Meal distribution apparatus and method

Abstract

Meal distribution apparatus, comprising: - a work area (ZT) with at least one storage area (St) and at least one distribution area, - at least one garage area (ZG1, ZG2), - at least one first and one second manipulator arm (BM1, BM2), each: - mobile between the garage area (ZG1, ZG2) and the work area (ZT), - arranged to move within the work area (ZT), characterized in that each manipulator arm (BM1, BM2) is arranged to be able to move the other manipulator arm (BM2, BM1) from the work area (ZT) to the garage area (ZG1, ZG2), particularly in the event of a failure. Figure for the abbreviation: Fig. 1

Description

Title of the invention: Apparatus and method for distributing meals Technical field of the invention

[0001] The present invention relates generally to automated devices for receiving meal orders, then preparing a meal from meal portions, and distributing the meal, which generally comprises a plurality of meal portions (starter, main course, dessert, cheese). At least one meal portion is typically delivered or distributed hot (the main course). State of the art

[0002] In the prior art of meal distribution apparatus, apparatus generally known include: - a work area with at least one storage space, arranged to store portions of meals to be distributed, and at least one distribution space, arranged to distribute at least one portion of a meal to a user, - a manipulator arm arranged to move around the work area so as to be able to take a portion of the meal from the storage area and place it in the distribution area.

[0003] On the other hand, this system can have drawbacks such as slow meal preparation (speed of preparation is critical, for example, during peak hours to avoid customer queues that could discourage orders), and a risk of complete shutdown if the manipulator arm breaks down or malfunctions. To overcome these drawbacks, several manipulator arms can be used to increase preparation speed, but if one of the manipulator arms breaks down, the other manipulator arm(s) may be denied access to part of the work area due to the faulty arm. Such a breakdown then causes the device to stop completely or prevents certain operations from being performed.

[0004] Furthermore, it should be noted that the preparation time for a meal comprising several portions can be very long due to the sequential nature of the operations, with a particular impact from the heating stages, which can last from a few tens of seconds to one or more minutes. The number of meals delivered per hour is therefore low.

[0005] Finally, it can also be noted that if a customer is late in collecting their meal, this can cause the preparation of the next order to be paused, because the machine cannot place the components of that order in the delivery space, which is still cluttered with the current order. This further slows down the pace. overall of the device, especially during peak hours. Description of the invention

[0006] One object of the present invention is to address the disadvantages of the prior art mentioned above and in particular, first of all, to provide an apparatus and a method for preparing meals which make it possible to guarantee a high rate of meal preparation from meal portions, while ensuring a meal distribution service even if a failure of a manipulator arm occurs.

[0007] To this end, a first aspect of the disclosure concerns a meal distribution device, comprising: - a work area with at least one storage space, arranged to store portions of meals to be distributed, and at least one distribution space, arranged to distribute at least one portion of a meal to a user, - at least one garage area, - at least one first and one second manipulator arm, each: - mobile between the garage area and the work area, - arranged to move within the work area so as to be able to take a portion of a meal from the storage area and place it in the distribution area, characterized in that the first manipulator arm is arranged to be able to move the second manipulator arm from the work area to the garage area, particularly in the event of failure of the second manipulator arm, and / or The second manipulator arm is designed to move the first manipulator arm from the work area to the garage area, particularly in the event of a failure of the first manipulator arm. According to the implementation described above, the malfunctioning manipulator arm is moved, pushed, or pulled by the still-functional manipulator arm to clear it from the work area to the garage area. This allows the still-functional manipulator arm to continue performing all functions and controls: no part of the work area is blocked by the malfunctioning manipulator arm.

[0008] According to one embodiment, each manipulator arm includes return means, each arranged to return each manipulator arm to a predetermined position in the work area, particularly in the event of a failure of said manipulator arm. In particular, the return means allow each manipulator arm (if it is faulty) to be placed in a coupling position that allows the other manipulator arm to move it. Preferably, the return means do not require any power supply to be able to return each manipulator arm to a predetermined position in the work area.

[0009] According to one embodiment, the distribution device is arranged to de-energize and / or disconnect at least some or all of the actuators and motors of a manipulator arm deemed faulty. Thus, the still-functional manipulator arm can easily push / pull the faulty manipulator arm.

