Frozen dessert dispensing machine and cartridge

Abstract

To provide a dispensing machine that dispenses ice cream into a cup from a cartridge, in a manner that is clean, and low maintenance.SOLUTION: A machine 1 for dispensing an individual portion of a frozen dessert may include a cartridge cart having walls forming a cavity having a longitudinal central axis and configured to accommodate a cartridge 5. The cartridge 5 may include a tube having first and second ends, a nozzle disposed at the first end, and a piston disposed between the nozzle and the second end and configured to slidably move along the tube. The individual portion of the frozen dessert may be contained within the tube between the nozzle and the piston. The machine may also include a plunger, a drive source operably coupled to the plunger and configured to drive the plunger along the central axis, and a support configured to support the first end of the cartridge such that actuating the drive source causes the individual portion of the frozen dessert to be dispensed through the nozzle.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure provides an ice cream dispensing machine that extrudes premium ice cream from a cartridge and dispenses it into a cup. [Background technology]

[0002] (background) Consumers enjoy high quality gourmet ice cream at home and other locations, especially ice cream parlors. However, a challenge for ice cream parlors is that it can be quite expensive to dispense gourmet ice cream. For example, an employee (or associate) must scoop the ice cream from a large container (or bin) into a cup or cone for the consumer to enjoy. The employee must also add any inclusions (e.g., nuts, sprinkles, etc.) that are not already part of the ice cream. To make matters worse, employees may under- or over-fill the ice cream scoops, resulting in consumption levels that are difficult for the parlor to track and therefore predict. In addition, consumers may not want to travel to an ice cream parlor to enjoy gourmet ice cream.

[0003] Retailers have attempted to meet these challenges by pre-packaging gourmet ice cream in containers that consumers can purchase. The drawback to this approach is that these containers must be stored in large freezers at the retailer, which can either take up too much prime real estate, or be hidden from unwanted consumers. And even after the consumer discovers the ice cream, it may not be ready for consumption because it is typically kept at temperatures that are too cold (e.g., 0°F to -20°F), making the ice cream too hard and difficult for the consumer to enjoy.

[0004] To remedy some of these shortcomings, retailers have introduced large soft serve "ice cream" machines (or soft "ice cream" machines, soft serve ice cream machines, or soft serve ice cream machines). These machines typically must be run all day and may require the inclusion of stabilizers in the ice cream mix. When the mix is ​​ready for consumption, the consumer or store attendant pulls a handle to dispense the soft serve ice cream into a cup or cone. However, soft serve ice cream typically does not contain inclusions (e.g., chocolate chunks) because they would clog the nozzles of the machines. Also, flavor selection is limited. The machines are bulky. If new different flavors are desired, the machines must be purged, cleaned, then refilled with new flavors, and then cooled to the proper serving temperature. Additionally, traditional soft serve machines can require expensive maintenance and cleaning and may need to be run around the clock to keep the ingredients mixed, frozen, and ready to serve. Summary of the Invention [Means for solving the problem]

[0005] The present disclosure provides an ice cream dispensing machine that extrudes premium ice cream from a cartridge and dispenses it into a cup. The machine accepts a unique cartridge filled with (but not limited to) ice cream and dispenses the ice cream into a cup at the push of a button. The machine can then remove the empty cartridge, obviating the need for the user to remove the used cartridge. Interestingly, the extrusion process of the frozen ice cream from the cartridge makes the surface of the ice cream instantly edible. This addresses the prior art problem that frozen ice cream is too hard to eat directly from the freezer, and consumers must wait for the ice cream to warm up or have a hard time eating the hard ice cream. Additionally, the machine and cartridge disclosed herein allow for inclusions in the ice cream. The machines, cartridges and processes disclosed herein address issues such as preventing leaks and spills and disposal of empty cartridges, allowing for the autonomous provision of frozen desserts in an attractive, clean and low maintenance manner. The invention(s) disclosed herein may provide these and other advantages over the prior art.

[0006] The accompanying drawings, which are incorporated in and constitute a part of this specification, depict various example systems, methods, and the like illustrating various example embodiments of aspects of the present invention. It will be understood that element boundaries (e.g., boxes, boxes, or other shapes) depicted in the figures represent one example of boundaries. Those skilled in the art will understand that an element can be designed as multiple elements, and multiple elements can be designed as an element. An element shown as an internal component of another element can be implemented as an external component, and vice versa. Additionally, elements may not be drawn to scale. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 shows a front view of an exemplary machine for dispensing individual portions of frozen desserts. [Figure 2A] 2A and 2B show another exemplary machine for dispensing individual portions of a frozen dessert. [Figure 2B] 2A and 2B show another exemplary machine for dispensing individual portions of a frozen dessert. [Figure 3A] 3A and 3B show perspective and exploded views of an exemplary cartridge for dispensing individual portions of frozen desserts. [Figure 3B] 3A and 3B show perspective and exploded views of an exemplary cartridge for dispensing individual portions of frozen desserts. [Figure 4] FIG. 4 shows a perspective view of the machine of FIGS. 2A and 2B with the housing removed. [Diagram 5] FIG. 5 is a perspective view of an exemplary cartridge cart. [Figure 6] Figure 6 shows a schematic of the interaction between the cartridge cart, cartridge and plunger. [Figure 7A] 7A and 7B show cross-sectional views of an exemplary cartridge. [Figure 7B] 7A and 7B show cross-sectional views of an exemplary cartridge. [Figure 7C] 7C and 7D show front views of an example nozzle of the example cartridge of FIGS. 7A and 7B. [Figure 7D] 7C and 7D show front views of an example nozzle of the example cartridge of FIGS. 7A and 7B. [Figure 7E] FIG. 7E shows a top perspective cross-sectional view of the exemplary cartridge of FIGS. 7A and 7B. [Figure 7F]FIG. 7F shows a bottom perspective view of the piston of the cartridge of FIGS. 7A and 7B. [Figure 8] FIG. 8 shows a cross-sectional view of an exemplary plunger. [Figure 9] FIG. 9 illustrates the loading of a cartridge into the machine of FIGS. 2A and 2B. [Figure 10] Figure 10 shows the start of the automated portion of the frozen dessert dispensing process. [Figure 11] Figure 11 shows the engagement of the cap grasper into the cartridge cap. [Figure 12] FIG. 12 shows the removal of the cap of the cartridge. [Figure 13] FIG. 13 shows the cap grasper moving horizontally to move the cap out of the path of the frozen dessert. [Figure 14] FIG. 14 shows the engagement of the cartridge piston and plunger. [Figure 15] FIG. 15 shows the end of the dispensing portion of the process. [Figure 16A] 16A, 16B, 16C and 16D show a front view, a cross-sectional view, a bottom perspective view and a top perspective view, respectively, of an exemplary cup positioning mechanism. [Figure 16B] 16A, 16B, 16C and 16D show a front view, a cross-sectional view, a bottom perspective view and a top perspective view, respectively, of an exemplary cup positioning mechanism. [Figure 16C] 16A, 16B, 16C and 16D show a front view, a cross-sectional view, a bottom perspective view and a top perspective view, respectively, of an exemplary cup positioning mechanism. [Figure 16D] 16A, 16B, 16C and 16D show a front view, a cross-sectional view, a bottom perspective view and a top perspective view, respectively, of an exemplary cup positioning mechanism. [Figure 16E] FIG. 16E shows a chart of an example process for controlling an example cup position mechanism. [Figure 16F]FIG. 16F shows an example interface for controlling an example cup position mechanism. [Figure 17A] 17A, 17B and 17C show top perspective and cross-sectional views of an exemplary cup-retaining mechanism. [Figure 17B] 17A, 17B and 17C show top perspective and cross-sectional views of an exemplary cup-retaining mechanism. [Figure 17C] 17A, 17B and 17C show top perspective and cross-sectional views of an exemplary cup-retaining mechanism. [Figure 18] FIG. 18 shows the reinstalling of the cap onto the cartridge. [Figure 19A] FIG. 19A shows the cartridge being grasped and removed from the cartridge cart for holding. [Figure 19B] Figure 19B shows a perspective view of the plunger to show more detail of the radial gripper. [Figure 20A] FIG. 20A shows an exemplary embodiment of a mechanism by which the machine discards the cartridge. [Figure 20B] 20B and 20C show front and perspective views of another exemplary embodiment of a mechanism by which the machine discards cartridges. [Figure 20C] 20B and 20C show front and perspective views of another exemplary embodiment of a mechanism by which the machine discards cartridges. [Figure 21] 21 and 22 show the removal of a waste bin from the machine of FIGS. 2A and 2B. [Figure 22] 21 and 22 show the removal of a waste bin from the machine of FIGS. 2A and 2B. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Detailed Description of the Invention

[0008] (Detailed Description) FIG. 1 shows an exemplary machine 1 for dispensing individual portions of frozen desserts. Machine 1 may include a housing 2 having a front door 4 or opening for inserting a cartridge 5 into machine 1. Cartridge 5 may be filled with any type of frozen dessert, such as ice cream, frozen yogurt, frozen milkshake mix, etc. Front door 4 or opening connects to a passageway that leads cartridge 5 into a cartridge cart 3, as described below. Machine 1 may accommodate cartridges 5 of various sizes (e.g., lengths) depending on serving size. For small servings, machine 1 may accommodate shorter cartridges 5, and for larger servings, machine 1 may accommodate longer cartridges 5.

