A food dispensing apparatus for automatically dispensing food onto a food tray and a method for recording pattern for dispensing food using said food dispensing apparatus

Abstract

A food dispensing apparatus (100) for automatically dispensing food onto a food tray and a method for recording pattern for dispensing food using a food dispensing apparatus are provided. This improved food dispensing apparatuses and method provide safe operation in an environment handling food in terms of cleanliness and in terms of minimizing a risk of loose parts or lubricants falling into the food, that are easy to operate and program, and that are relatively inexpensive. The food dispensing apparatus (100) comprises a mounting arrangement (110); a tool-carrying member (120); and a drive unit (160) operatively connected to the one or more steering rods (131, 132, 133). The one or more steering rods (131, 132, 133) are connected to the tool-carrying member (120) via respective chain connections (141, 142, 143).

Description

[0001] A FOOD DISPENSING APPARATUS FOR AUTOMATICALLY DISPENSING FOOD ONTO A FOOD TRAY AND A METHOD FOR RECORDING PATTERN FOR DISPENSING FOOD USING SAID FOOD DISPENSING APPARATUS

[0002] TECHNICAL FIELD

[0003] The present disclosure relates to a food dispensing apparatus for automatically dispensing food onto a food tray, and to a method for recording a pattern for dispensing food using said food dispensing apparatus.

[0004] BACKGROUND

[0005] Filling a food tray with food, such as filling a container for a meal, typically involves manual steps of filling the food tray with individual ingredients (such as mashed potatoes). In many cases, it is desired that each ingredient is arranged neatly in the food tray, which typically makes the product more appealing for the consumer. The food tray may be filled with one or more ingredients at a time using an automatic food dispenser. In such dispensers, a high level of control is needed for distributing the food neatly onto the food tray. Such dispensers are common for large industrial manufacturers. However small and mid-size manufacturers typically perform these tasks manually due a lack of available equipment when it comes to size, price, ease of use and demands for cleanliness.

[0006] An automatic food dispenser could perhaps comprise a robot arm for distributing food in a 3D pattern. Food grade requirements on such a robot arm differ from most industrial requirements on robot arms. In particular, a food grade environment has strict cleanliness requirements. Common problematic areas regarding cleanliness are the joints of the robot arm (which are often based on bearings or ball joint), the motors for operating the arm, and the transmission from the motors. For industrial usage, the precision and function of existing joints are well suited. However, cleaning such joints at a satisfactory level when the robot arm is used for dispensing food has at least two challenges. One difficulty is getting the joints clean enough and the other is not damaging the joints in the cleaning process.

[0007] When using an automatic food dispenser, there may be a risk that parts of the apparatus (such as screws) fall into the food tray if the apparatus break. Furthermore, lubricating oils may also accidentally drip into the food tray. Yet another problem is that the automatic food dispenser may be hard to program, i.e., it is complex and time-consuming to program a predetermined food dispensing pattern. Furthermore, an automatic food dispenser may be associated with a relatively high cost. In an automatic food dispenser, there is also a risk of condensation contamination. Vapor from hot food may attach to the automatic food dispenser and fall back to the food in the form of droplets. When the equipment meets a required cleanliness criteria, such droplets are less problematic. However, if the automatic food dispenser is based on an industrial robot arm that is not clean enough, the droplets may be very problematic. Therefore, handling hot food raises the food grade requirements in regards to condensation contamination. Thus, most robot arms used in industrial applications are not suitable for automatic food dispensers. Equipment that meets the cleanliness criteria regarding condensation contamination enables dispensing hot food, which opens up the possibility of deploying the equipment in a restaurant kitchen for instance.

[0008] There is a need for improved food dispensing apparatuses that provide safe operation in an environment handling food in terms of cleanliness and in terms of minimizing a risk of loose parts or lubricants falling into the food, that are easy to operate and program, and that are relatively inexpensive.

[0009] SUMMARY

[0010] An object of the present disclosure is to provide improved food dispensing apparatuses that provide safe operation in an environment handling food in terms of cleanliness and in terms of minimizing a risk of loose parts or lubricants falling into the food, that are easy to operate and program, and that are relatively inexpensive. This and other objects, which will become apparent in the following, are accomplished by a food dispensing apparatus and a method for recording pattern for dispensing food using said food dispensing apparatus, as defined in the accompanying independent claims.

