On-demand robotic food assembly equipment, and related systems and methods
A piece of equipment for on-demand food preparation, for instance on an assembly line, that can use an end-of-arm tool to retrieve and deposit food items on a horizontal surface, such as the surface of a conveyor. The end-of-arm tool may include a peel, in which the peel can be translated from a retracted position to an extended position to transfer food items. The piece of equipment may translate the peel quickly into the extended position to facilitate the retrieval of food items from the horizontal surface. The piece of equipment may be rotated to position the robotic appendage and the peel in a desired direction. The peel may include a push bar that may be movable between a withdrawn position and a push position to selectively push items off of the peel.
1. A method of operating a piece of equipment for on-demand food preparation, the piece of equipment comprising: a base; a robotic appendage having a proximate end and a distal end, the robotic appendage selectively moveable to position the distal end of the robotic appendage with respect to the base; an end of arm tool carried by the at least one robotic appendage at least proximate the distal end thereof; and a first actuator drivingly coupled to the end of arm tool, the method comprising:
determining by at least one processor a movement for the robotic appendage; and
transmitting by the at least one processor a first signal to the first actuator based upon the determined movement, the first signal causing the first actuator to move the end of arm tool between a retracted position and an extended position, in the retracted position the end of arm tool spaced relatively toward the distal end of the robotic appendage and in the extended position the end of arm tool spaced relatively away from the distal end of the robotic appendage with respect to the retracted position.
2. The method of claim 1 , further comprising:
translating by the actuator the end of arm tool between the retracted position and the extended position.
3. The method of claim 2 , wherein the end of arm tool comprises a peel having an upper surface and a lower surface, the lower surface opposed across a thickness of the peel from the upper surface, and wherein translating the end of arm tool comprises selectively translating the peel.
4. The method of claim 3 , wherein the piece of equipment further comprises a push bar that extends substantially perpendicularly to the upper surface of the peel, and a second actuator that is drivingly coupled to the push bar, the method further comprising:
transmitting by the at least one processor a second signal to the second actuator, the second signal causing the second actuator to longitudinally move the push bar in a direction defined by an axis that extends perpendicularly from a trailing edge of the peel towards a leading edge of the peel.
5. The method of claim 4 , further comprising:
longitudinally moving the push bar in the direction defined by the axis.
6. The method of claim 3 , wherein the piece of equipment further includes a sensor oriented to detect a horizontal surface proximate a leading edge of the peel, the method further comprising:
receiving by the at least one processor a detection signal from the sensor when the sensor detects the horizontal surface.
7. The method of claim 6 , wherein determining the movement for the robotic appendage is based at least in part upon the received detection signal.
8. The method of claim 1 , wherein determining the movement further comprises determining a motion plan for the robotic appendage, the motion plan specifying a plurality of movements executable by the robotic appendage to move the end of arm tool from a first pose to at least a second pose, the second pose different from the first pose.
9. The method of claim 1 , further comprising:
applying a force by the first actuator to the end of arm tool, the force causing the end of arm tool to translate between the retracted position and the extended position within one-half of one second.
10. The method of claim 1 , wherein the end of arm tool further includes at least one balance sensor that generates one or more signals based upon at least one of pitch and an orientation of the end of arm tool, the method further comprising:
transmitting by the at least one processor a second signal to the first actuator based upon the one or more signals received from the at least one balance sensor, the second signal causing the first actuator to maintain at least one of a pitch, an orientation of the end of arm tool, a speed of the end of arm tool, a velocity of the end of arm tool, or an acceleration of the end of arm tool.
11. The method of claim 1 , wherein the end of arm tool further includes at least one weight sensor that generates one or more signals based upon a force applied to the at least one weight sensor, the method further comprising:
determining, based upon the one or more signals received from the at least one weight sensor, if at least one of a loading action and an unloading action of a food item by the end of arm tool is complete.
12. The method of claim 1 , wherein the end of arm tool further includes at least one temperature sensor or thermocouple, and wherein the at least one temperature sensor or thermocouple generates one or more signals based upon a temperature of an item in contact with the at least one temperature sensor or thermocouple, the method further comprising:
determining based upon the one or more signals received from the at least one temperature sensor or thermocouple if the item in contact with the at least one temperature sensor or thermocouple is fully cooked.
13. The method of claim 1 , further comprising:
detecting by a sensor located on or proximate the end of arm tool a foreign object on the end of arm tool; and
generating, in response, an alert based at least in part upon the detection by the sensor of the foreign object.
14. A piece of equipment for use in on-demand food preparation, the piece of equipment comprising:
a base;
at least one robotic appendage having a proximate end and a distal end, the robotic appendage moveably coupled to the base at the proximate end of the robotic appendage and selectively moveable to position the distal end of the robotic appendage with respect to the base;
an end of arm tool carried by the at least one robotic appendage at least proximate the distal end thereof; and
a first actuator, the first actuator operable to selectively translate the end of arm tool between a retracted position and an extended position, in the retracted position the end of arm tool spaced relatively toward the distal end of the at least one robotic appendage and in the extended position the end of arm tool spaced relatively away from the distal end of the at least one robotic appendage with respect to the retracted position.
15. The piece of equipment of claim 14 , wherein the end of arm tool comprises a peel that has an upper surface, a lower surface opposed across a thickness of the peel from the upper surface, the peel including a leading edge that extends across at least a portion of a width of the peel, and a trailing edge that extends across at least a portion of the width of the peel, the trailing edge opposed across a length of the peel from the leading edge.
16. The piece of equipment of claim 15 , wherein the peel is comprised of at least one of a metal and a ceramic.
17. The piece of equipment of claim 15 , wherein the peel is comprised of a transparent material.
18. The piece of equipment of claim 15 , wherein the upper surface of the peel includes a plurality of ridges, and wherein adjacent ridges from the plurality of ridges form a corresponding valley along the upper surface of the peel.
19. The piece of equipment of claim 15 , wherein the peel includes one or more side edges, and wherein the upper surface of the peel includes one or more lips extending along one or more of the trailing edge and the one or more side edges of the peel.
20. The piece of equipment of claim 15 , wherein a majority of the upper surface is planar, a majority of the lower surface is planar, and the peel includes a bevel portion across at least a portion of the leading edge, the bevel portion tapering from relatively thicker to relatively thinner as a portion of the length of the peel is traversed in a direction defined by a directed line that extends perpendicularly from the trailing edge toward the leading edge.