[0009] Machine 1 may also include a serving area 6 where a user can place a cup into which the frozen dessert may be dispensed. Machine 1 may also include controls 8, such as a touch screen or a physical button, that allow a user to initiate the dispensing process. Machine 1 may include, for example, an electronic display that displays instructions to the user on how to operate the machine. Machine 1 may also include a proximity sensor that detects the proximity of a user to machine 1 and may initiate the display of instructions based on the detected proximity.

[0010] Machine 1 may include or be located adjacent to a freezer 10 to keep cartridges 5 filled with frozen desserts at an ideal temperature (e.g., between −5° F. and 0° F.). In one embodiment, freezer 10 may be operably connected to machine 1 to auto load cartridges 5 from freezer 10 into machine 1.

[0011] Machine 1 may also include a supplies area 12 where cups, spoons, napkins, etc. may be placed for the user's convenience. The user may remove a cup C from the supplies area 12, place it in the serving area 6, select a cartridge 5 from freezer 10, insert cartridge 5 through the passage behind door 4, and push start on controller 8 to initiate the dispensing process.

[0012] 2A and 2B show another exemplary machine 1 for dispensing individual portions of frozen desserts. Similar to the machine 1 of FIG. 1, the machine 1 of FIG. 2A and 2B may include a housing 2 having a front door 4 or opening for inserting a cartridge 5 into the machine 1. The cartridge 5 may be filled with any type of frozen dessert, such as ice cream, frozen yogurt, frozen milkshake mix, etc. The front door 4 or opening connects to a passageway that leads the cartridge 5 into a cartridge cart 3, as described below. The front door 4 may accommodate cartridges 5 of various sizes (e.g., lengths) depending on the serving size.

[0013] Machine 1 may also include a serving area 6 into which a user may place a cup C into which the frozen dessert may be dispensed. Machine 1 may also include a control 8, such as a touch screen or physical buttons, that allows a user to initiate the dispensing process.

[0014] As shown in FIG. 2A, the machine 1 may include or be located on a freezer 10 for keeping the cartridges 5 filled with frozen desserts at an ideal temperature (e.g., −5° F. to 0° F.). In the embodiment shown in FIG. 2A, the freezer 10 serves as a stand for the machine 1. As shown in FIG. 2B, the freezer 10 may be located next to (or next to) the machine 1. In the embodiment shown in FIG. 2B, the machine 1 and the freezer 10 are located on a stand or counter 14. The stand 14 may also have an opening 14a for receiving waste and may have another opening at the top (not shown) for disposing of the used cartridges 5 in a discard bin. In the embodiment of FIG. 2A, the machine 1 may store in a discard bin 54 (see FIG. 17). The machine 1 may also include or be located adjacent to a supply area 12 where cups, cones, spoons, napkins, etc. may be stored for the user's convenience.

[0015] In yet another possible configuration (not shown), the machine 1 and supply area 12 can be located adjacent to one another on the counter 14, and the freezer 10 can be located on the floor below the counter 14. Many other configurations are possible while remaining within the meaning and spirit of the present invention.

[0016] The user may remove a cup C from the supply area 12, place it in the serving area 6, select a cartridge 5 from the freezer 10, insert the cartridge through the passage behind the door 4, and push start on the control device 8 to begin the dispensing process.

[0017] 3A and 3B show perspective and exploded views, respectively, of an exemplary cartridge 5 for dispensing individual portions of a frozen dessert. The cartridge 5 includes a cylindrical tube (or pipe) 7 having a first end 5a, a second end 5b, and a central axis α. A nozzle 9 is disposed at the first end 5a, and a cap 23 can cover the nozzle 9 prior to dispensing the frozen dessert. The nozzle 9 can be affixed (or glued) to the tube 7 or can be integral with the tube 7. The nozzle 9 has a shoulder 9a that abuts the tube 7 at the first end 5a, and a neck 9b having a diameter smaller than the diameter of the cylindrical tube 7 and the shoulder 9a. A piston 11 is disposed between the nozzle 9 and the second end 5b. The piston 11 is configured to slide along the cylindrical tube 7 and expel individual portions of the frozen dessert contained in the cartridge 5 through the nozzle 9. Although cartridge 5 and tube 7 are described herein as cylindrical, such limitation is not necessary and cartridge 5 and tube 7 may have shapes / cross-sections other than cylindrical (eg, square, rectangular, triangular, etc.).

[0018] The nozzle 9 has an opening 9c through which the frozen dessert is dispensed. The opening 9c can be, for example, star-shaped to shape the frozen dessert when dispensed. In one embodiment, the piston 11 and the nozzle 9 interior have a corresponding shape such that when pressed against each other, the space between them is minimized, maximizing the amount of frozen dessert dispensed from the cartridge 5. During the dispensing or extrusion process through the shaping nozzle 9, the friction of the extrusion may warm the frozen dessert exposed to the nozzle 9 to an ideal serving temperature, or at least soften it to make it more enjoyable. The opening 9c may be formed by a nozzle portion where the edge of the nozzle portion creates friction with the frozen dessert, changing the temperature and / or texture of the frozen dessert exposed to the edge. This helps soften the surface of the frozen dessert, making it easier to enjoy immediately after serving. In one example, extrusion through the nozzle and contact with portions of the nozzle can raise the temperature of the frozen dessert exposed at the edge from a freezer temperature of between -5°F and 0°F to an ideal serving temperature of between 6°F and 10°F.

[0019] The nozzle 9 may have a foil seal 21 placed thereon that covers the nozzle 9 prior to dispensing the frozen dessert. In another embodiment, the seal 21 may instead be placed on the cap 23. The foil seal 21 and / or cap 23 may help protect the nozzle 9 during transportation of the cartridge 5. The user may separate the seal 21 and / or cap 23 prior to inserting the cartridge 5 into the machine 1, or the machine 1 may include a device that applies a force to the seal 21 and / or cap 23, thereby causing the seal 21 and / or cap 23 to separate from the cartridge 5. The cap 23 may include, for example, a circular groove (not shown) therein into which a device may be inserted to apply an axial force to the cap 23 to remove it from the remainder of the cartridge 5. The seal 21 may include a tail that is connected (e.g., by adhesive, heat welding, etc.) to the neck of the nozzle 9 such that the seal 21 maintains connection with the cartridge 5 after the seal 21 breaks.

[0020] The cartridge 5 may also include an identification (e.g., a barcode, q-code, RFID, etc.) and the machine 1 may include a reader for reading the identification. The machine 1 may read the ID to identify production batch, expiry date, size, flavor, lot number, manufacturer, etc. and / or to ensure that the cartridge 5 is genuine. This information may be shown to the consumer on a display of the machine 1 or may be recorded or transmitted (e.g., via Wi-Fi) for monitoring use, consumption, etc.

[0021] Figure 4 is a perspective view of the machine 1 with the housing 2 removed. Important components of the machine 1 include the cartridge cart 3 into which the frozen dessert cartridges 5 are inserted and the plunger 13 which expels the frozen dessert from the cartridge 5 as the cartridge cart 3 moves along a central axis α. Other important components include a turntable 33 on which rests a cup C for receiving the frozen dessert expelled from the cartridge 5, and a waste box 54 in which the empty cartridges can be disposed of after use.

[0022] The machine 1 may include a main frame 30 and a hinge frame 32 hingedly connected to the main frame 30 .