[0011] According to a first aspect of the present disclosure, there is provided, a food dispensing apparatus for automatically dispensing food onto a food tray. The food dispensing apparatus comprises a mounting arrangement and a tool-carrying member for carrying a tool adapted to dispense food onto the food tray, where the tool-carrying member is arranged suspended from the mounting arrangement and arranged movable relative to the mounting arrangement. The food dispensing apparatus further comprises one or more steering rods connected to the toolcarrying member so that movement of the tool-carrying member is controllable by movement of the one or more steering rods. The food dispensing apparatus also comprises a drive unit operatively connected to the one or more steering rods so that movement of the tool-carrying member is controllable by controlling an operation of the drive unit. The one or more steering rods are connected to the tool-carrying member via respective chain connections. Each chain connection comprises at least a first and a second link member connected to each other so as to i) form a rigid chain connection when a tension force is applied onto the chain connection directed to pull the first and second link members apart, and ii) form a flexible chain connection when the tension force is not applied onto the chain connection.

[0012] The one or more steering rods may provide a distance between the tool-carrying member and the drive unit. This is advantageous since the drive unit is displaced away from the location where the interaction with the food happens. Consequently, any parts in the drive unit that may become loose will not fall into the food tray. Similarly, potential leakage of lubricating oils and similar will not leak into the food tray. Furthermore, the distance makes the tool-carrying member and the one or more steering rods more accessible, which makes them easier to clean.

[0013] A chain connection is easy to clean when the tension force is not applied. A chain connection further enables accurate control of the movement of the tool-carrying member when the tension force is applied.

[0014] Consequently, the disclosed food dispensing apparatuses provides safe operation in an environment handling food in terms of cleanliness and in terms of minimizing a risk of loose parts falling into the food, while simultaneously being relatively inexpensive.

[0015] The food dispensing apparatus is suitable for automatically dispensing food onto a food tray. This may, e.g., mean to spritz mashed potatoes onto the food tray. In that case, the tool may comprise a tube provided with a nozzle that spritzes the mashed potatoes by means of a pressing tool such as a sausage filler. Automatically dispensing food may also mean to pick and place food items from a larger batch onto the food tray. For example, the tool may comprise a tube that picks up a meatball from the larger batch by means of vacuum suction and that thereafter places the meatball onto the food tray. The food dispensing apparatus is further suitable to dispense food in a broader sense, such as distributing food already placed on a food tray, moving the food tray, or moving other objects in a food grade environment. For example, the food dispensing apparatus may be configured to stir the contents of food tray.

[0016] The tool-carrying member is shaped to carry the tool, e.g., via a chain connection. However, other ways of carrying the tool are also possible. The tool-carrying member may, e.g., be in the shape of a rod provided with link members (that are part of the chain connections connecting the one or more steering rods) and with means to carry the tool. Other shapes of the tool-carrying member are also possible. The tool-carrying member may, e.g., be made of stainless steel.

[0017] The tool is adapted to dispense food onto the food tray. The tool may, e.g., comprise a tube with a nozzle arranged to spritz mashed potatoes onto the food tray. Other tools are also possible. The tool may be provided with a holder. For example, if the tool comprises a tube, the tool holder may be an arrangement holding said tube. In that case, the tool-carrying member may be adapted to carry the tool via the tool holder. The tool holder may, e.g., be made of stainless steel.

[0018] The tool-carrying member being arranged suspended from the mounting arrangement means that the tool-carrying member is hanging from the mounting arrangement. In other words, the tool-carrying member is supported by attachment means from above. The tool-carrying member may be suspended from the mounting arrangement directly or via intermediate parts.

[0019] The mounting arrangement is a structure that holds tool-carrying member such that the toolcarrying member is movable relative to the mounting arrangement. The mounting arrangement may, e.g., comprise beams (e.g., of stainless steel) that form a base for being stationarily arranged on the ground or on a table. Furthermore, the drive unit may be attached to the mounting arrangement.

[0020] The one or more steering rods are connected to the tool-carrying member so that movement of the tool-carrying member is controllable by movement of the one or more steering rods. In other words, if a steering rod is moved relative to the mounting structure, the tool-carrying member also moves relative to the mounting structure.

