Field of the Invention

[0001 ] This invention relates generally to robotic arm ice cream scooping mechanisms and, more particularly, to a scooping mechanism to prevent dropping of scoops of ice cream whilst serving.

Background of the Invention

[0002] Robotic ice cream serving stations involve an ice cream scoop manoeuvred by a robotic arm including that which is disclosed in WO/2020/024018 (Morus et al.) 06.02.2020 by the present applicant, the entire contents of which are incorporated herein by reference.

[0003] Problems exist when ice cream is accidentally dropped from the scoop prior proper depositing in a serving receptacle, a problem compounded by variability in ice cream density and viscosity. This problem may be somewhat ameliorated by careful manoeuvring of the scoop by the robotic arm but not eliminated entirely.

[0004] The present invention seeks to provide a way, which will overcome or substantially ameliorate at least some of the deficiencies of the prior art, or to at least provide an alternative.

[0005] It is to be understood that, if any prior art information is referred to herein, such reference does not constitute an admission that the information forms part of the common general knowledge in the art, in Australia or any other country.

Summary of the Disclosure

[0006] There is provided herein an ice cream scooping mechanism which may be manoeuvred by a robotic arm. The mechanism has a scoop within which ice cream is scooped by the robotic arm in use.

[0007] The mechanism further has a retention mechanism operably interfacing the scoop. The retention mechanism has a retention rod operative between an extended position where the retention rod extends into an interior of the scoop and a retracted position. [0008] The scoop may further comprise a wiper blade which wipes an interior surface of the scoop to dislodge scooped ice cream therefrom.

[0009] A controller may control the robotic arm and the scooping mechanism to serve scoops of ice cream.

[0010] Firstly, the controller would control the robotic arm to manoeuvre the scoop to scoop a scoop of ice cream from an ice cream tub or the like.

[001 1 ] Once a scoop of ice cream is obtained, the controller would operate the retention mechanism to extend the retention rod into the scoop. The distal end of the retention rod punches into the scoop of ice cream within the scoop against a distal end wall of the scoop thereby holding the ice cream in the scoop.

[0012] Thereafter, the controller controls the robotic arm to manoeuvre the scooping mechanism to the serving receptacle.

[0013] During this manoeuvre, the retention rod prevents the ice cream from accidentally being dropped from the scoop.

[0014] Once the scoop is positioned above the serving receptacle, the controller would operate the retention mechanism to retract the retention rod so that the ice cream is free to fall from the scoop to the serving receptacle.

[0015] The controller may additionally control the wiper blade to wipe the interior surface of the scoop to ensure that the scoop of ice cream therein is dislodged to the serving receptacle.

[0016] As the wiper blade may wipe across the path of the retention rod, the controller may be configured to ensure that the wiper blade is not operated whilst the retention what is extended.

[0017] Other aspects of the invention are also disclosed.

Brief Description of the Drawings

[0018] Notwithstanding any other forms which may fall within the scope of the present invention, preferred embodiments of the disclosure will now be described, by way of example only, with reference to the accompanying drawings in which:

[0019] Figure 1 shows a perspective internal view of an ice cream scooping mechanism in accordance with an embodiment; [0020] Figure 2 shows a perspective view of the mechanism with a retention rod thereof and a retracted position;

[0021 ] Figure 3 shows a perspective view of the mechanism with the retention rod in an extended position;

[0022] Figure 4 shows a top plan view of the mechanism with the retention rod in the extended position; and

[0023] Figure 5 shows a side elevation view of the mechanism.

Description of Embodiments

[0024] An ice cream scooping mechanism 100 has a scoop 102 for scooping ice cream therein. The mechanism 100 may be affixed to a distal end of a robotic arm (not shown) for automatic serving of ice cream such as in a retail environment.

[0025] The mechanism 100 has a retention mechanism operably interfacing the scoop. The retention mechanism has a retention rod 103 operable between an extended position as shown in Figure 3 where the retention rod 103 extends into an interior 104 of the scoop 102 and a retracted position shown in Figure 2.

[0026] As shown in Figure 1 , the retention rod 103 may extend and retract along a longitudinal axis 105 of the retention rod 103.

[0027] The mechanism 100 may comprise a stem 105 having the scoop 102 at a distal end thereof. The scoop 102 may define an opening defined by a rim 1 14 thereof to one side of the stem 105. The rim 1 14 may be coplanar.

[0028] The retention rod 103 may retract along the stem 105 when in the retracted position. Whereas the retention rod 103 may retract within an interior of the stem 105 in an embodiment, in the embodiment shown, the stem 105 defines an open channel 106 along which the retention rod 103 reciprocates.

[0029] As shown in Figure 4, the scoop 102 may have a length I along the longitudinal axis 105 of the retention pin 103 and, in the extended position shown, the distal end 1 10 of the retention rod 103 may extend more than a quarter of the length of the scoop 102.