[0023] The main frame 30 may have constructed thereon a first vertically moving structure 34 and a first fixed structure 35. The first vertically moving structure 34 carries the cartridge cart 3. The first vertically moving structure 34 may also include a servo (not shown) for tilting the cartridge cart 3 during loading of the cartridge 5, as described below. The fixed structure 35 may also carry the plunger 13 and a first drive source 36. The fixed structure 35 may also include a servo 43 for actuating a radial gripper on the top of the plunger 13 to hold the cartridge 5 attached to the plunger 13 once the frozen dessert has been expelled from the cartridge 5. The fixed structure 35 may also include a servo (not shown) for tilting the plunger 13 holding the empty cartridge 5 to discard the cartridge 5 into a box (or container or bin) 54. The first drive source 36 may include a motor 38, a gear 40, and a lead screw 42. Operation of the first drive source 36 causes the first vertically moving structure 34 to move vertically relative to the fixed structure 35. Thus, operation of the first drive source 36 causes the cartridge cart 3 to move vertically relative to the plunger 13.

[0024] The hinged frame 32 may have a second vertical moving structure 44 and a second fixed structure 45 constructed thereon. The second vertical moving structure 44 carries a turntable 33 on which a cup C for receiving the frozen dessert discharged from the cartridge 5 rests. The second vertical moving structure 44 may also include a motor 58 for rotating the turntable 33. The second fixed structure 45 carries a second drive source 46. The drive source 46 may include a motor 48, a gear 50, and a lead screw 52. The operation of the second drive source 46 moves the second vertical moving structure 44 vertically relative to the second fixed structure 45. The operation of the second drive source 46 thus moves the cup C vertically relative to the plunger 13 while rotating the turntable 33.

[0025] FIG. 5 shows a perspective view of an exemplary cartridge cart 3. The cartridge cart 3 has a wall or walls that form a cylindrical cavity 3a that can accommodate a cartridge 5. The cavity 3a has a large top opening 3b and a small bottom opening 3c. The cartridge cart 3 also includes a support wall 3d that surrounds the bottom opening 3c. The cartridge cart 3 may also include a tab 3e that connects to a tilting mechanism of the machine 1 to tilt the cartridge cart 3 so that the top opening 3b can present itself at the front of the machine 1 for a user to insert a cartridge 5 into the cartridge cart 3. Once inserted, the nozzle neck 9b of the cartridge 5 will protrude through the bottom opening 3c and the nozzle shoulder 9a will rest inside the support wall 3d. The cartridge cart 3 may accommodate cartridges of various sizes (e.g., lengths) depending on the serving size. For small servings, the cart 3 may accommodate shorter cartridges 5, and for large servings, the cart 3 may accommodate longer cartridges 5. Although the cartridges 5 and cartridge cart 3 are described herein as cylindrical, such limitation is not necessary and the cartridges 5 and cartridge cart 3 may have shapes / cross-sections other than cylindrical (e.g., square, rectangular, triangular, etc.).

[0026] 6 shows a schematic diagram illustrating the interaction between the cartridge cart 3, the cartridge 5 and the plunger 13. The cartridge cart 3 includes a support wall 3d against which the plunger 13 engages the piston 11 to support the first end 5a of the cartridge 5, more specifically the nozzle shoulder 9a. The support wall 3d supports the cartridge 5 axially (against gravity and against the force applied by the plunger 13).

[0027] The cartridge cart 3 also radially supports the cartridge 5. The cartridge cart 3 resists the radial force exerted by the frozen dessert on the cylindrical tube 7 when the plunger 13 pushes the piston 11 along the central axis α. Thus, actuation of the first drive source 36 dispenses the frozen dessert through the nozzle 9 without the cartridge 5 (even if made of a relatively soft material such as paper, cardboard, or light plastic) bursting or exploding from the applied pressure. The cartridge cart 3 may be made of a material that has a tensile strength to withstand the loads applied to its walls (when the drive source 36 causes the cartridge cart 3 to dispense individual portions of the frozen dessert) without breakage or plastic deformation of the cartridge cart 3. In one embodiment, the cartridge cart 3 is made of steel. In other embodiments, the cartridge cart 3 is made of a material other than steel.

[0028] 7A-7F show various views of one embodiment of the cartridge 5 including the piston 11. At the manufacturing site, the frozen dessert (e.g., ice cream) is filled into the cartridge 5 through the large diameter opening 7a at the second end 5b of the cartridge 5, after which the piston 11 can be inserted nose 11a first into the large diameter opening 7a. A cap 23 (see FIG. 7E) placed over the nozzle opening 9c retains the frozen dessert within the cartridge 5. In the embodiment shown, the piston 11 is funnel-shaped. The piston 11 (1) reduces the internal volume of the cartridge 5 for the purpose of replacing the frozen dessert. It accomplishes this by being pushed by an external element (i.e., plunger 13); (2) it maintains a seal with cartridge tube bore 7b sufficient to resist leakage of the frozen dessert through the interface between piston 11 and bore 7b, and (3) nose end 11aa, having a shape matching nose opening 9c, passes through nozzle 9 such that nose 11a reduces the flow rate of individual portions of frozen dessert from nozzle 9 and enhances the ability to severely neatly sever individual portions of frozen dessert from cartridge 5.

[0029] Figures 7A and 7B are longitudinal cross-sectional views of cartridge 5. As shown in Figures 7A and 7B, plunger 13 pushes piston 11 along central axis α, so that piston 11 advances towards nozzle 9. Figure 7A shows plunger 11 approximately halfway through cylindrical tube 7, while Figure 7B shows plunger 11 in its final position after individual portions of frozen dessert have been dispensed.

[0030] It is essential that a frozen dessert dispensing machine 1 that uses a pod or cartridge 5 provides a means for protecting and containing the frozen dessert within the cartridge 5. Seals or closures must be provided to reduce the possibility of contamination of the frozen dessert and to prevent soiling of storage containers, delivery vehicles, freezers, dispensing machines, waste bins, etc. Additionally, the seal formed at the interface of the piston 11 and the tube bore 7b must be able to withstand the high pressures generated during dispensing. To this end, the piston 11 includes a circumferential seal 11b made of an elastomeric material that engages the bore 7b of the cylindrical tube 7 and has an outer diameter that is greater than the inner diameter of the bore 7b. When the tube 7, piston 11, or both are made of a compliant material (e.g., an elastomer), the engagement of the parts will generally force the tube 7 to a larger diameter, or force the piston 11 to a smaller diameter, or a combination thereof.

[0031] The peripheral seal 11b may have a plurality of radially recessed grooves 11bb formed thereon that form radially extending ribs, each rib contributing to the overall sealing ability between the piston 11 and the bore 7b of the tube 7. The grooves reduce the surface area of ​​contact between the sidewall of the piston 11 and the bore 7b of the tube 7. As a result, hoop stresses are created and the contact pressure is increased, thus improving the ability of the interface to form a seal.

[0032] Additionally, tube 7 may have a flange or lip 7d formed thereon at second end 5b for gripping by a prong as described below during disposal of cartridge 5.

[0033] Figures 7C and 7D show bottom views of the cartridge 5. As can be seen, the nozzle opening 9c can be star-shaped. In Figure 7C (corresponding to Figure 7A), the nose end 11aa of the plunger 11 is not yet visible, since the plunger 11 is only about halfway through the cylindrical tube 7. In Figure 7D (corresponding to Figure 7B), the plunger 11 is seen to be in its final position after the individual portions of frozen dessert have been dispensed, and thus the nose end 11aa of the plunger 11 can possibly protrude slightly through the nozzle opening 9c.

[0034] The shape of the extended nose 11aa of the piston 11 may be of sufficient size and shape to pass through, penetrate, and perhaps slightly protrude through the nozzle opening 9c to assist in the severing of the frozen dessert stream from the nozzle 9. Thus, upon removal of the cap 23, the nozzle opening 9c may initially be fully open as the piston 11 moves from the second end 5b towards the first end 5a until it reaches the nozzle 9. The nose 11a then penetrates the nozzle 9 such that the nose end 11aa reduces the flow rate (or flow volume) of the individual portions of the frozen dessert from the nozzle opening 9c and enhances the ability of the individual portions of the frozen dessert to be cleanly severed from the cartridge 5.

[0035] Thus, as best seen in FIG. 7F, piston 11 may include a cylindrical or frustoconical nose 11a having a nose end 11aa, a seal area 11b, and a frustoconical surface 11c joining nose 11a to seal 11b.

[0036] 7E shows a perspective cross-sectional view of cartridge 5. Cartridge 5 may include ribs 7c designed to divide the flow of frozen dessert into channels as it progresses towards star-shaped nozzle opening 9c. If such ribs 7c are aligned with the star of nozzle opening 9c and can direct the resulting ice cream channels into each lobe of the star pattern of nozzle opening 9c, the build-up of frozen dessert pressure may be alleviated to some extent.