[0021] A steering rod is a rigid and elongated part. A steering rod may, e.g., be in the shape of a solid or hollow cylinder. Other shapes are also possible. A steering rod may, e.g., be made of stainless steel.

[0022] The drive unit is operatively connected to the one or more steering rods so that movement of the tool-carrying member is controllable by controlling the operation of the drive unit. In other words, the operation of the drive unit may cause a steering rod to move relative to the mounting structure, which in turn causes the tool-carrying member to move relative to the mounting structure.

[0023] The drive unit is a unit configured to cause and control movement of the one or more steering rods. The drive unit may, e.g., comprise a respective motor operatively connected to the one or more steering rods.

[0024] The one or more steering rods are preferably arranged such that the tool-carrying member is horizontally displaced from the drive unit. This means that a distance is provided between the tool-carrying member and the drive unit in a horizontal plane.

[0025] The one or more steering rods are preferably arranged such that the tool-carrying member is vertically displaced from the drive unit. This means that a distance is provided between the tool-carrying member and the drive unit in a vertical plane. A chain connection comprises at least a first and a second link member. However, a chain connection may have any number of link members larger than two. At least one link member of a chain connection is attached to a first part (such as the tool-carrying member) and at least one other link member of that chain connection is attached to a second part (such as one of the steering rods). The attachment of one of the link members to one part may, e.g., be rigid (such as being welded to). The link member attached to a part may be in the shape of a hook. If a chain connection comprises more than two link members, the link members arranged between the respective members attached to the first and second parts may be referred to as intermediate link members. An intermediate link member may, e.g., be in the form of a torus or elliptical torus. A link member may, e.g., be made of stainless steel.

[0026] The first and the second link member are connected to each other so as to form a rigid chain connection when a tension force is applied onto the chain connection directed to pull the first and second link members apart. In other words, when the first link member is pulled away from the second link member, a rigid chain connection is formed. If a chain connection comprises more than two link members, the apparatus is preferably arranged such that said chain connection is under tension when a tool is mounted to the tool-carrying member and when the drive unit is operated to move the tool-carrying member. In this way, a relatively high level of control of the movement of the tool is enabled. It is however possible that said chain connection is not always under tension during such conditions. In that case, some precision of the movement may be lost. However, if said chain connection comprises few link members (such as less than four), the precision may be high enough depending on the application and type of desired movement of the tool.

[0027] If the food dispensing apparatus comprises a plurality of steering rods, the drive unit may be configured to control the movement of the tool-carrying member by causing one or more of the plurality of steering rods to pull on their respective chain connections to the tool-carrying member. In this way, respective rigid chain connections are formed during such operations of the drive unit. In this way, a relatively high level of control of the movement of the tool is obtained when the tool is attached to the tool-carrying member.

[0028] The first and the second link member are connected to each other so as to form a flexible chain connection when the tension force is not applied onto the chain connection. In other words, when the first link member is pushed towards the second link member, a flexible chain connection is formed. For example, the first link member may be manually pushed towards the second link member. In this way, it is easy to clean every external surface of the first and second link members. When a chain connection is under tension (i.e., when the link members are pulled apart), movement of the tool-carrying member is predictable as long as the tension force is withheld onto that chain connection. Thus, to have a high level of control of the movement of the toolcarrying member, there is preferably a tension force applied and withheld on each of the chain connections of the tool-carrying member when the tool-carrying member moves.

[0029] In an example, a steering rod and its chain connection to the tool-carrying member extend in the horizontal plane. When that chain connection is under tension, a pulling force is applied to the tool-carrying member with respect to the link member attached to the tool-carrying member. To maintain the tension of the chain connection, another force needs to be applied on the toolcarrying member in the opposite direction. One way to achieve a two-dimensional horizontal control with high precision is to use three horizontally arranged chain connections on the toolcarrying member. In particular, two steering rods with respective chain connections to the toolcarrying member that extend substantially in the horizontal plane, but at different directions, and another chain connection configured to pull tool-carrying member substantially in the horizontal plane, but at a direction different from the extension directions of the two steering rods. Here, it should also be noted that a horizontal force may not necessarily be a strictly horizontal force but may be a horizontal component of a partially vertically directed force. In this way, by adding steering rods that are partially horizontally directed and partially vertically directed, the need for the number of horizontal steering rods may be reduced. The important thing is to create both force and counter force to create tension in the chain links.