[0010] According to one embodiment, each manipulator arm is arranged to move through at least three degrees of freedom, and wherein the first manipulator arm and / or the second manipulator arm comprises at least: - a first coupling interface to allow coupling between the first manipulator arm and the second manipulator arm according to a first degree of freedom, and / or - a second coupling interface to allow coupling between the first manipulator arm and the second manipulator arm according to a second degree of freedom.

[0011] According to one embodiment, the first coupling interface and / or the second coupling interface of each manipulator arm comprises: - means for pushing / pulling the other manipulator arm, such as a stop surface, and / or - means of attaching the other manipulator arm, such as a lock, and / or a magnet, and / or an electromagnet, and / or a groove with an undercut, and / or a clamp.

[0012] According to one embodiment: - the first coupling interface includes at least one first docking surface normal to the first degree of freedom, and / or - the second coupling interface includes at least one second docking surface normal to the second degree of freedom, and preferably two second surfaces normal to the second degree of freedom.

[0013] According to one embodiment, the first coupling interface and / or the second coupling interface includes at least one damping part, such as a rubber part, or a damper.

[0014] According to one embodiment, the recall means are arranged to return each manipulator arm to a predetermined position according to a third degree of freedom, preferably automatically and / or autonomously.

[0015] According to one embodiment, the return means comprise an elastic element such as a spring, and / or a gas spring, and / or a cylinder. The elastic element may be provided with sufficient stiffness to lift the moving part along its third degree of freedom, even when a portion of food is being transported. Specifically, a spring may be provided that is capable of lifting a mass of 2 kg or 5 kg and returning it to a raised position to allow coupling with the still-functional manipulator arm.

[0016] According to one embodiment: - the first degree of freedom is a translation along a first axis (X), - the second degree of freedom is a translation along a second axis (Y), - the third degree of freedom is a translation along a third axis (Z), however, alternatives with rotational movements can be provided, and in addition, a rotating gripping head can be added, for example.

[0017] According to one embodiment, each manipulator arm comprises, in a first direction of movement: - a guidance unit comprising a first guide rail - a motorized guidance unit comprising a second guide rail and a drive motor, in which the first guide rail of the first manipulator arm forms the second guide rail of the second manipulator arm, and in which the second guide rail of the first manipulator arm forms the first guide rail of the second manipulator arm. The overhangs are reduced according to this implementation.

[0018] According to one embodiment, each manipulator arm comprises at least one brushless electric motor or a permanent magnet electric machine. Such motors are easy to rotate even when unpowered. Relocating a malfunctioning manipulator arm to a storage area is straightforward.

[0019] According to one embodiment, the garage area comprises two separate garage areas, each dedicated to a manipulator arm.

[0020] According to one embodiment, the distribution space includes at least one heating space with heating means arranged to heat a portion of a meal.

[0021] According to one embodiment, the garage area is arranged away from a direct path between the storage area and the distribution area. A manipulator arm that malfunctions in the garage area does not then impede the movement of the other manipulator arm in the work area.

[0022] According to one embodiment, the dispensing device comprises at least two delivery windows, each comprising, for example, a flap and / or a sliding drawer.

[0023] According to one embodiment, the distribution device includes at least one control unit arranged to control the components of the distribution device.

[0024] A second aspect of the disclosure relates to a meal distribution method implemented by the preparation apparatus according to the first aspect, comprising the steps of: - check if one of the manipulator arms has a failure during a transport of meal portions, - if no fault is detected: - transporting portions of meals from the storage area to the distribution area using one or both manipulator arms sequentially or in parallel, - if a failure of one of the manipulator arms is detected: - push / pull the malfunctioning manipulator arm from the work area to the garage area while the manipulator arm remains functional. - transport portions of meals from the storage area to the distribution area with the manipulator arm remaining functional, in a sequential manner.

[0025] According to one embodiment, the meal distribution process comprises the steps of: - move a portion of a meal to be reheated from the storage area to a heating area using one of the first or second manipulator arms, - reheat the portion of the meal to be reheated, - During reheating, use one of the first or second manipulator arms to move at least one other portion of a meal or an accessory to be delivered with a meal to be distributed. According to this implementation, a manipulator arm does not remain idle during a reheating operation; it is used for other operations.