[0037] Thus, the nozzle 9 may include a star-shaped nozzle opening 9c through which at least a majority of the individual portions of the frozen dessert exit the cartridge 5. The internal ribs 7c may be aligned with the star-shaped nozzle opening 9c. Each of the ribs 7c may taper as it extends radially inward from the bore 7b of the cylindrical tube 7 toward the axial center α of the cylindrical tube 7. Each of the ribs 7c may slope (or decline) from the second end 5b toward the first end 5a (i.e., toward the nozzle opening 9c) as it extends radially inward from the bore 7b of the cylindrical tube 7 toward the axial center α of the cylindrical tube 7. The individual portions of the frozen dessert may ultimately resemble the star shape of the nozzle opening as they exit.

[0038] 8 shows a cross-sectional view of an exemplary plunger 13. The machine 1 may operate 24 hours a day in an exemplary retail environment. It is therefore important to prevent leakage of the frozen dessert, as this may impair the proper functioning of the machine 1, which in turn may adversely affect the quality of the dispensed product or the overall effectiveness of the dispensing device. The design of the plunger 13 mitigates leakage.

[0039] The plunger 13 may include an upper plunger portion 13a, a lower plunger portion 13b, and an elastomeric ring 15 disposed therebetween. The upper plunger portion 13a may have an angled surface 13aa that engages the elastomeric ring 15 from a top. The lower plunger portion 13b may have an angled surface 13ba that engages the elastomeric ring 15 from a bottom. The upper plunger portion 13a and the lower plunger portion 13b may be resiliently connected with a gap 13c therebetween such that when the plunger 13 exerts an axial force on the piston 11, the upper plunger portion 13a and the lower plunger portion 13b are urged toward each other to at least partially close the gap 13c. Similarly, first inclined surface 13aa and second inclined surface 13ba are urged towards each other, axially compressing elastomeric ring 15, thereby causing elastomeric ring 15 to expand radially outward against the inner wall of piston 11. This forces the outer wall of piston 11 into bore 7b of tube 7 of cartridge 5, promoting a seal between piston 11 and bore 7b of cartridge 5, thereby preventing leakage of the frozen dessert therebetween.

[0040] The dynamic sealing / force feedback of the plunger 13 resides in the fact that the more force, typically a colder and harder frozen dessert, exerts on the plunger 13, the more forceful the radial expansion of the elastomeric ring 15. Thus, a colder and harder frozen dessert, which is more likely to bypass the piston 11 due to high pressure buildup, will result in an increase in sealing pressure. Conversely, a warmer and softer frozen dessert will flow out of the cartridge 5 with less plunger 13 force, resulting in less radial force buildup on the elastomeric ring 15 between the bore 7b of the tube 7 and the piston 11. In this case, despite the lower sealing pressure, the warm frozen dessert will not build up enough pressure to break the piston 11-tube 7 seal, since it will tend to exit the cartridge 5 via the path of least resistance, specifically the nozzle opening 9c.

[0041] The plunger 13 may also include an electromechanical force sensing device 16 that can monitor the compressive force level of the plunger 13 during the dispensing process. The output of the force sensing device 16 is readable by a motor controller that allows for modification of the power input to the motor 38. Detection of a force level above a predefined safe limit may result in a reduction in power to the motor 38, with the intended effect of reducing mechanical stresses on both the drive system, the plunger 13 and the cartridge 5. Conversely, sensing a force level below a predefined safe limit during dispensing may result in an increase in power to the motor 38, with the intended effect of accelerating the dispensing process while maintaining mechanical stresses below a predefined safe limit.

[0042] 9 to 15 show cross-sectional side views of machine 1 to illustrate a method of dispensing frozen desserts using machine 1.

[0043] 9 illustrates the loading of a cartridge 5 into the machine 1. As before, the cartridge cart 3 is tiltably mounted on the first vertical moving structure 34 such that the top opening 3b moves towards the front of the machine 1 to allow a user to insert a cartridge 5 into the cartridge cart 3. Once inserted, the nozzle neck 9b of the cartridge 5 protrudes from the bottom opening 3c and the nozzle shoulder 9a rests on the support wall 3d of the cartridge cart 3. After the user has inserted the cartridge 5 into the cart 3, the user may close the door 4 of the machine 1 and push start on the controller 8 of the machine 1 to initiate the automated portion of the process.

[0044] Figure 10 shows the start of the automated portion of the frozen dessert dispensing process. From the outwardly tilted position of Figure 9, the cartridge cart 3 carrying the cartridge 5 may then be tilted in the opposite direction such that the top opening 3b of the cartridge cart 3 and the piston 11 are moved to a position in axial alignment with the plunger 13. However, before dispensing the frozen dessert, the machine 1 removes the cap 23 of the cartridge 5.

[0045] 11 illustrates the engagement of a cap grasper 60 with the cap 23. The vertical movement structure 34 includes a servo 62 that advances the cap grasper 60 horizontally to engage with a groove in the cap 23.

[0046] 12 illustrates the removal of the cap 23. After the cap grasper 60 has locked the cap 23, it can be moved vertically downward to remove the cap 23 from the cartridge 5. The cap 23 can be attached to the cartridge 5 by interference engagement, and the cap grasper 60 can apply an appropriate axial force downward to break the interference engagement while the nozzle shoulder 9a rests on the support wall 3d of the cartridge cart 3.

[0047] FIG. 13 shows that after removing the cap 23, the cap grasper 60 moves horizontally to move the cap 23 away from the path of the frozen dessert towards the back of the machine.

[0048] 14 shows the engagement of the piston 11 with the plunger 13. The drive source 36 moves the first vertically moving structure 34 vertically upwards so that the plunger 13 enters the top opening 3b. Eventually, the plunger 13 engages the piston 11, pushing the piston 11 along the central axis α while the support wall 3d moves vertically upwards against the shoulder 5a of the cartridge 5, thereby pushing the frozen dessert through the nozzle 9.

[0049] At the same time, the second drive source 46 drives the second vertically moving structure 44 vertically upward while the turntable 33 turns. Thus, the machine 1 simultaneously rotates and moves the dessert cup C upward. As a result of this simultaneous motion, at least a portion of the frozen dessert pushed from the nozzle 9 is dispensed in a spiral into the dessert cup C. In one embodiment, the first vertically moving structure 34 moves vertically at a speed different from the speed of the second vertically moving structure 44.

[0050] Figure 15 shows the end of the dispensing portion, where the piston 11 reaches the nozzle 9, thereby dispensing much of the frozen dessert in the cartridge 5.

[0051] 16A and 16B show a front view and a cross-sectional view of the frame 32 in a home position. The frame 32 with its components represents a cup position mechanism configured to support and transport a cup C adapted to receive an individual portion of a frozen dessert. The cup position mechanism 32 lifts the cup C from the home position along a central axis β to one or more dispensing positions. In some embodiments, the central axis β of the cup C can be coincident with the central axis α of the cartridge 5, while in other embodiments, the central axis β of the cup C can be horizontally offset from the central axis α of the cartridge 5. This can be done so that the frozen dessert is evenly distributed inside the cup C and not just in the center of the cup C. The cup position mechanism 32 can also rotate the cup C to help shape the frozen dessert as it is dispensed into the cup C. Figures 16C and 16D show top and bottom perspective views of frame 32 lifting cup C from a home position to one or more dispensing positions. Figures 16E and 16F show the control system / process of cup position mechanism 32.

[0052] A potential problem in dispensing frozen desserts in the manner described herein is that spillage may occur because the cup C may not be at the correct distance / position from the nozzle 9 at some stages of the dispense cycle. However, in the device 1 of the present invention, the cup position mechanism 32 may lift / lower and rotate the cup C as necessary along the dispense cycle to ensure that the cup C is always in the correct position and prevent spillage. The cup position mechanism 32 may lift the cup C towards the dispense nozzle 9, which itself is in motion, and then dynamically maintain a position relative to the dispense nozzle 9 determined to give the desired dispense finish. The device 1 and / or the cup position mechanism 32 may include a computer program that determines the correct position, speed and rotation along the dispense cycle.