[0030] Note that a steering rod can tension its chain connection to the tool-carrying member in at least two different ways. In one way, the steering rod is pulled away from the tool-carrying member. In this case, the steering rod is internally stretched. In another way, the steering rod is pushed towards the tool-carrying member. In that case, the steering rod is internally compressed.

[0031] In some embodiments, the food dispensing apparatus comprises at least one counterweight configured to apply and withhold the tension force onto one of the respective chain connections during operation of the drive unit when the tool-carrying member is carrying the tool. A counterweight may, e.g., be formed by the shape and arrangement of a steering rod itself. Alternatively, or in combination of, a counterweight may be a separate member (such as a stainless steel cylinder) attached directly to a steering rod, or attached to another part pulling on the steering rod. The counterweight enables each of the chain connections connecting a steering rod to the tool-carrying member to be under tension when the tool is attached to the tool-carrying member and when the drive unit is operated to move the tool-carrying member. In this way, a high level of control of the movement of the tool is enabled. In some embodiments, the drive unit is configured to apply and withhold the tension force onto one of the respective chain connections during operation of the drive unit when the toolcarrying member is carrying the tool. For example, if the drive unit comprises a motor operatively connected to one steering rod, said motor can be provided with a biasing signal that constantly puts the chain connection of said steering rod under tension when the tool is attached to the tool-carrying member. To move the tool around, a control signal may be provided to the motor to operate around the biasing signal. This type of operation of the drive unit may be used as a combination or an alternative to a counterweight to put a chain connection of a steering rod under tension when the tool is attached to the tool-carrying member.

[0032] In some embodiments, the one or more steering rods comprise a primary steering rod connected to the tool-carrying member so that a first operation of the drive unit controls a vertical movement of the of the tool-carrying member, and a first and a second secondary steering rod connected to the tool-carrying member so that a second operation of the drive unit controls a horizontal movement of the of the tool-carrying member. In this way, the drive unit may be operated to provide a three-dimensional movement of the tool when attached to the tool-carrying member.

[0033] Note that in other embodiments, the food dispensing apparatus only comprises one or two of the primary steering rods, the first secondary steering rod, and the second secondary steering rod. This limits the control of the movement of the tool. Such limited control, however, may be sufficient in some applications.

[0034] Note that, in some embodiments, one or two of the primary steering rods, the first secondary steering rod, and the second secondary steering rod may be replaced with a non-rigid part. For example, the first and the second secondary steering rods may be replaced with respective chains operatively connected to respective motors of the drive unit. This may be used, for example, in case only a pulling force is applied to the rods.

[0035] In some embodiments, the primary steering rod is suspended from the mounting arrangement, and the tool-carrying member is suspended from the mounting arrangement via the primary steering rod. Furthermore, the primary steering rod may be suspended from the mounting arrangement by a chain connection. For example, the mounting arrangement may comprise a vertical beam from which the primary steering rod is suspended by a chain connection.

[0036] In some embodiments, the food dispensing apparatus comprises a respective counterweight for each of the primary, the first secondary, and the second secondary steering rods. Each counterweight is configured to apply and withhold respective tension force onto the respective chain connections of the primary, the first secondary, and the second secondary steering rods during operation of the drive unit when the tool-carrying member is carrying the tool. In this way, the respective chain connections of the steering rods are under tension when the tool is attached to the tool-carrying member and when the drive unit is operated to move the toolcarrying member. Consequently, a high level of control of the movement of the tool is enabled.

[0037] In some embodiments, the drive unit comprises a first motor configured to move the primary steering rod relative to the drive unit, a second motor configured to move the first secondary steering rod relative to the drive unit, and a third motor configured to move the second secondary steering rod relative to the drive unit. In this way, a high level of control of the movement of the primary steering rod, the first secondary steering rod, and the second secondary steering rod is obtained. Consequently, a high level of control of the movement of the tool is enabled. A motor is an electric machine configured to convert electrical energy into mechanical energy. A motor may also be referred to as an electric motor. An electric motor may operate via an interaction between a magnetic field and electric current in a wire winding of the motor for generating a force in the form of a torque applied on a shaft of the motor. The shaft of a motor is a rigid part (e.g., in the form of a cylinder) that extrudes out from the motor and its housing.