[0026] A third aspect of the disclosure relates to a meal preparation method implemented by a meal distribution device comprising at least one manipulator arm, a storage space for meal portions, and a meal distribution space to a user, the distribution space comprising a space for heating meal portions to be reheated and a space for aggregating the meal to be distributed, the process comprising the steps of: - to receive an order including at least one portion of a meal to be reheated and at least one portion of a meal to be served cold or without reheating, - Using the manipulator arm, retrieve the portion of meal to be reheated from the storage area, preferably refrigerated, and transport it to the heating area. - reheat the portion of the meal to be reheated, - while the portion of the meal to be reheated is being heated, and using the manipulator arm, retrieve the portion of the meal to be served cold or without reheating from the storage area and transport it to the aggregation area of ​​the distribution area. - Once reheating is complete, move the reheated portion of the meal to the aggregation area of ​​the distribution area.

[0027] According to one embodiment, the meal preparation process includes a step consisting of distributing or delivering to a user from the aggregation space simultaneously said at least one portion of meal to be reheated hot and said at least one portion of meal to be served cold or without reheating.

[0028] According to one embodiment, the meal distribution apparatus comprising at least one delivery window, the meal preparation process comprising a step of moving the portion of meal to be served cold or without heating and the portion of meal heated from the aggregation space to the delivery window.

[0029] A fourth aspect of the disclosure relates to a meal preparation method implemented by a meal dispensing device comprising at least one manipulator arm, a storage space for meal portions, and a meal dispensing space to a user, wherein the dispensing space of the meal dispensing device includes a space for heating meal portions to be reheated and at least two separate meal aggregation spaces for distribution, the dispensing method comprising the steps of: - receive at least one initial order including at least one portion of a meal to be reheated and at least one portion of a meal to be served cold or without reheating, - receive at least one second order including at least one portion of a meal to be served cold or without reheating, - Using the manipulator arm, retrieve the portion of the meal to be reheated from the first order from the storage area, preferably refrigerated, and transport it to the heating area. - reheat the portion of the meal to be reheated from the first order, - while the portion of the meal to be reheated from the first order is being heated, and using the manipulator arm, retrieve the portion of the meal to be served cold or without reheating from the first order from the storage area and transport it to the first aggregation area of ​​the distribution area, - while the portion of the meal to be reheated from the first order is being heated, and using the manipulator arm, retrieve the portion of the meal to be served cold or without reheating from the second order from the storage area and transport it to the second aggregation area of ​​the distribution area, - once reheating is complete, move the reheated portion of the meal from the first order to the first aggregation space in the distribution space.

[0030] According to one embodiment, the second order includes a portion of a meal to be reheated, the process comprising the steps of: - Using the manipulator arm, retrieve the portion of the meal to be reheated from the second order from the storage area, preferably refrigerated, and transport it to the heating area. - reheat the portion of the meal to be reheated from the second order, in which the manipulator arm performs at least one step of moving another portion of the meal while the portion of the meal to be reheated from the second order is being reheated.

[0031] According to one embodiment, the meal preparation process includes a step consisting of: - deliver to a user from the first aggregation space simultaneously at least one portion of said meal to be reheated and at least one portion of said meal to be served cold or without reheating, and / or - deliver to a user from the second aggregation space said at least one portion of meal to be served cold or without reheating.

[0032] According to one embodiment, the meal distribution apparatus comprises at least two delivery windows, the meal preparation process comprising: - a step consisting of moving the portion of the meal to be served cold or without reheating and the portion of the meal reheated from the first order from the first aggregation area to a first delivery window, and / or - a step consisting of moving the portion of the meal to be served cold or without reheating from the second order from the second aggregation space to a second delivery window.

[0033] According to one embodiment, the heating space comprises at least one entrance airlock and heating means such as a furnace, in which the step of moving the portion of the meal to be heated from the storage space to the heating space includes a step of moving the portion of the meal to be heated from the storage space to the entrance airlock with a manipulator arm, and a step of moving the portion of the meal to be heated from the entrance airlock to the heating means with means for moving the entrance airlock, and / or the meal preparation process including, during the reheating stage: - a step consisting of moving another portion of food to be reheated from the storage area to the entrance airlock. Description of the figures

[0034] Other features and advantages of the present invention will become more apparent upon reading the following detailed description of an embodiment of the invention given by way of non-limiting example and illustrated by the accompanying drawings, in which:

[0035] [Fig. 1] represents a perspective view of a meal distribution device equipped with manipulator arms;

[0036] [Fig.2] represents a simplified top view showing certain functional areas tionals of the meal distribution device of the [Fig.1];

[0037] [Fig.3] represents a simplified top view showing the manipulator arms of the meal distribution device of [Fig.1];

[0038] [Fig.4] represents a simplified front view showing the manipulator arms of the meal distribution device of [Fig.1].