[0030] The scoop 102 may further define a cylindrical midsection 1 1 1 and curved end sections 1 12 which transition from the cylindrical midsection 1 1 1 to end walls 1 13 of the scoop 102. As is further shown in Figure 4, the distal end 1 10 of the retention rod 1 13 may extend beyond the proximal end section 1 12 partway across the cylindrical midsection 1 1 1.

[0031 ] The retention rod 103 may be reciprocated by a pneumatic cylinder 107. The pneumatic cylinder 107 may be pressurised to drive the retention rod 103 in both directions. In other words, the pneumatic cylinder 107 may comprise a base port 108 for extending the retention rod 103 and a rod port 109 for retracting the retention rod 103. In alternative embodiments, the retention rod 103 may be reciprocated by an electromechanical mechanism such as annular solenoid, electric motor driven pinion acting on a rack or the like.

[0032] The mechanism 100 may further comprise a wiper mechanism which dislodges ice cream from the scoop 102 in use. The wiper mechanism may comprise a wiper blade 1 15 which turns eccentrically with respect to a wiper blade driveshaft 1 16. The wiper blade 1 15 may conform closely to the interior curvature of the scoop 102 wherein the blade 1 15 comprises proximal and distal curved end sections 1 17 which conform to the interior surface curvature of the respective curve end sections 1 12 and a straight midsection 1 18 which conforms to the interior surface curvature of the cylindrical midsection 1 1 1 .

[0033] The distal end of the wiper blade 1 18 may be journaled to a distal end of the scoop 102 by a short axle 1 19 extending through an aperture 120 of the distal end wall 1 13 of the scoop 102.

[0034] As is shown in Figure 1 , the longitudinal axis 105 of the retention rod 103 may locate deeper in the scoop 102 as compared to a rotational axis 121 of the wiper blade 1 15. As such, the proximal curved end section 1 17 of the blade 1 15 wipes across the path of the retention rod 103. As such, the mechanism 1 00 may be controlled by a controller which does not turn the wiper driveshaft 1 16 when the retention rod 103 is in the extended position. In other words, the controller would only turn the driver wiper shaft 1 16 when the retention rod 103 is in the retracted position. [0035] The wiper driveshaft 1 16 may be turned by a toothed rack 122 driven orthogonally with respect to the rotational axis 1 16 to turn a pinion gear 123. The rack 122 may be reciprocated by a pneumatic cylinder 124. The pneumatic cylinder 124 may similarly be driven in both directions in comprising a base port for extending the rack 122 to wipe the blade 1 15 in one direction and a rod port for retracting the rack 122 to wiper blade 1 15 and an opposite direction , thereby ensuring that the retention rod 103 can be pulled from the scoop of ice cream.

[0036] The mechanism 100 may comprise an interface box housing 125 which may comprise a pressurised air inlet 126, exhaust 127 and a plurality of electrical plugs 128 for opening and closing pneumatic solenoids to drive the pistons 107, 124.

[0037] The controller may control the robotic arm and the scooping mechanism 100 to scoop and deposit scoops of ice cream. Firstly, the controller would manoeuvre the scooping mechanism 100 to scoop ice cream into the scoop 102 from an ice cream tub or the like.

[0038] Thereafter, the controller would operate the retention mechanism to extend the retention rod 103 to the extended position. The distal end 1 10 of the retention rod 103 punches into the ice cream scoop within the scoop 102 against the distal end wall 1 13 of the scoop 102.

[0039] Thereafter, the controller may manoeuvre the scooping mechanism 100 to position the scoop 102 above a serving receptacle, such as a scoop, bowl, cone or the like.

[0040] During this manoeuvre, the retention rod 103 prevents the ice cream from dropping from the scoop 102.

[0041 ] Thereafter, the controller would operate the retention mechanism to retract the retention rod 103 to the retracted position so that the ice cream within the scoop 102 is no longer retained by the retention rod 103.

[0042] Once the retention rod 103 is in the retracted position, the controller may further operate the wiper mechanism to wipe the wiper blade 1 15 across the interior surface of the scoop 102 to ensure that the ice cream therein is dislodged from the scoop 102.

[0043] The foregoing description, for purposes of explanation, used specific nomenclature to provide a thorough understanding of the invention. However, it will be apparent to one skilled in the art that specific details are not required in order to practise the invention. Thus, the foregoing descriptions of specific embodiments of the invention are presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the invention to the precise forms disclosed as obviously many modifications and variations are possible in view of the above teachings. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, thereby enabling others skilled in the art to best utilize the invention and various embodiments with various modifications as are suited to the particular use contemplated. It is intended that the following claims and their equivalents define the scope of the invention.

[0044] Whereas the present apparatus has been described with reference to the preferred embodiment of scooping ice cream, it should be appreciated that the present apparatus can be used for scooping other types of scoopable foods, such as mashed potato, chocolate mousse and the like.