[0038] In some embodiments, the first motor is provided with a motor rod arranged to be rotated relative to the first motor when the first motor is operated, where the motor rod of the first motor is connected to the primary steering rod via a chain connection or connected to an intermediate rod via a chain connection, where the intermediate rod is connected to the primary steering rod via a chain connection.

[0039] In some embodiments, the second motor is provided with a motor rod arranged to be rotated relative to the second motor when the second motor is operated. The third motor is provided with a motor rod arranged to be rotated relative to the third motor when the third motor is operated. The motor rod of the second and the third motors are connected to the first and the second secondary steering rods, respectively, via respective chain connections.

[0040] A motor rod is a rigid and elongated part. A motor rod may, e.g., be in the shape of a solid or hollow cylinder. Other shapes are also possible. A motor rod may, e.g., be made of stainless steel. Each motor rod is rigidly connected to the corresponding motor shaft. Thus, the motor rod rotates as the motor shaft rotates.

[0041] In some embodiments, the counterweights comprise respective counterweight members arranged on the respective motor rods of the first, the second, and the third motors. For a motor, it is an advantage if the counterweight member is placed as close possible to the motor shaft, since that reduces the influence of acceleration of the counterweight member. In some embodiments, the food dispensing apparatus comprises a force rod arranged suspended from the mounting arrangement and arranged connected to the tool-carrying member via a chain connection such that a force is exerted onto tool-carrying member relative to the mounting arrangement during operation of the drive unit when the tool-carrying member is carrying the tool. The force rod enables the tool-carrying member to be arranged in a desired position when it is carrying a tool, while simultaneously enabling the chain connections (including but not limited to the chain connections of the one or more steering rods) to be tensioned when the drive unit is operated to move the tool-carrying member. Note that the force exerted on the tool-carrying member by the force rod is a pulling force via the chain connection of the force rod when said chain connection is tensioned. The force rod may be provided with a counterweight, e.g., formed by the shape and arrangement of the force rod itself. Alternatively, or in combination of, said counterweight may be a separate member (such as a stainless steel cylinder) attached directly to the force rod, or attached to another part pulling on the force rod.

[0042] In some embodiments, the force exerted onto the tool-carrying member by the force rod is in a different direction than a composite force exerted on the tool-carrying member by the respective chain connections of the first and the second secondary steering rods when respective tension forces are applied onto the respective chain connections of the first and the second secondary steering rods.

[0043] The force exerted on the tool-carrying member by the first and the second secondary steering rods are respective pulling forces via the respective chain connections of the first and the second secondary steering rods when said chain connection are tensioned. These two pulling forces provide a composite force exerted on the tool-carrying member in a first direction. The force exerted onto the tool-carrying member by the force rod is in a second direction. The first and the second directions are different. Preferably, the force exerted in the first direction, as projected onto a horizontal plane, is opposite to the force exerted in the second direction, as projected onto the horizontal plane. This enables, the tool-carrying member to be arranged in a desired position when it is carrying a tool, while simultaneously enabling the chain connections (including but not limited to the chain connections of the one or more steering rods) to be tensioned when the drive unit is operated to move the tool-carrying member.

[0044] In some embodiments, the tool-carrying member is configured to carry the tool via a chain connection. As an example, the tool-carrying member may comprise a single link member in the shape of a hook. In this way, the tool may be mounted onto the tool-carrying member such that the tool and the tool-carrying member are easy to clean. In some embodiments, the motor rod of the first motor is connected to the first motor without any gears, the motor rod of the second motor is connected the second motor without any gears, and the motor rod of the third motor is connected to the third motor without any gears. In other words, the motor shaft of a motor is operatively connected to said motor without any gears and the corresponding motor rod is attached to said motor shaft without any gears. In this way, it is easy to move around the tool-carrying member manually when it is carrying a tool and when the drive unit is not operated. If, on the other hand, there were a relatively high gear ratio between a motor and the corresponding motor rod, the tool-carrying member would resist such manual movement. The manual movement may, e.g., be used to record a movement pattern of the food dispensing apparatus.