[0039] Detailed description of embodiment(s)

[0040] Figure 1 schematically represents a meal dispensing device according to the invention, without the external casing that usually conceals the interior of such devices. Indeed, these meal dispensing devices are intended for placement in public places to automatically and / or autonomously sell pre-prepared meals stored in portion or tray form. They therefore have a closed structure for hygiene reasons.

[0041] An arch-shaped chassis is provided to support in the upper part two manipulator arms BMI and BM2 whose main function is to transport portions of meals or accessories to be delivered with meals from one functional area of ​​the device to another functional area.

[0042] The upper part of the arch is open and free of obstacles to allow the manipulator arms BMI and BM2 to move freely over the different parts of the meal distribution device.

[0043] The lower part of the arch is occupied by various technical components which can be categorized into functional zones, as can be seen [Fig.2].

[0044] In particular, [Fig. 2] schematically shows a division of the lower part of the dispensing device into functional zones. Specifically, the meal dispensing device includes a work zone ZT which can be traversed by the two manipulator arms BMI and BM2. The work zone ZT includes, in particular: - a storage area St arranged in the rear section, to store and keep cold portions of meals (typically in trays), and possibly accessories to be delivered with a meal (cutlery, condiments, packaging or trays...), - a first distribution area with a first heating area DI-R and a first meal aggregation area Dl-A, - a second distribution area with a second heating area D2-R and a second meal aggregation area D2-A, - a temporary storage space Pb.

[0045] The dispensing device also includes, outside the work area accessible to the BMI, BM2 manipulator arms: - a first delivery window, Ll, arranged in the front part of the distribution unit, i.e., facing the façade intended to face customers or users readers, - a second L2 delivery window, arranged in the front part of the distribution device. For safety reasons, the first delivery window L1 and the second delivery window L2 are not accessible to the manipulator arms BMI, BM2. Enclosures and electrical safety devices can be provided to prevent any interference, for example, from a user's hand, with one of the manipulator arms BMI, BM2.

[0046] Two parking areas ZG1 and ZG2 are provided adjacent to the work area ZT to allow one or both of the manipulator arms BMI and BM2 to be positioned or parked in these parking areas ZG1 and ZG2, which do not encroach on the work area.

[0047] In more detail, the storage space St is notably formed by a refrigerated cabinet with top access for the BMI and BM2 manipulator arms, and can contain various meal portions to be selected by a user. It is possible to store in the storage space St portions of meals to be served cold or without reheating (starters, salads, cheeses, desserts, fruits, etc.) and portions of meals to be reheated (the main course of the meal, for example).

[0048] Different combinations can be offered for the user to choose from, via a human-machine interface such as one or more control panels (not shown).

[0049] Each heating space DI-R or D2-R typically includes heating means (an oven, a microwave oven, for example) and an entry airlock. The portions of meals to be reheated are placed in the entry airlock by the BMI or BM2 manipulator arms. Means for moving the entry airlock can also be provided to move a portion of a meal to be reheated from the entry airlock to the heating means (for a portion of a meal to be reheated), and from the heating means to an exit airlock or to the aggregation space D1-A or D2-A (for a portion of a hot meal).

[0050] The means for moving the entry airlock can simultaneously move a portion of a meal to be reheated from the entry airlock to the heating means, and move a reheated portion of a meal from the heating means to an exit airlock or to the aggregation space D1-A or D2-A. A carousel or a drawer with a reciprocating motion and the removal of a stop upon return, for example, can be provided. Removable doors can be provided for the heating means, and the actuators can be electric or pneumatic.

[0051] Each heating space DI-R or D2-R is arranged opposite a meal aggregation space, respectively D1-A and D2-A. Each aggregation space of Meals D1-A and D2-A serve as receiving areas for the meal portions that will make up the meals to be distributed and delivered. In particular, each manipulator arm BMI, BM2 can bring cold meal portions and accessories (cutlery, etc.) directly from the storage area to this area. Heated meal portions coming from the heating units are also placed in the aggregation area by the movement systems of the entrance airlock.

[0052] Each meal aggregation area D1-A and D2-A is located opposite a delivery window, L1 and L2 respectively. These delivery windows allow the meal to be delivered once the order has been prepared. A push button can be provided to transfer the complete order from each meal aggregation area D1-A and D2-A to each delivery window L1 and L2 respectively, via a guillotine door, allowing a user to then take the prepared meal after opening a door on the front.

