Automated stirring and mixing apparatus for cooking

Abstract

The present application discloses an automated cooking apparatus that includes a holder configured to hold a container of food or food ingredients, one or more first kinematic pairs, each comprising a first mating part and a second mating part, wherein the first mating part is connected to the holder; a transport mechanisms that can move the second mating parts of the one or more kinematic pairs; and a driver or controller configured to drive or control the transport mechanism to produce a movement of properly fast speed so that a center point on the internal surface of the container is displaced by properly small distance. The first kinematic pairs and the transport mechanisms in combination can move the holder and the cooking pan to produce fast enough acceleration in the container.

What is claimed is: 
     
         1 . An automated cooking apparatus, comprising:
 a container configured to hold food or food ingredients;   a holder configured to hold the container;   a first kinematic pair comprising a first mating part and a second mating part, wherein the first mating part is connected to the holder; and   a transport mechanism configured to move the second mating part of the first kinematic pair,   wherein the first kinematic pair and the transport mechanism in combination are configured to produce accelerations in the container to stir, mix and distribute the food or food ingredients contained in the container and to produce a displacement in a center point of the container by less than a quarter of the diameter of the container.   
     
     
         2 . The automated cooking apparatus of  claim 1 , wherein the first kinematic pair comprises a turning pair. 
     
     
         3 . The automated cooking apparatus of  claim 1 , wherein the first kinematic pair comprises a sliding pair. 
     
     
         4 . The automated cooking apparatus of  claim 1 , wherein the first kinematic pair comprises a universal joint. 
     
     
         5 . The automated cooking apparatus of  claim 1 , wherein the first mating part of the first kinematic pair is connected to the holder via elastic or non-rigid connectors. 
     
     
         6 . The automated cooking apparatus of  claim 1 , wherein the transport mechanism is configured to move the second mating part of the first kinematic pair in a circular or rotational movement. 
     
     
         7 . The automated cooking apparatus of  claim 6 , further comprising:
 an adjustment mechanism configured to adjust the radius of the circular or rotational movement of the second mating part of the first kinematic pair.   
     
     
         8 . The automated cooking apparatus of  claim 1 , wherein the transport mechanism is configured to move the second mating part of the first kinematic pair in a cyclic movement, an oscillatory movement or a combination of oscillatory movements. 
     
     
         9 . The automated cooking apparatus of  claim 8 , wherein the transport mechanism is configured to move the second mating part of the first kinematic pair along a hypocycloid, or an epicycloid. 
     
     
         10 . The automated cooking apparatus of  claim 1 , further comprising:
 two or more first kinematic pairs and respective transport mechanisms; and   a transmission or linkage mechanism configured to link the two or more transport mechanisms so their produced movements are mechanically linked.   
     
     
         11 . The automated cooking apparatus of  claim 1 , further comprising:
 a powered mechanism configured to move the first mating part of the first kinematic pair relative to the second mating part; and   a computer configured to control the powered mechanism.   
     
     
         12 . The automated cooking apparatus of  claim 11 , wherein the powered mechanism is configured to move the first mating part of the first kinematic pair by oscillations relative to the second mating part. 
     
     
         13 . The automated cooking apparatus of  claim 11 , further comprising:
 a transmission or linkage mechanism configured to link the movements produced by the powered mechanism and the transport mechanism.   
     
     
         14 . The automated cooking apparatus of  claim 1 , further comprising a computer or an adjustment mechanism configured to dynamically adjust the directions, magnitudes and speeds of the movements produced by the transport mechanism. 
     
     
         15 . The automated cooking apparatus of  claim 1 , further comprising:
 a stabilization mechanism configured to constrain the movements of one or more parts of the holder or one or more objects connected with the holder,   wherein the first kinematic pair and the transport mechanism are configured to move the holder while the holder is constrained by the stabilization mechanism.   
     
     
         16 . The automated cooking apparatus of  claim 15 , wherein the stabilization mechanism comprises:
 a second kinematic pair comprising a first mating part and a second mating part, wherein the first mating part of the second kinematic pair is connected to the holder, and   a constraining mechanism configured to constrain the movement of the second mating parts of the second kinematic pair.   
     
     
         17 . The automated cooking apparatus of  claim 16 , further comprising:
 a support frame,   wherein the constraining mechanism comprises a third kinematic pair with a first mating part and a second mating part, wherein the first mating part of the third kinematic pair is connected to the second mating part of the second kinematic pair, and wherein the second mating part of the third kinematic pair is connected to the support frame.   
     
     
         18 . The automated cooking apparatus of  claim 16 , wherein the constraining mechanism comprises a connector configured to connect the second mating part of the second kinematic pair to a support frame. 
     
     
         19 . The automated cooking apparatus of  claim 15 , wherein the stabilization mechanism comprises:
 a second object configured to be connected to the holder; and   a third object configured to be connected to a support frame,   wherein the second object interacts with the third object by magnetic, pneumatic or hydraulic forces.   
     
     
         20 . The automated cooking apparatus of  claim 15 , wherein the stabilization mechanism comprises one or more elastic connectors, ropes, flexible connectors with hooks, or non-rigid connectors configured to connect one or more parts of the holder to a support frame. 
     