[0053] Device 1 and / or cup position mechanism 32 may also provide post-dispense movement (rotational and / or translational) of the cup to cleanly separate (or break-off) the frozen dessert at nozzle 9. Cup position mechanism 32 may again move cup C translationally and rotationally relative to nozzle 9 as deemed necessary to cause separation of the ice cream from nozzle 9 and yield the desired dispense finish. Finally, cup position mechanism 32 may return cup C to an unload / reload position (i.e., home position) for removal by the user after the frozen dessert has been dispensed.

[0054] The cup position mechanism 32 may have a second vertical moving structure 44 and a second fixed structure 45 constructed thereon. The second vertical moving structure 44 carries a turntable 33 on which the cup C rests to receive the frozen dessert discharged from the cartridge 5. The second vertical moving structure 44 may also include a motor 58 for rotating the turntable 33. The second fixed structure 45 carries a second drive source 46. The drive source 46 may include a motor 48, a gear 50 and a lead screw 52. The operation of the second drive source 46 moves the second vertical moving structure 44 vertically relative to the second fixed structure 45. The operation of the second drive source 46 therefore moves the cup C vertically relative to the plunger 13 while rotating the turntable 33.

[0055] The multiple control segments allow for programming of fine movements of both the translation and rotation of cup C. Cup position mechanism 32 may divide the dispensing process into four increments (aka positions) as shown in FIG. 16E. Each increment has a specified distance, speed and rotation value that may be programmed using the interface of FIG. 16F. Setting the program / controller to specific values ​​allows control over cup position mechanism 32 as different positions require different speeds and rotations to deposit the frozen dessert in cup C in the desired manner.

[0056] To begin dispensing, the cup position mechanism 32 may lift the cup C from the home position to the start position. This motion can occur by translational motion only, no rotational motion is required to bring the cup C to the start position. The distance and speed are defined by the start position and jog speed, respectively. Once the cup C is in the start position, and with the help of the controller / program, the cup position mechanism 32 may lift the cup C to the next position, i.e., dispense position #1. The dispense position is determined by the dispense distance in inches. At this point (or this point), the rotational motion may begin to shape the frozen dessert to be dispensed into the cup C. The cup position mechanism 32 may continue to lift the cup C from dispense position #1, to dispense position #2, to dispense position #3, and to dispense position #4. Generally, the cup position mechanism 32 follows the lifting movement of the nozzle 9, although not necessarily at the same pace or distance, to lift the cup C to the dispense position #4.

[0057] At dispense position #4, dispensing of the frozen dessert may be completed, but the frozen dessert may still be connected from nozzle 9 to cup C. In order to sever any frozen dessert that is still connected, a new motion called fatigue cycling mode motion (or movement) may be introduced. This motion alternatively lifts and lowers cup C and alternatively rotates (i.e., twists and untwists) cup C clockwise and counterclockwise to fatigue (or weaken) the frozen dessert that is still connected from nozzle 9 to cup C. This program pattern may be repeated as necessary, thereby alternately stretching and compressing the frozen dessert and ultimately causing it to sever.

[0058] Once the frozen dessert has been dispensed and the fatigue cycle mode of operation has concluded, cup position mechanism 32 may return cup C to its initial position (i.e., the home position or the unload / reload position). The user may also remove cup C from serving area 6 and machine 1 will prepare for another cycle / dispense.

[0059] Using the interface shown in FIG. 16F in combination with the chart of FIG. 16E, device 1 may be used to provide nearly complete control over the movement (translation and rotation) of cup position mechanism 32 and cup C. Moreover, such control may be customized depending on the particular type of frozen dessert being dispensed. Thus, a type of frozen dessert, such as ice cream, may require a different distance and translation and / or rotation speed to attractively and neatly dispense into cup C compared to another type of frozen dessert, such as frozen yogurt. Device 1 may be configured to obtain information (e.g., using a bar code on cartridge 5, information entered using controller 8, etc.) regarding the particular type of frozen dessert being dispensed and select a program containing the best parameters (dispense position, translation speed, rotation speed, fatigue algorithm, etc.) that are specifically customized for the particular type of frozen dessert.

[0060] When dispensing a frozen dessert, it is important to securely fasten cup C, properly shape the frozen dessert in cup C, and prevent potential spillage. For example, rotation of cup C during the dispense cycle may cause cup C to tip over due to the initial uneven load. Dislodging of cup C may cause the frozen dessert to spill outside of cup C. Ideally, cup C would remain centered and secured to the moving cup holder / turntable 33. And, after dispensing, the user should be able to easily remove cup C and insert a new empty cup for the next dispense.

[0061] Figure 17A shows a top perspective view of cup holder / turntable 33. Figure 17B shows a cross-sectional view of cup holder / turntable 33 in the home position. Figure 17C shows the cross-sectional view of cup holder / turntable 33 immediately after it has been lifted out of the home position.

[0062] The cup position mechanism 32 is a system within the device 1 that may include a cup gripper mechanism that accepts a serving cup C into which a frozen dessert is deposited. A user may easily and intuitively place the cup C in the cup holder / turntable 33 and remove the cup C after dispensing is complete. The cup gripper mechanism is designed to automatically grip the cup C after it is lifted from the home position to any of the dispensing positions, as described above. This may keep the cup C stationary during the dispensing process to prevent spillage and allow the cup C to rotate as desired to provide a desired appearance, as described above. When the cup holder / turntable 33 returns to the home position, the cup gripper mechanism automatically retracts to release the cup C for easy removal of the filled cup and placement of a new empty cup for the next dispense. This cup gripper mechanism may utilize an existing motor in the machine 1 and no additional motors beyond those initially implemented for other functions would be required.

[0063] The cup gripping mechanism may include three or more spring loaded jaws 37, each configured to pivot toward the cup C under the bias of a spring 39 to grip the cup C when the cup position mechanism 32 lifts the cup C from the home position. When the cup position mechanism 32 returns the cup C to the home position, the jaws 37 pivot away from the cup C to compress the spring 39 and release the cup C. Each spring loaded jaw 37 may include a lever member 41 having a generally vertical lever end 41a operably connected to the spring 39 and a generally horizontal lever end 41b extending perpendicular to the lever end 41a. The two lever ends 41a, 41b meet at a fulcrum 47 about which the lever member 41 pivots.

[0064] The cup grip mechanism may also include a step 49 that exerts an effort on the generally horizontal lever end 41b when the cup holder / turntable 33 is in the home position, causing the generally vertical lever end 41a to pivot away from the cup C and compress the spring 39. When the cup position mechanism 32 lifts the cup holder / turntable 33 from the home position, the lever member 41 lifts away from the step 49, thereby releasing the force from the generally horizontal lever end 41b, causing the generally vertical lever end 41a to pivot towards the cup C under the bias of the spring 39 to grip the cup C. When the cup position mechanism 32 lifts the holder / turntable 33 from the home position, the step 49 moves out of contact with a standoff post 51 (best shown in Figures 16C and 16D) statically mounted to the second fixed structure 45, which causes the spring 39 to act on the vertical lever end 41a, which in turn causes the horizontal lever limb 41b to urge the step 49 downward through a controlled gap, which in turn allows the vertical lever limb 41a to move into contact with the cup C.

[0065] FIG. 18 shows the reattachment of the cap 23 onto the cartridge 3. Frozen desserts such as ice cream can be messy if not properly managed. Therefore, prior to discarding the cartridge 3, which may still have some dessert inside, the machine 1 reattaches the cartridge 3 to prevent spillage. After the frozen dessert has been dispensed, the cap grasper 60 can move generally horizontally towards the front of the machine 1 and then generally vertically along axis α, for example towards the cartridge cart 3, to reattach the cap 23 onto the cartridge 3. In another embodiment, the cap 23 can be placed into the bin 54 independently of the cartridge 3, or vice versa.

[0066] FIG. 19A illustrates one embodiment of a mechanism for gripping and holding the cartridge 5 and extracting it from the cartridge cart 3 as the cartridge cart 3 moves vertically downward. The plunger 13 may include one or more radial grippers 70 and a servo 43 configured to radially expand the radial grippers 70 within the cylindrical tube 7 to grip the cartridge 5. FIG. 19B illustrates a perspective view of an exemplary plunger 13 to show more details of the radial grippers 70. The radial grippers 70 may expand radially to grip and hold the cartridge 5 from the inside. Actuation of the first drive source 36 moves the first vertically moving structure 34 vertically down, thereby causing the cartridge cart 3 to move vertically down while the radial grippers 70 hold the cartridge 5, thereby removing the cartridge 5 from the cartridge cart 3.