[0053] Between each heating space D1-R or D2-R, a temporary storage area Pb is provided, to receive portions of meals or other accessories if a failure occurs, as will be seen below.

[0054] As regards the structure of the manipulator arms BMI and BM2, this is schematically shown in figures 3 and 4. Each manipulator arm BMI, BM2 has three degrees of freedom, here translations (but other types of movements can be considered), to carry out the transfers of portions of meals or accessories from the storage space ST to either a heating space Dl-R or D2-R (in particular their entry airlock), or an aggregation space Dl-A or D2-A.

[0055] As can be clearly seen in top view [Fig.3], or in front view [Fig.4], each BMI, BM2 manipulator arm comprises: - a longitudinal carriage X, respectively first and second longitudinal carriage XI, X2, movable about an axis X, - a motor MX1, MX2 respectively to impose a movement along the X axis, - a transverse carriage Y, respectively first and second transverse carriage Y1, Y2, movable along a Y axis, - a motor respectively MY1, MY2 to impose a movement along the Y axis, - a vertical carriage Z, respectively first and second vertical carriage Z1, Z2 mobile along a Z axis, - a motor respectively MZ1, MZ2 (visible [Fig.4]) to impose a displacement along the Z axis - a gripping head with a suction cup respectively VI, V2.

[0056] As an improvement, an additional guide or guide link can be provided between each free end of the Y rail of the transverse carriages Y1, Y2 of one manipulator arm BMI, BM2 and each X rail of the other manipulator arm BMI, BM2. Thus each mobile unit in X is guided primarily by its X rail, and supplementarily by the X rail of the other manipulator arm.

[0057] Thus, each BMI, BM2 handling arm can move its gripping head throughout the work area ZT to pick up from any part of the storage space St and deposit into any heating space D1-R or D2-R or any aggregation space DI-A or D2-1.

[0058] Gripping is achieved with suction cup VI, V2 by applying a vacuum, in a known manner. Rotational or reversal movements can be provided, with pivot axes at the gripping head. Instead of a suction cup, any other type of gripping means can be provided (gripper, plate, etc.).

[0059] The structure shown uses roller carriages, but ball bearings or any type of guidance could be used. Each carriage slides along a rail and the respective motor is designed to drive it in translation with belts, for example toothed belts, but other types of transmission could be considered, such as a ball screw for example.

[0060] Electric motors are, for example, brushless electric motors, also known as permanent magnet synchronous machines. With the help of suitable encoders or control units, each motor can be controlled to impose a specific and precise movement within the working zone ZT.

[0061] Returning to [Fig. 2], we can note the presence of garage zones ZG1 and ZG2, set apart from the work area ZT, to allow one or the other of the manipulator arms BMI, BM2 to be parked, thus freeing up the work area and leaving it entirely free for the manipulator arm remaining in operation. This makes it possible to move portions of meals or accessories with a single manipulator arm when only one order needs to be prepared, or in the event of a failure of a manipulator arm BMI, BM2: the malfunctioning manipulator arm in garage zone ZG1 or ZG2 does not block any functional area of ​​the work area, and all orders can still be fulfilled.

[0062] In particular, if a failure of a BMI, BM2 manipulator arm occurs during order preparation, it is planned to be able to move the faulty BMI, BM2 manipulator arm so that it does not remain in the work area, even if a motor is out of order.

[0063] To this end, a coupling interface is provided on each carriage Z1 and Z2, in the form of an electromagnet EA1 and EA2 respectively. Other coupling means may be provided, such as a clamp, a locking interface, a ratchet, a permanent magnet, etc. Each coupling interface of a manipulator arm allows coupling with the other manipulator that may fail, in order to move and position it. position outside the work zone ZT, i.e. in a garage zone ZG1 or ZG2.

[0064] For example, if the second manipulator arm BM2 is faulty, then the first manipulator arm BMI can couple to the second manipulator arm by actuating the electromagnet EA1, to move the second manipulator arm BM2 to a garage area ZG1, ZG2.

[0065] To achieve this, it is first necessary to ensure that the second vertical carriage Z2 and the first vertical carriage ZI are at the same height to allow coupling. It is proposed to provide a first spring RI between the first transverse carriage Y1 and the first vertical carriage ZI, and a second spring R2 between the second transverse carriage Y2 and the second vertical carriage Z2. Any type of elastic element can be used (a spring, a tension spring, a spiral spring, a gas spring, or a gas strut, etc.).

