Smooth surfaced flexible and stretchable skin for covering robotic arms in restaurant and food preparation applications

Abstract

A sleeve apparatus for protecting a robotic kitchen arm from contamination. The sleeve includes a proximal end, a distal end, a passageway extending from the proximal end to the distal end, and an exterior surface. The passageway has an effective diameter less than the effective diameter of the robotic kitchen arm such that the exterior surface of the sleeve apparatus is substantially fold-free when the robotic arm is in the extended configuration. Methods of cleaning a robotic kitchen arm are also described.

1 . A sleeve apparatus for protecting a robotic kitchen arm from contamination, the robotic kitchen arm having an effective diameter and at least one joint such that the robotic arm can be manipulated between a bent configuration and an extended configuration, the sleeve apparatus comprising:
 a body comprising a proximal end, a distal end, a passageway extending from the proximal end to the distal end, and an exterior surface; and   wherein the passageway has an effective diameter less than the effective diameter of the robotic kitchen arm such that (a) the exterior surface of the sleeve apparatus is substantially fold-free when the robotic arm is in the extended configuration, and (b) the exterior surface of the sleeve apparatus comprises at least one fold when the robotic kitchen arm is in the bent configuration.   
     
     
         2 . The sleeve apparatus of  claim 1 , wherein the body comprises a first layer, and a second layer covering the first layer, and wherein the second layer is made of a liquid-proof elastic polymer. 
     
     
         3 . The sleeve apparatus of  claim 2 , wherein the first layer has a greater thickness and is less elastic than the second layer. 
     
     
         4 . The sleeve apparatus of  claim 1 , wherein the exterior surface has a surface roughness less than or equal to 250 μin. 
     
     
         5 . The sleeve apparatus of  claim 1 , wherein the body has a modulus of elasticity of less than 100 kPa. 
     
     
         6 . The sleeve apparatus of  claim 1 , wherein the passageway has a total length ranging from 36 to 70 inches, and an effective diameter in the range from 3 to 12 inches. 
     
     
         7 . The sleeve apparatus of  claim 1 , wherein the exterior surface comprises a biocide coating. 
     
     
         8 . The sleeve apparatus of  claim 1 , further comprising the robotic kitchen arm. 
     
     
         9 . The sleeve apparatus of  claim 1 , wherein the body is formed of at least two tubular sections, and wherein adjacent tubular sections overlap. 
     
     
         10 . The sleeve apparatus of  claim 1 , wherein the effective diameter of the robotic kitchen arm varies along its length and wherein the effective diameter of the passageway varies along its length to accommodate the varying effective diameter of the robotic kitchen arm. 
     
     
         11 . The sleeve apparatus of  claim 10 , wherein an undersized ratio of the effective diameter of the passageway to the effective diameter of the robotic kitchen arm at any point along the length of the robotic kitchen arm ranges from 0.5%-3%. 
     
     
         12 . The sleeve apparatus of  claim 1 , wherein said at least one joint comprises at least two joints. 
     
     
         13 . The sleeve apparatus of  claim 1 , further comprising a compression element at the proximal end of the body. 
     
     
         14 . A method of cleaning a robotic kitchen arm comprising:
 enclosing the robotic kitchen arm with a sleeve, the sleeve having a passageway through which the robotic kitchen arm is advanced, and an exterior surface;   manipulating the sleeve into a target configuration for cleaning while the sleeve encloses the robotic kitchen arm, the target configuration being fold-less along the exterior surface; and   wiping down the exterior surface of the sleeve while the sleeve is enclosing the robotic kitchen arm.   
     
     
         15 . The method of  claim 14 , further comprising preparing food using the robotic kitchen arm prior to the step of manipulating, and wherein the step of preparing food comprises articulating the robotic kitchen arm into at least one bent configuration such that at least one fold arises along a portion of the sleeve. 
     
     
         16 . The method of  claim 15 , wherein the step of manipulating is performed by straightening the robotic kitchen arm subsequent to the step of preparing the food until the at least one fold is eliminated. 
     
     
         17 . The method of  claim 16 , wherein the passageway comprises an effective diameter less than an outer diameter of the robotic kitchen arm, such that the sleeve is stretched while enclosing the robotic kitchen arm. 
     
     
         18 . A sleeve apparatus for protecting a robotic kitchen arm from contamination, the robotic kitchen arm having an effective diameter and at least one joint such that the robotic arm can be manipulated between a bent configuration and an extended configuration, the sleeve apparatus comprising:
 a body comprising a proximal end, a distal end, a passageway extending from the proximal end to the distal end, and an exterior surface wherein the body has a sizing such that the passageway has an effective diameter equal to or less than the effective diameter of the robotic kitchen arm.   
     
     
         19 . The sleeve apparatus of  claim 18 , wherein the body is formed of at least two tubular sections, and wherein adjacent tubular sections overlap. 
     
     
         20 . The sleeve apparatus of  claim 18 , wherein the sleeve apparatus has an effective diameter such that the exterior surface is entirely fold-free along its length when the robotic arm is in the extended configuration.