[0067] FIG. 20A illustrates one embodiment of a mechanism for discarding cartridges 5 using a radial gripper 70. The plunger 13 may be tiltably connected to the stationary structure 35 and connected to a servo configured to tilt the plunger 13. The machine 1 may include a chute 72 that may tilt as it extends away from the front of the machine 1. A high end of the chute 72 may be positioned to receive the cartridge 5 from the plunger 13 when the plunger 13 is tilted. A low end of the chute 72 may be positioned above the disposal bin 54 to dispatch the cartridge 5 to the bin 54. Once the plunger 13 is tilted as shown in FIG. 20A, the chute 72 may move to a position below the plunger 13. The radial gripper 70 may then release the cartridge 5 by contracting radially. The chute 72 may receive the cartridge 5 and dispatch it to the bin 54. The chute 72 may then be moved back to the home position, allowing the plunger 13 to rotate back to the vertical position. A waste bin 54 may be positioned within the main frame 30 relative to the chute 72 to receive the ejected cartridges 5. The chute 72 may include a sensor 73 to sense when the bin 54 is full and send a signal to stop operation of the machine 1 and / or an alert for maintenance. The machine 1 may include a sensor 75 to sense when the bin 54 is not present and send a signal to stop operation of the machine 1 and / or an alert for maintenance.

[0068] 20B and 20C show another embodiment of a mechanism for the disposal of cartridges 5 using claws 74. In the embodiment of FIG. 20B and FIG. 20C, machine 1 includes a track 76 and a cart 78 that rides on track 76. Plunger 13 is operatively connected to cart 78, which includes at least two spring-loaded claws 74 forming a claw mechanism. Each claw 74 may form a chamfered surface 74a thereon that cartridge 5 may engage with chamfered surface 74a to pivotally open claw 74 in the process of cartridge cart 3 fully lifting cartridge 5 to complete dispensing of frozen dessert. Cartridge 5 may form a flange or lip 7d that spring-loaded claws 74 engage to retain cartridge 5. The plunger 13 of the embodiment of Figures 20B and 20C does not require a radial gripper as the claws 74 hold the cartridge 5 instead.

[0069] After engagement of the claws 74 with the cartridge 5, the cartridge cart 3 may be lowered leaving the cartridge 5 behind (i.e., upward). The cart 78, powered by a motor 80, may then travel along the track 76 toward the rear of the machine 1 with the cartridge 5 in tow. The machine 1 may also include a mounting plate 79 disposed adjacent the rear end 76a of the track 76. The mounting plate 79 may have features formed thereon (e.g., fingers) that correspond to the features (e.g., chamfered surfaces) of the spring-loaded claws 74 such that the features of the mounting plate 79 interact with the features of the spring-loaded claws 74 to open the claw mechanism, thereby releasing the cartridge 5. The machine 1 may include a chute 72 disposed below the mounting plate 79. The chute 72 may receive and dispatch the cartridge 5 to the bins 54. A waste bin 54 may be positioned within the main frame 30 relative to the chute 72 to receive the ejected cartridges 5 .

[0070] After discarding the cartridge 5, the cart 78 can be returned to the front of the machine 1 ready for next use.

[0071] 21 and 22 show removal of the waste box 54. Installation and removal of the waste box 54 through the side or rear panels of the machine 1 may be impracticable as an obstacle such as an adjacent machine or a wall may block such a path. The hinge frame 32 may be hinged to the main frame 30 and may swing relative to the main frame 30. As shown in FIG. 21, in the service mode of the machine 1, the first vertical moving structure 34 moves vertically upward relative to the main frame 30 and the hinge frame 32 pivots relative to the main frame 30. This creates a suitable opening to allow front removal of the waste box 54 from within the main frame 30 as shown in FIG. 22. definition

[0072] (definition) The following includes definitions of terms used herein. The definitions include various examples or forms of components that fall within the scope of the term and may be used in practice. The examples are not intended to be limiting. Both singular and plural forms of a term may be included within the definition.

[0073] As used herein, an "operable connection" or "operably coupled," or a connection in which entities are "operably connected" or "operably connected," is one in which the entities are connected in a manner that allows them to perform as intended. An operable connection can be a direct connection or an indirect connection that exists between entities where an intermediate entity or entities cooperate or are otherwise part of the connection or are operably connected. In the context of signals, an "operable connection" or a connection in which entities are "operably connected" is one that can send or receive signals, physical communications, or logical communications. Typically, an operable connection includes a physical interface, an electrical interface, or a data interface, but it is noted that an operable connection can include different combinations of these or other types of connections sufficient to enable operable control. For example, two entities can be operably connected by being able to communicate signals directly to each other or through one or more intermediate entities, such as processors, operating systems, logic, software, or other entities. Logical or physical communication channels can be used to create an operable connection.

[0074] To the extent the term "includes" or "including" is used in the detailed description or claims, it is intended to be inclusive in a manner similar to the term "comprising" interpreted when used as a transitional word in a claim. Moreover, to the extent the term "or" is used in the detailed description or claims (e.g., A or B), it is intended to mean "A or B or both." If applicant intends to indicate "only A or B, but not both," he would use the term "only A or B, but not both." Thus, the use of the term "or" herein is inclusive and not exclusive. See Bryan A. Garner, A Dictionary of Modern Legal Usage 624 (2nd ed., 1995).

[0075] Although the exemplary system, method, etc. have been illustrated by describing embodiments, and the embodiments have been described in considerable detail, it is not the intention of the applicant to narrow the scope to such detail or to limit the scope in any manner. Of course, it is not possible to describe every conceivable combination of components or methodologies for the purposes of describing the system, method, etc. described herein. Further advantages and modifications will readily occur to those skilled in the art. Thus, the present invention is not limited to the specific details, representative apparatus, and illustrative examples shown and described. Thus, the present application is intended to cover modifications, changes, and variations that fall within the scope of the appended claims. Moreover, the preceding description is not meant to limit the scope of the present invention. Rather, the scope of the present invention should be determined by the appended claims and their equivalents.

Claims

1. 1. A machine for dispensing individual portions of frozen desserts, comprising: a cartridge cart having walls forming a cylindrical cavity having a central longitudinal axis and configured to house a cartridge, said cartridge including a cylindrical tube having a first end and a second end, a nozzle disposed at the first end, and a piston disposed between the nozzle and the second end and configured for slidable movement along the cylindrical tube, said frozen dessert being contained within the cylindrical tube between the nozzle and the piston; a plunger provided for movement of the cartridge cart relative to the plunger along a central axis or vice versa; a drive source operatively connected to at least one of the cartridge cart or the plunger and configured to drive the plunger along a central axis; and a support configured to support a first end of a cartridge with the plunger engaged with the piston such that actuation of the drive source dispenses at least some of the frozen dessert as individual portions through a nozzle using a cylindrical tube supported radially by the cartridge cart and axially by the support; The machine comprising:

2. 2. The machine of claim 1, wherein the cartridge cart resists a radial force exerted on a wall by the cylindrical tube when the drive source dispenses the frozen dessert through a nozzle.

3. 2. The machine of claim 1, wherein the cartridge cart is fabricated from a material having a tensile strength to withstand the load applied to its wall by the cylindrical tube when the drive source dispenses the frozen dessert through the nozzle without breaking or plastic deformation of the cartridge cart.

4. 2. The machine of claim 1, wherein the cartridge cart is fabricated from a material having a tensile strength to withstand the load applied to its wall by the cylindrical tube without the cartridge breaking when the drive source dispenses the frozen dessert through the nozzle.

5. 2. The machine of claim 1, wherein said cartridge cart is constructed from steel or a material having a tensile strength equal to or greater than steel.

6. 2. The machine of claim 1, including a first vertical movement structure to which said cartridge cart and said drive source are operatively connected, said cartridge cart having an opening at a top end and said support at a bottom end, said opening being tiltably connected to the vertical movement structure for movement toward a front of said machine to enable user insertion of said cartridge into said cartridge cart.

7. 2. The machine of claim 1, including a first vertical movement structure to which said cartridge cart and said drive source are operatively connected, said cartridge cart having an opening at a top end and said support at a bottom end, said first vertical movement structure tiltable connected to the vertical movement structure so that said opening moves to a front of said machine to allow a user to insert said cartridge into said cartridge cart, and thereafter tilting in a second direction opposite to said first direction so that said opening moves to a position where said cartridge cart is axially aligned with said plunger.