[0066] Thus, the return to the raised position of the first vertical carriage ZI or the second vertical carriage Z2 is automatic, even if a failure occurs in the motors of a manipulator arm. In the given example, it is therefore guaranteed that the second vertical carriage Z2 will be in the raised position, even if the second manipulator arm BM2 is faulty. Then, it is simply a matter of bringing the first manipulator arm BMI close to the known position of the second manipulator arm BM2 and activating the first electromagnet EA1 to dock and couple the second manipulator arm BM2 to the first manipulator arm BMI. The latter can then move the second manipulator arm BM2 (push or pull it in X or Y), because brushless electric motors offer little or no resistance to rotation when they are not powered.

[0067] If the second manipulator arm BM2 was not carrying a meal portion when it failed, then it can be moved directly to a storage area ZG1 or ZG2 (these can be assigned or interchangeable). If, however, the second manipulator arm BM2 was carrying a meal portion when it failed, then it can be moved first over the temporary storage area Pb, to deposit the meal portion in question in the temporary storage area, before moving it to the garage area ZG1 or ZG2 in question. The meal portions can then be retrieved later from the temporary storage area with the manipulator arm still active, for example, to complete the current order.

[0068] Consequently, even if one manipulator arm BMI, BM2 fails during the operation of the dispensing device, then the other manipulator arm BM2, BMI pushes it into a garage zone ZG1, ZG2, so that it can then move throughout the entire working zone ZT, and still ensure all the Orders placed.

[0069] Furthermore, it is planned to be possible to place a portion of a meal to be reheated in the entry airlock of either heating area, and this operation is planned to be performed as a priority when preparing a meal order that includes at least one portion of a meal to be reheated. Thus, the manipulator arm BMI, BM2, which placed the portion of the meal to be reheated in the aforementioned entry airlock, can then be used to transport the other meal portions of the order from the storage area St to the corresponding aggregation area D1-A or D2-A, while the movement means of the entry airlock move the portion of the meal to be reheated to the heating means, and then to the aggregation area D1-A or D2-A once the heating is complete. Therefore, the manipulator arm does not wait for the portion of the meal to be reheated to finish heating before performing another operation.This saves preparation time by eliminating the waiting time of the manipulator arm involved. This implementation can be implemented in a dispensing device with a single manipulator arm.

[0070] As mentioned above, the dispensing device comprises two aggregation areas, D1-A and D2-A, as well as two separate delivery windows, L1 and L2. This implementation optimizes the preparation process by minimizing waiting times for the manipulator arms and heating operations. Indeed, once an order is prepared, the user must take it to free up space for the next order. With the proposed implementation, the order, once aggregated in the D1-A or D2-A aggregation area, is transferred to a delivery window, L1 or L2. As soon as the transfer is complete, the device can begin preparing the next order, regardless of how quickly the customer takes their prepared meal from the delivery window.Such an implementation (preparing the next order N+1 in parallel or even in advance of the actual collection of the current order N) makes it possible to significantly increase the number of meals distributed per hour, even if users do not collect their order immediately.

[0071] Generally, the dispensing unit described above can be controlled by one or more control units or PLCs. A purely electrical power supply with an internal electric vacuum pump to supply the suction cups with vacuum is possible. A connection to an external vacuum source is also possible. An integrated refrigeration unit or a heat transfer fluid supply is also possible. However, a fully integrated solution is preferable, providing a self-contained unit that can be placed anywhere, requiring only a power supply.

[0072] With regard to human-machine interfaces to enable users to For placing orders, touchscreens can be installed on the front panel, or remotely located away from the main body of the dispensing unit. Wireless communication units (via telephone, internet, etc.) can also be included to allow for remote ordering.

[0073] The body of the device may of course include access hatches to allow recharging the storage space, cleaning the device, and carrying out control and maintenance operations. Industrial application

[0074] A meal distribution device according to the present invention, and its manufacture, are capable of industrial application.

[0075] It will be understood that various modifications and / or improvements obvious to a person skilled in the art can be made to the different embodiments of the invention described in this description without departing from the scope of the invention.