     
         21 . An automated cooking apparatus, comprising:
 a container configured to hold food or food ingredients;   a holder configured to hold a container; and   a transport mechanism mounted on a support frame, configured to move the holder or an object connected to the holder, wherein each point on the internal surface of the container that can be in contact with the food or food ingredients is configured to be moved relative to the support frame, wherein a center point of the container is displaced by less than a quarter of the diameter of the container, wherein the transport mechanism is configured to move the holder or the object connected to the holder, to produce accelerations in the container as to stir, mix and distribute the food or food ingredients contained in the container.   
     
     
         22 . The automated cooking apparatus of  claim 21 , wherein the transport mechanism configured to move the holder or an object connected to the holder by a cyclic movement, or an oscillatory movement, or a combination of oscillatory movements. 
     
     
         23 . The automated cooking apparatus of  claim 21 , wherein the transport mechanism is configured to move a device connected to the holder by a magnetic force produced by a sum of magnetic fields generated by one or more magnetic field generators, wherein the transport mechanism further comprises a driver or a mechanism configured to produce a cyclic or oscillatory changing pattern in each magnetic field generated by the magnetic field generators. 
     
     
         24 . The automated cooking apparatus of  claim 21 , wherein the transport mechanism is configured to apply a pneumatic force to a device connected to the holder through a gas flow generated by a combination of flow sources in a cyclic or oscillatory changing pattern, or a hydraulic force through a fluid flow generated by a combination of flow sources in a cyclic or oscillatory changing pattern. 
     
     
         25 . The automated cooking apparatus of  claim 21 , wherein the transport mechanism comprises:
 a first oscillation mechanism mounted on a first support frame configured to produce an oscillatory movement in the holder relative to the first support frame;   a second support frame; and   a second oscillation mechanism mounted on the second support frame configured to produce an oscillatory movement in the first support frame relative to the second support frame,   wherein the first oscillation mechanism and the second oscillation mechanism in combination are configured to move the holder to produce fast enough accelerations in the holder and the container to stir, mix or distribute the food or food ingredients contained in the container   
     
     
         26 . The automated cooking apparatus of  claim 25 , wherein the first oscillation mechanism and the second oscillation mechanism are configured to be mechanically linked. 
     
     
         27 . The automated cooking apparatus of  claim 21 , further comprising:
 a computer or an adjustment mechanism configured to dynamically adjust the directions, magnitudes and speeds of the forces of the transport mechanism.   
     
     
         28 . The automated cooking apparatus of  claim 21 , further comprising:
 a stabilization mechanism configured to constrain a second part of the holder or a second object connected to the holder,   wherein the transport mechanism is configured to move the holder while the holder is constrained by the stabilization mechanism.   
     
     
         29 . The automated cooking apparatus of  claim 28 , wherein the stabilization mechanism comprises:
 a second kinematic pair comprising a first mating part and a second mating part, wherein the first mating part of the second kinematic pair is connected to the holder; and   a constraining mechanism configured to constrain the movement of the second mating parts of the second kinematic pair.   
     
     
         30 . The automated cooking apparatus of  claim 29 , wherein the constraining mechanism comprises a third kinematic pair comprising a first mating part and a second mating part, wherein the first mating part of the third kinematic pair is connected to the second mating part of the second kinematic pair, and the second mating part of the third kinematic pair is connected to a support frame. 
     
     
         31 . The automated cooking apparatus of  claim 29 , wherein the constraining mechanism comprises a connector configured to connect the second mating part of the second kinematic pair to a support frame. 
     
     
         32 . The automated cooking apparatus of  claim 28 , wherein the stabilization mechanism comprises:
 a second object configured to be connected to the holder; and   a third object configured to be connected to a support frame,   wherein the second object is configured to interact with the third object by magnetic, pneumatic, or hydraulic forces.   
     
     
         33 . The automated cooking apparatus of  claim 28 , wherein the stabilization mechanism comprises one or more elastic connectors, ropes, flexible connectors with hooks, or non-rigid connectors configured to connect one or more parts of the holder to a support frame. 
     
     
         34 . An automated cooking apparatus comprising:
 a container configured to hold food or food ingredients;   a holder configured to hold the container; and   a vibration mechanism configured to produce vibrations in the container as to move the food or food ingredients in a helical pattern.   
     
     
         35 . An automated cooking apparatus comprising:
 a container configured to hold food or food ingredients;   a holder configured to hold the container;   a rotational mechanism comprising a first mating part and a second mating part and a connection configured to constrain the relative movement of the two mating parts to a rotation, wherein the first mating part of the rotational mechanism is configured to be connected with the holder;   a transport mechanism configured to move the second mating part of the rotational mechanism;   wherein the rotational mechanism and the transport mechanism in combination are configured to move the holder and the container to produce accelerations in the container to stir, mix and distribute the food or food ingredients contained in the container, wherein the axis of the rotation of the first mating part of the rotational mechanism has an inclination angle larger than 45 degrees.   
     