8. the cartridge includes a cap removably connected to the cylindrical tube at a first end so as to cover a nozzle when the cartridge is installed in the machine; 2. The machine of claim 1, further comprising a cap grasper configured to move toward the front and rear of the machine, the cap grasper configured to engage the cap by moving toward the front of the machine and further configured to remove the cap from the cartridge by moving away from the cartridge cart while the support holds a first end of the cartridge inside the cartridge cart, and then configured to move the cap away from the path of the frozen dessert by moving toward the rear of the machine.

9. 2. The machine of claim 1, further comprising a first vertical movement structure operably connected to said cartridge cart and said drive source, said cartridge cart having an opening at a top end and said support at a bottom end, and actuation of said drive source causes said cartridge cart to move vertically such that said plunger enters the opening at the top end, engages said piston and pushes the piston along a central axis and said support rises vertically, thereby vertically moving said cartridge cart to push at least some of said frozen dessert through a nozzle.

10. a first vertical movement structure to which said cartridge cart and said driving source are operatively connected, said cartridge cart having an opening at a top end and said support at a bottom end, and actuation of said driving source causes said first vertical movement structure to vertically lift, thereby vertically moving said cartridge cart such that said plunger enters the opening at the top end, engages a piston and pushes the piston along a central axis, and said support lifts vertically, thereby pushing at least some of said frozen dessert through a nozzle; and a second vertically moving structure having a turntable thereon configured to be rotatable to accommodate a dessert cup, wherein in synchronization with the operation of the driving source, the driving source or the second driving source vertically raises the second vertically moving structure while the turntable turns, thereby simultaneously rotating and vertically moving the dessert cup such that at least some of the frozen dessert pushed through the nozzle is dispensed into the dessert cup; The machine of claim 1 , comprising:

11. 11. The machine of claim 10, wherein the first vertically moving structure moves vertically upward at a different speed than the second vertically moving structure.

12. a first vertical movement structure to which said cartridge cart and said driving source are operatively connected, said cartridge cart having an opening at a top end and said support at a bottom end, and actuation of said driving source causes said first vertical movement structure to vertically lift, thereby vertically moving the cartridge cart such that said plunger enters the opening at the top end, engages a piston and pushes the piston along a central axis, and said support lifts vertically, thereby pushing at least some of said frozen dessert through a nozzle; and a second vertically moving structure having a turntable thereon configured to receive a dessert cup, and in synchronization with the operation of the drive source, the drive source or the second drive source vertically raises the second vertically moving structure while the turntable turns, thereby simultaneously rotating and vertically moving the dessert cup so that at least some of the frozen dessert pushed through the nozzle is dispensed into the dessert cup, and thereafter, the drive source or the second drive source vertically lowers the second vertically moving structure and causes the first vertically moving structure to remain stationary or to vertically lower at a slower speed. The machine of claim 1 , comprising:

13. the cartridge is removably connected at the first end to a cylindrical tube and includes a cap that covers a nozzle when attached to the cartridge, the machine comprising:

2. The machine of claim 1, further comprising a cap grasper configured to move toward the front and rear of the machine, the cap grasper configured to engage a cap by moving toward the front of the machine, remove a cap from a cartridge by moving away from the cartridge cart while the support holds a first end of the cartridge inside the cartridge cart, and then move toward the rear of the machine to move the cap out of the path of the frozen dessert, and after at least some of the frozen dessert has been dispensed, move toward the front of the machine and then move toward the cartridge cart to reattach the cap to the cartridge.

14. a first vertical movement structure to which said cartridge cart and said drive source are operatively connected, said cartridge cart having an opening at a top end and said support at a bottom end, said first vertical movement structure being moved vertically by actuation of said drive source such that said plunger enters the opening at the top end, engages a piston and pushes the piston along a central axis and said support rises vertically, thereby vertically moving said cartridge cart such that at least some of said frozen dessert is pushed through said nozzle; the plunger including one or more radial grippers configured to expand radially within a cylindrical tube to grip the cartridge. Including, Actuation of the drive source vertically lowers the first vertically moving structure, thereby vertically lowering a cartridge cart while one or more radial grippers of the plunger hold a cartridge, thereby removing the cartridge from the cartridge cart. The machine of claim 1 , comprising:

15. a first vertical movement structure to which said cartridge cart and said drive source are operatively connected, said cartridge cart having an opening at a top end and said support at a bottom end, said first vertical movement structure tiltably connected to said first vertical movement structure to tilt in a first direction such that said opening moves to the front of said machine to allow a user insertion of said cartridge into said cartridge cart, and thereafter tilt said cartridge cart in a second direction opposite to the first direction such that said opening moves to a position axially aligned with said plunger, said actuation of said drive source causing said first vertical movement structure to vertically lift, thereby vertically moving said cartridge cart such that said plunger enters the opening at the top end and engages a piston and pushes the piston along a central axis, and said support raises vertically, thereby vertically moving said cartridge cart such that at least some of said frozen dessert is pushed through a nozzle; the plunger including one or more radial grippers configured to expand radially within the cylindrical tube to grip the cartridge, wherein actuation of the drive source causes the first vertical motion structure to vertically lower, thereby lowering a cartridge cart vertically, while the one or more radial grippers of the plunger hold the cartridge, thereby removing the cartridge from the cartridge cart; a chute angled away from the front of the machine from a high end positioned to receive the cartridge from the plunger to a low end positioned to deliver the cartridge away from the front of the machine; the plunger is configured to tilt in a first direction and thereafter release the cartridge by radially retracting one or more radial grippers; the chute is configured to receive and deliver cartridges away from a front of the machine.

2. The machine of claim 1.

16. a waste bin positioned relative to the chute to receive the dispensed cartridge; and 16. The machine of claim 15, including a sensor configured to sense whether a waste bin is absent or full and to send a signal to control the machine not to eject the cartridge if a waste bin is absent or full.

17. a first vertical motion structure operatively connected to said cartridge cart and said drive source, said cartridge cart having an opening at a top end and said support at a bottom end, said first vertical motion structure being vertically raised thereby vertically moving said cartridge cart such that said plunger enters the opening at the top end, engages a piston and pushes the piston along a central axis and said support rises vertically to push at least some of said frozen dessert through a nozzle; a second vertically moving structure having a turntable thereon configured to receive a dessert cup, wherein in synchronization with operation of the drive source, the drive source or the second drive source vertically raises the second vertically moving structure while the turntable turns, thereby simultaneously rotating and vertically moving the dessert cup so that at least some of the frozen dessert pushed through the nozzle is dispensed into the dessert cup, and thereafter, the drive source or the second drive source vertically lowers the second vertically moving structure while keeping the first vertically moving structure stationary or vertically lowering at a slower speed; the plunger including one or more radial grippers configured to expand radially within a cylindrical tube to grip a cartridge, wherein actuation of the drive source causes the first vertical motion structure to vertically lower, thereby vertically lowering the cartridge cart while the one or more radial grippers of the plunger hold the cartridge and remove the cartridge from the cartridge cart; a chute angled away from the front of the machine from a high end positioned to receive the cartridge from the plunger to a low end positioned to deliver the cartridge away from the front of the machine; the plunger is configured to tilt in a first direction and thereafter release the cartridge by radially contracting one or more radial grippers; the chute is configured to receive and deliver the cartridge away from a front of the machine; and A waste bin positioned relative to the chute to receive the dispensed cartridges. The machine of claim 1 , comprising:

18. a main frame to which the first vertical movement structure is operatively connected and within which the waste bin is disposed; and a hinged frame to which the second vertical movement structure is operatively connected, the hinged frame being hingedly connected to the main frame for pivotable movement relative to the main frame; 20. The machine of claim 17, comprising:

19. 20. The machine of claim 18, wherein in a service mode of the machine, the first vertical movement structure rises vertically relative to the main frame and the hinged frame including the second vertical movement structure pivots relative to the main frame to allow frontal removal of a waste bin from within the main frame.

20. an electronic display that shows instructions to the user on how to operate the machine; and a proximity sensor configured to detect a proximity of a user to the machine and initiate display of the instructions based on the detected proximity; The machine of claim 1 , comprising:

21. 10. The machine of claim 1, including a housing having a front door or opening for inserting the cartridge into the machine, the front door or opening connecting to a passageway that leads the cartridge to the cartridge cart.

22. 2. The machine of claim 1, wherein the cartridge cart houses a first cartridge in which the cylindrical tube has a first length and a second cartridge in which the cylindrical tube has a second length that is shorter than the first length.

23. 2. The machine of claim 1, wherein the nozzle has a star-shaped opening through which the frozen dessert is dispensed, the star-shaped opening being formed by a nozzle portion whose edge creates friction with the frozen dessert being dispensed, thereby increasing the temperature of the frozen dessert.