Claims

Demands

1. Meal dispensing apparatus, comprising: - a work area (ZT) with at least one storage area (St), arranged to store portions of meals to be dispensed, and at least one dispensing area, arranged to dispense at least one portion of a meal to a user, - at least one garage area (ZG1, ZG2), - at least one first and one second manipulator arm (BMI, BM2), each: - mobile between the garage area (ZG1, ZG2) and the work area (ZT), - arranged to move within the work area (ZT) so as to be able to take a portion of a meal from the storage area (St), to deposit it in the dispensing area, in which the first manipulator arm (BMI) is arranged to be able to move the second manipulator arm (BM2) from the work area (ZT) to the garage area (ZG1, ZG2), in particular in the event of failure of the second manipulator arm (BM2),and / or in which the second manipulator arm (BM2) is arranged to be able to move the first manipulator arm (BMI) from the work area (ZT) to the storage area (ZG1, ZG2), particularly in the event of failure of the first manipulator arm (BMI), characterized in that the work area (ZT) comprises at least one heating space (DI-R, D2-R) and at least one meal aggregation space (DI-A, D2-A), and that at least one of the first and second manipulator arms (BMI, BM2) is arranged to pick up a portion of a meal from the storage space (St) and deposit it in the heating space (DI-R, D2-R) or in the meal aggregation space (DI-A, D2-A).

2. Meal distribution apparatus according to claim 1, wherein each manipulator arm (BMI, BM2) includes return means, each arranged to return each manipulator arm (BMI, BM2) to a predetermined position in the working area (ZT), in particular in the event of failure of said manipulator arm.

3. A meal dispensing apparatus according to any one of claims 1 to 2, wherein each manipulator arm (BMI, BM2) is arranged to move along at least three degrees of freedom (X, Y, Z), and wherein the first manipulator arm (BMI) and / or the second manipulator arm- The pulverizer (BM2) includes at least: - a first coupling interface to allow coupling between the first manipulator arm (BMI) and the second manipulator arm (BM2) according to a first degree of freedom, and / or - a second coupling interface to allow coupling between the first manipulator arm (BMI) and the second manipulator arm (BM2) according to a second degree of freedom.

4. Meal distribution apparatus according to claim 3, wherein the first coupling interface and / or the second coupling interface of each manipulator arm (BMI, BM2) comprises: - means for pushing / pulling the other manipulator arm, such as a stop surface, and / or - means for attaching the other manipulator arm, such as a lock, and / or a magnet, and / or an electromagnet (EA1, EA2) and / or a groove with an undercut, and / or a clamp.

5. Meal dispensing apparatus according to any one of claims 3 or 4 in their dependence on claim 2, wherein the return means are arranged to return each manipulator arm (BMI, BM2) to a predetermined position according to a third degree of freedom.

6. Meal dispensing apparatus according to claim 2 or 5, wherein the return means comprise an elastic element such as a spring (RI, R2), and / or a gas spring, and / or a cylinder.

7. Meal distribution apparatus according to any one of claims 1 to 6, wherein each manipulator arm (BMI, BM2) comprises in a first direction of movement: - a guide unit comprising a first guide rail - a motorized guide unit comprising a second guide rail and a drive motor, wherein the first guide rail of the first manipulator arm (BMI) forms the second guide rail of the second manipulator arm (BM2), and wherein the second guide rail of the first manipulator arm (BMI) forms the first guide rail of the second manipulator arm (BM2).

8. Meal dispensing apparatus according to any one of claims 1 to 7, wherein the dispensing space comprises at least one heating space (DI-R, D2-R) with heating means arranged to re- heat a portion of a meal.

9. A meal dispensing method implemented by the preparation apparatus according to any one of claims 1 to 8, comprising the steps of: - Check if one of the manipulator arms malfunctions during the transport of meal portions, - if no malfunction is detected: - transporting meal portions from the storage area (St) to the distribution area using one or both manipulator arms sequentially or in parallel, - if a failure of one of the manipulator arms is detected: - push / pull the malfunctioning manipulator arm from the work area (ZT) to the garage area (ZG1, ZG2) while the manipulator arm remains functional, - transport portions of meals from the storage area (St) to the distribution area with the manipulator arm remaining functional, in a sequential manner.

10. A method for distributing meals according to the preceding claim, comprising the steps of: - move a portion of a meal to be reheated from the storage space (St) to a heating space (DI-R, D2-R) using one of the first or second manipulator arms (BM2), - reheat the portion of the meal to be reheated, - during reheating, use said one of the first or second manipulator arm (BM2) to move at least one other portion of meal or accessory to be delivered with a meal to be distributed.

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