     
         36 . The automated cooking apparatus of  claim 35 , wherein the mating parts of the rotational mechanism are configured to be a shaft and a sleeve, wherein the axis of the shaft is configured to have an inclination angle larger than 45 degrees. 
     
     
         37 . The automated cooking apparatus of  claim 35 , wherein the transport mechanism is configured to move the second mating part of the rotational mechanism in a circular or rotational movement. 
     
     
         38 . The automated cooking apparatus of  claim 35 , further comprising:
 an adjustment mechanism configured to adjust the radius of the circular or rotational movement of the second mating part of the rotational mechanism produced by the transport mechanism.   
     
     
         39 . The automated cooking apparatus of  claim 35 , wherein the transport mechanism is configured to move the second mating part of the rotational mechanism in a cyclic movement, an oscillatory movement or a combination of oscillatory movements. 
     
     
         40 . The automated cooking apparatus of  claim 35 , further comprising:
 a powered mechanism configured to move the first mating part of the rotational mechanism relative to the second mating part.   
     
     
         41 . The automated cooking apparatus of  claim 40 , further comprising:
 a transmission or linkage mechanism configured to link the movements produced by the powered mechanism and the transport mechanism.   
     
     
         42 . The automated cooking apparatus of  claim 35 , comprising two or more rotational mechanisms and respective transport mechanisms and further comprising a transmission or linkage mechanism configured to link the two or more transport mechanisms so their produced movements are mechanically linked. 
     
     
         43 . The automated cooking apparatus of  claim 35 , further comprising a computer or an adjustment mechanism configured to dynamically adjust the directions, magnitudes and speeds of the movements produced by the transport mechanism. 
     
     
         44 . The automated cooking apparatus of  claim 35 , further comprising:
 a stabilization mechanism configured to constrain the movements of one or more parts of the holder or one or more objects connected with the holder,   wherein the rotational mechanism and the transport mechanism are configured to move the holder while the holder is constrained by the stabilization mechanism.   
     
     
         45 . The automated cooking apparatus of  claim 44 , wherein the stabilization mechanism comprises:
 a second kinematic pair comprising a first mating part and a second mating part, wherein the first mating part of the second kinematic pair is connected to the holder, and   a constraining mechanism configured to constrain the movement of the second mating parts of the second kinematic pair.   
     
     
         46 . The automated cooking apparatus of  claim 45 , wherein the constraining mechanism comprises a third kinematic pair with a first mating part and a second mating part; wherein the first mating part of the third kinematic pair is configured to be connected to the second mating part of the second kinematic pair and the second mating part of the third kinematic pair is configured to be connected to a support frame. 
     
     
         47 . The automated cooking apparatus of  claim 44 , wherein the stabilization mechanism comprises:
 a second object configured to be connected to the holder; and   a third object configured to be connected to a support frame,   wherein the second object is configured to interact with the third object by magnetic, pneumatic or hydraulic forces.   
     
     
         48 . The automated cooking apparatus of  claim 44 , wherein the stabilization mechanism comprises one or more elastic connectors, ropes, flexible connectors with hooks, or non-rigid connectors configured to connect one or more parts of the holder to a support frame. 
     
     
         49 . The automated cooking apparatus of  claim 35 , wherein the rotational mechanism comprises a configured to be a universal joint. 
     
     
         50 . An automated cooking apparatus, comprising:
 a container configured to hold food or food ingredients;   a holder configured to hold the container;   a stabilization mechanism comprising:
 a second kinematic pair comprising a first mating part and a second mating part, wherein the first mating part of the second kinematic pair is connected to the holder; and 
 a third kinematic pair comprising a first mating part and a second mating part, wherein the first mating part of the third kinematic pair is connected to the second mating part of the second kinematic pair; and 
 a constraining mechanism configured to constrain the movement of the second mating part of the third kinematic pair; and 
   a transport mechanism configured to move the holder,   wherein the constraining mechanism and the transport mechanism are configured to be mounted on a support frame, wherein the transport mechanism is configured to produce movements and accelerations in the container to stir, mix and distribute the food or food ingredients contained in the container, wherein the stabilization mechanism is configured to limit the movement of the container.   
     
     
         51 . The automated cooking apparatus of  claim 50 , wherein the constraining mechanism comprises a connector configured to connect the second mating part of the third kinematic pair to the support frame. 
     
     
         52 . The automated cooking apparatus of  claim 50 , wherein the transport mechanism comprises:
 a first kinematic pair with a first mating part and a second mating part, wherein the first mating part of the first kinematic pair is connected to the holder; and   a powered mechanism mounted on the support frame and configured to move the second mating part of the first kinematic pair.   
     
     
         53 . The automated cooking apparatus of  claim 52 , wherein the powered mechanism is configured to move the second mating part of the first kinematic pair in a circular or rotational movement. 
     
     
         54 . The automated cooking apparatus of  claim 50 , wherein the powered mechanism is configured to move the second mating part of the first kinematic pair in a cyclic movement, an oscillatory movement or a combination of oscillatory movements. 
     
     
         55 . The automated cooking apparatus of  claim 50 , wherein the transport mechanism comprises:
 a device connected to the holder; and   a mechanism configured to move the device by magnetic, pneumatic, or hydraulic forces.