24. 2. The machine of claim 1, wherein the piston and the nozzle have corresponding shapes to maximize the amount of the frozen dessert dispensed from the cartridge.

25. Lot number, date of expiry, Flavors, and Manufacturer 13. The machine of claim 1, further comprising a cartridge detector configured to detect information about the cartridge, the information including at least one of:

26. 1. A cartridge for dispensing individual portions of a frozen dessert, comprising: a tube having a first end and a second end; a nozzle disposed at the first end; and a piston disposed between the nozzle and the second end and configured for slidable movement along a tube, wherein individual portions of the frozen dessert are contained within the tube between the nozzle and the piston; The cartridge comprising:

27. 27. The cartridge of claim 26, including a machine readable identifier to ensure authenticity of the cartridge.

28. The piston comprises: a peripheral seal made of an elastomeric material engaging a bore of the tube and having an outer diameter greater than an inner diameter of the bore; 27. The cartridge of claim 26, wherein the peripheral seal has a plurality of radially recessed grooves formed thereon forming radially extending ribs, each rib contributing to an overall sealing capability between the piston and the bore.

29. The nozzle comprises: a star-shaped nozzle opening through which at least a majority of the individual portions of the frozen dessert exit the cartridge; a plurality of internal ribs aligned with the star-shaped nozzle opening, each rib tapering as it extends radially inward from the bore of the tube toward the axial center of the tube, each rib inclining toward the first end and away from the second end as it extends radially inward from the bore of the tube toward the axial center of the tube, the plurality of internal ribs acting to separate individual portions of the frozen dessert into a plurality of channels as the individual portions proceed toward the opening, the individual portions of the frozen dessert ultimately resembling a star shape upon exiting; 27. The cartridge of claim 26, comprising:

30. The piston comprises: a peripheral seal made of an elastomeric material engaging a bore of the tube and having an outer diameter greater than an inner diameter of the bore, the peripheral seal having a plurality of radially recessed grooves forming radially extending ribs, each rib contributing to an overall sealing capability between the piston and the bore; and a cylindrical or frustoconical nose having a nose end; and A frustoconical surface joining the seal and the nose Including, The nozzle comprises: a star-shaped nozzle opening through which at least a majority of individual portions of the frozen dessert exit the cartridge, the diameter of a circle intersecting intersecting edges of said star-shaped nozzle opening corresponding to the diameter of said nose end; a plurality of internal ribs aligned with the star-shaped nozzle opening, each rib tapering as it extends radially inward from the bore of the tube toward an axial center of the tube, each rib inclining toward a first end and away from the second end as it extends radially inward from the bore of the tube toward an axial center of the tube, the plurality of internal ribs acting to separate individual portions of the frozen dessert into a plurality of channels as the individual portions proceed to the opening; Including, 27. The cartridge of claim 26, wherein as the piston moves from the second end towards the first end until it reaches the nozzle, the nozzle opening is initially in a fully open state as the nose passes the nozzle so that the nose end reduces the flow rate of the individual portions of the frozen dessert exiting the nozzle and increases the ability of the individual portions of the frozen dessert to cleanly remove the frozen dessert from the cartridge.

31. 1. A machine for dispensing individual portions of frozen desserts, comprising: a cartridge cart configured to accommodate a cartridge including a tube having a central longitudinal axis and having a first end and a second end, a nozzle disposed at the first end, a piston disposed between the nozzle and the second end and configured for slidable movement along the tube, and a frozen dessert contained within the tube between the nozzle and the piston; a plunger provided for moving said cartridge cart relative to said plunger along said central axis; a drive source operably connected to the cartridge cart and configured to drive the cartridge cart along the central axis into engagement with the plunger; a support configured to support the first end of the cartridge with the piston engaged with the plunger, the tube being radially supported by the cartridge cart and axially supported by the support, such that actuation of the drive source dispenses at least some of the frozen dessert as individual portions through a nozzle; and a cup position mechanism configured to support and transport a cup adapted to receive an individual portion of the dispensed frozen dessert, the cup position mechanism configured to lift the cup from a home position to one or more dispensing positions; The machine comprising:

32. 32. The machine of claim 31, wherein the cup position mechanism is further configured to rotate the cup at a first dispensing position selected from the one or more dispensing positions to shape the individual portions as they are dispensed into the cup.

33. 32. The machine of claim 31, wherein the cup position mechanism is further configured to rotate the cup when lifting the cup from a first dispensing position selected from the one or more dispensing positions, to a second dispensing position selected from the one or more dispensing positions, to a third dispensing position selected from the one or more dispensing positions, and to a fourth dispensing position selected from the one or more dispensing positions.

34. 32. The machine of claim 31, wherein the cup position mechanism is further configured to rotate the cup when vertically lowering and lifting the cup from a dispensing position selected from the one or more dispensing positions to another dispensing position selected from the one or more dispensing positions, when finalizing the dispensing of an individual portion, returning the frozen dessert to at least partially fatigue, and further when lowering the cup relative to the cartridge cart to separate the individual portions from any frozen dessert remaining in the cartridge.

35. 32. The machine of claim 31, wherein the cup position mechanism is configured to first rotate the cup clockwise and then counterclockwise, or vice versa, when vertically lifting and lowering from one dispensing position selected from the one or more dispensing positions to another dispensing position selected from the one or more dispensing positions, to return the frozen dessert to at least partial exhaustion when finalizing the individual portions to be dispensed, and further to lower the cup relative to the cartridge cart to separate the individual portions from any frozen dessert remaining in the cartridge.

36. 32. The machine of claim 31, wherein the cup position mechanism is further configured to lower the cup to the home position after the individual portions are dispensed into the cup.

37. 32. The machine of claim 31, wherein the plunger includes an elastomeric ring disposed between upper and lower plunger portions, the upper plunger portion having a first surface that engages the elastomeric ring and the lower plunger portion having a second surface that engages the elastomeric ring, and wherein upon engagement of the plunger with the piston, the upper and lower plunger portions are urged toward each other to at least partially close a gap, and the first and second surfaces are urged axially toward each other to compress the elastomeric ring, thereby causing the elastomeric ring to expand radially outward against an inner wall of the piston, thereby forcing an outer wall of the piston against the bore of the cartridge, thereby facilitating a seal between the piston and the bore of the cartridge, thereby preventing leakage of the frozen dessert therebetween, the upper and lower plunger portions being resiliently connected together with the gap therebetween.

38. 32. The machine of claim 31, wherein the cup position mechanism has a cup gripping mechanism that receives the cup and grips the cup as the cup position mechanism lifts the cup from the home position to the one or more dispensing positions, and releases the cup as the cup position mechanism returns the cup from the one or more dispensing positions to the home position.

39. 40. The machine of claim 38, wherein the cup gripping mechanism includes three or more spring loaded jaws each configured to pivot away from the cup to compress a spring and release the cup when the cup position mechanism is in the home position, and to be spring biased to pivot towards the cup to grip the cup when the cup position mechanism is lifted from the home position.

40. 40. The machine of claim 39, wherein each spring loaded jaw includes a lever member extending generally along a central axis in the home position and having a first lever end operatively connected to a spring and a second lever end extending generally perpendicular to the first lever end, the first lever end and the second lever end meeting at a fulcrum about which the lever member pivots, the cup gripping mechanism including a step exerting a force point on the second lever end when the cup position mechanism is in the home position, the first lever end pivoting away from the cup to compress the spring, and configured to lift the lever member away from the step when the cup position mechanism is lifted from the home position, thereby releasing the force point from the second lever end and the first lever end pivoting towards the cup biased by the spring.

41. The machine of claim 1 , wherein the plunger includes a plunger force sensor configured to monitor the plunger force during dispensing and to vary power to the drive source based on the plunger force.

42. track; a cart movable on a track and to which said plunger is operatively connected, the cart including at least two spring loaded pawls forming a pawl mechanism, each pawl having a chamfered surface, configured such that when a cartridge is axially raised thereby engaging the chamfered surface, the pawls pivot to open the pawl mechanism and thereafter retain the cartridge; a mounting plate disposed adjacent an end of the track and having features formed thereon corresponding to the features of the spring loaded tab; and A chute disposed below the mounting plate Including, 2. The machine of claim 1, wherein the machine is configured to transport the cart along the track toward the mounting plate, pulling the cartridge, such that after the individual portions are dispensed, features of the mounting plate and the spring-loaded claws interact to open the claw mechanism, thereby releasing the cartridge to drop into the chute.

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