1098 in Fig. 68(d) one 2-part clamp on each side of the pouch can be used to reseal the cavity (briefly, or if the seal is not resealable, during the molding process of Fig. 68(f)) as shown in Fig.
  • Fig. 68(f) where the clamps have engaged the pouch and surround the cavity.
  • the shape of the clamp includes two gaps 1099 to allow ingredient to flow into the cavity at the top and to allow air in the cavity to be forced out at the bottom.
  • region 1086 has been compressed (e.g., by squeegee 1 100 moving in direction 1 102) to force additional ingredient into the cavity, filling it while forcing air out in region 1 104.
  • the clamps can then be removed (if still in place) and the cycle repeats, returning to the step of figure 68(b) in which the newly-molded ingredient is released from the pouch and so on.
  • a third approach to controlling the shape of a flowable ingredient during dispensing is to vary the shape and/or size of the pouch outlet during the dispensing process. For example, to deposit an ingredient in a spherical shape, the outlet can be initially small while the "south pole" of the sphere issues from the outlet, then gradually widen until reaching a maximum diameter at the "equator”, then gradually shrink again until the "north pole" is finally deposited.
  • Such changes in size can be implemented using an actuated, adjustable hole size version of a casing (see casing 726 of the 074 and 253 filings)— e.g., a mechanical iris— which surrounds the pouch outlet and forces the flexible pouch walls to form a smaller size opening (or stretches the walls if the material i s elastic), thereby varying the instantaneous cross section according to commands from the system controller.
  • a casing see casing 726 of the 074 and 253 filings
  • e.g., a mechanical iris which surrounds the pouch outlet and forces the flexible pouch walls to form a smaller size opening (or stretches the walls if the material i s elastic), thereby varying the instantaneous cross section according to commands from the system controller.
  • sensing may be used to detect for example when the pouch is correctly positioned within the cubby to allow proper grasping, when the grasper has grasped the pouch, when the flaps of the pouch are moving along with the arms, when the flaps are between the lower and upper clamps and can be grasped by the peeler, when the flaps are securely grasped, etc.
  • a pouch i s vacuum packed it may be pierced, peeled, or otherwise opened by a small amount (e.g., near its top) before being peeled opened, to reduce pouch distortion and/or to allow the venting of gasses during heating of the ingredient therein.
  • the pouch flaps can become easier to separate/reorient by squeezing the pouch so that the contents (especially if flowable) are not able to di stort the pouch as much due to their weight, etc. Squeezing can be performed in the area of the apex or above it.
  • pouches can be supported from at least one face (e.g., with suction cups), their vertical edges, or their flaps. During dispensing, pouches can be supported from their vertical edges and in some cases from their faces.
  • a second set of squeegees or rollers near the bottom of the pouch may be provided to serve as a valve, which can increase control over di spensing food items such as those of Type 1.
  • Di spensers such as those described herein can be configured so that the top of the pouch does not move downward during peeling of the pouch. Rather, the pouch wall s are peeled upwards such that the peel front moves upwards as more and more film i s peeled. Blades such as those of Fig. 8(k), or peeling rollers, if used, can be allowed to rise as peeling continues. Because the top of the pouch is stationary, it can be held in place for example by being sandwiched between two feed belts. These belts may al so hold in place other pouches that are queued up to be di spensed after the current pouch. [0450] Ingredients can be in various formed: raw, cooked, partially-cooked, dehydrated, freeze-dried, etc. If dehydrated or freeze-dried, they can be reconstituted by the addition of water (e.g., hot).
  • water e.g., hot
  • Sensors may be incorporated into system s using to evaluate nutritional content, quality, taste (e.g., sweetness) and other attributes of ingredients, to find contaminants, detect pouch breach, identify spoilage and pathogens, etc. For example, measuring pouch thickness, height, or width can identify pouch inflation due to gasses which may indicate spoilage.
  • Sensing modalities may include spectroscopy (e.g., near infrared spectrometers from Consumer Physics, Herzliya, I srael); X-ray imaging systems; metal detectors; ultrasonic systems; cameras; machine vision systems; weight, volume, and dimensional sensors; mechanical compliance sensors; etc.
  • Ingredient evaluations can be performed as ingredients are introduced into the system, while in storage, just before use, etc.
  • blades may be moveable with respect to the di spenser.
  • they may be mounted to linear bearings or flexures and urged downwards (e.g., by their own weight), allowing them to move in a way that allows them to press against the film surface and maintain a desired tension on the film as it passes around them.
  • they can be moved by suitable actuators into different positions or orientations to optimize delivery for particular ingredients.
  • ingredients may be stored in other ways, including other structures which hold individual pouches, or approaches using pouch chains/multi-compartment pouches (e.g., chains containing multiple ingredients arranged in the order required by a particular recipe).
  • the appliance shown in Figs. 31 (a)-(l) of the 074 and 253 filings can be provided with a set of pouches arranged linearly, e.g., in a box, such that pouches are selectively accessed by sliding them linearly.
  • the appliance and the system of Figs. 19(a)-(l)) in the 074 and 253 filings) can use pre-loaded pouches with
  • Such pouches containing the ingredients for one or more meal s, can be grouped/ganged together (e.g., into a box) at least temporarily, to allow them to be loaded (and optionally, unloaded) into the appliance all at once, and al so stored in a refrigerator before use.
  • the box can be collapsible, with the pouches remaining inside, for easy return after use.
  • Sensors may be incorporated into the machine for a variety of purposes. For example, if the flaps of a pouch are not successfully separated/reoriented, this can be detected by flap sensors (e.g., near/within the peeler clamps of Fig. 38(f)). Additional attempts may be made, but if no flaps are detected, the pouch can be released into a waste bin/ designated for donation, etc. and the process attempted with another pouch. Sensors in the cubby or grasper (e.g., of Fig. 19(d)) can be used to determine that the pouch i s present and positioned correctly. I mproper position (e.g., angle) can be corrected for (e.g., by rotating the grasper to better match the angle of the pouch top edge).
  • flap sensors e.g., near/within the peeler clamps of Fig. 38(f)
  • Additional attempts may be made, but if no flaps are detected, the pouch can be released into a waste bin/ designated for donation, etc. and the process
  • Pouches may contain chemical s for self-heating (e.g., as in US6,289,889) or cooling the ingredients, a process that can be initiated, e.g., by using a roller or clamp to crush a portion of the pouch holding the chemicals or rupture a frangible seal.
  • Pouches may have flaps that are initially joined together to provide robustness in handling, such as having corner or bottom regions that are sealed, with such regions cut off, or the seal holding them weakened (e.g., if made with a light- degradable adhesive) before the flaps are separated. Flaps may be fully sealed together initially, and forced apart by powerful suction, seal weakening, etc.
  • the term "pouch” generally refers to a flexible package comprised of one or more materials in film form such as polymers and/or metals, but may be understood in some cases to refer to other containers, including ones which are more rigid.
  • the term "vessel” generally refers to a container able to hold ingredients/food products for purposes of storage, processing delivery/presentation/consumption, etc. and may be interchanged in many cases with other containers having similar functionality.
  • di sh generally refers to a receptacle or vessel for serving or eating or drinking food, such as bowls, plates, cups, mugs, and glasses.
  • the term "meal” generally refers to one or more food items delivered for consumption, possibly involving processing of various kinds.
  • Proximate or “in proximity to” generally refers to close enough to achieve the required functional purpose, for example, in the context of a dispenser or dispensing system, it refers to a di stance comparable to a dimension of a typical pouch and more preferably within a smaller di stance.
  • words of approximation such as, without limitation, "about”, “substantial” or “substantially” refers to a condition that when so modified i s understood to not necessarily be absolute or perfect but would be considered close enough to those of ordinary skill in the art to warrant designating the condition as being present.
  • the extent to which the description may vary will depend on how great a change can be instituted and still have one of ordinary skilled in the art recognize the modified feature as still having the required characteristics and capabilities of the unmodified feature.

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Abstract

Des procédés et un appareil de préparation automatique d'aliments destinés à la consommation comprennent la distribution, la manipulation, le chauffage et d'autres opérations à l'aide d'une grande variété d'ingrédients de manière efficace et le maintien de leur qualité, tout en évitant le contact entre les ingrédients et l'appareil pour réduire au minimum le risque de contamination du système.
PCT/US2018/059487 2017-11-06 2018-11-06 Procédés et appareil pour la préparation automatisée d'aliments Ceased WO2019090352A1 (fr)

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
PCT/US2017/060253 WO2018085796A1 (fr) 2016-11-04 2017-11-06 Procédés et appareil pour la préparation automatisée d'aliments
USPCT/US2017/060253 2017-11-06
US201762588913P 2017-11-20 2017-11-20
US62/588,913 2017-11-20
US201862670043P 2018-05-11 2018-05-11
US62/670,043 2018-05-11
US201862724019P 2018-08-28 2018-08-28
US62/724,019 2018-08-28

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CN113826580A (zh) * 2021-09-14 2021-12-24 无为市德瑞家庭农场 一种防蚊除暑的饲养方法及应用该方法的系统
CN114104465A (zh) * 2020-08-28 2022-03-01 颍上县绿地食品有限公司 一种薯类加工用原料存放设备
CN114258867A (zh) * 2021-05-22 2022-04-01 相升正 适应性广的农业用辅助养殖装置
CN117302826A (zh) * 2023-11-28 2023-12-29 四川国强中药饮片有限公司 基于智能面单处理的小包装中药饮片调剂设备
CN117502269A (zh) * 2023-12-20 2024-02-06 北京猫猫狗狗科技有限公司 一种废袋自动回收的宠物喂食装置、喂养机及控制方法
CN119489982A (zh) * 2024-11-13 2025-02-21 武汉零点绿色食品股份有限公司 一种预制菜塑封包装缺陷智能检测方法及系统
US12311533B2 (en) 2021-10-08 2025-05-27 Techmagic Inc. Cooking-container-holding unit and automatic cooking-container-conveying device incorporating same
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CN117502269A (zh) * 2023-12-20 2024-02-06 北京猫猫狗狗科技有限公司 一种废袋自动回收的宠物喂食装置、喂养机及控制方法
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