[0045] More generally, however, there may be a low gear ratio between a motor and the corresponding motor rod. Here, “low” means a gear ratio less than 1 :10, preferably less than 1 :5, and more preferably less than 1 :2.

[0046] In some embodiments, the food dispensing apparatus comprises the tool, where the tool comprises a tube arranged to dispense food onto the food tray by means of pumping food through the tube.

[0047] In some embodiments, the one or more steering rods are arranged such the tool is held at an equilibrium position when the tool-carrying member is carrying the tool and when the drive unit is not powered. The equilibrium position is a state of balance between opposing forces acting on the tool-carrying member. In particular, the forces acted on the tool-carrying member have a resultant that is zero when the tool is attached to the tool-carrying member and when the drive unit is not powered. The equilibrium position is a different position from an end position of the tool-carrying member, and a position where the tool-carrying member may be moved in different directions away from the equilibrium position. In this way, it is easy to move around the tool-carrying member manually when it is carrying a tool and when the drive unit is operated. If, on the other hand, there is no equilibrium position different from an end position, an operator may have to counteract gravity when manually moving the tool-carrying member, which is undesired. The manual movement may, e.g., be used to record a movement pattern of the food dispensing apparatus.

[0048] According to a second aspect of the present disclosure, there is provided a method for recording pattern for dispensing food using a food dispensing apparatus according to the first aspect when the drive unit is not powered. The method comprises: mounting the tool onto the tool-carrying member; moving the tool in a pattern; and recording the pattern by means of obtaining a signal from position sensor associated with the drive unit. The position sensor may comprise a respective unit for each motor of the drive unit if the drive unit comprises one or more motors. A respective unit of the position sensor may be configured to record a position of a motor shaft or motor rod. The recorded pattern may subsequently be used to feed one or more control signals to the drive unit (or to respective motors of the drive unit) to cause the tool attached to the tool-carrying member to move in the same pattern in an automatic fashion.

[0049] The disclosed method thus provides an easy way of programming the food dispensing apparatus and enables a simple way operating the food dispensing apparatus in an automated fashion.

[0050] Generally, all terms used in the claims are to be interpreted according to their ordinary meaning in the technical field, unless explicitly defined otherwise herein. All references to "a / an / the element, apparatus, component, means, step, etc." are to be interpreted openly as referring to at least one instance of the element, apparatus, component, means, step, etc. , unless explicitly stated otherwise. The steps of any method disclosed herein do not have to be performed in the exact order disclosed, unless explicitly stated. Further features of, and advantages with, the present disclosure will become apparent when studying the appended claims and the following description. The skilled person realizes that different features of the present disclosure may be combined to create embodiments other than those described in the following, without departing from the scope of the present disclosure.

[0051] BRIEF DESCRIPTION OF THE DRAWINGS

[0052] With reference to the appended drawings, below follows a more detailed description of embodiments of the present disclosure cited as examples. In the drawings:

[0053] Figures 1-5 show different views of a food dispensing apparatus;

[0054] Figure 6 is a flow chart illustrating a method; and

[0055] Figure 7 schematically illustrates a control unit.

[0056] DETAILED DESCRIPTION

[0057] The present disclosure is described more fully below with reference to the accompanying drawings, in which certain aspects of the present disclosure are shown. The present disclosure may, however, be embodied in many different forms and should not be construed as limited to the embodiments and aspects set forth herein; rather, these embodiments are provided by way of example so that this disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art. Like numbers refer to like elements throughout the description.

[0058] It is to be understood that the present disclosure is not limited to the embodiments described herein and illustrated in the drawings; rather, the skilled person will recognize that many changes and modifications may be made within the scope of the appended claims.

[0059] Figures 1-5 show different views of a food dispensing apparatus 100 for automatically dispensing food onto a food tray (not shown in Figures 1-5).

[0060] The food dispensing apparatus 100 comprises a mounting arrangement 110 formed by a plurality of beams. The mounting arrangement 110 comprises a base that is configured to be placed on the floor or a table or such. The beams are made of stainless steel.

[0061] The food dispensing apparatus 100 also comprises a tool-carrying member 120 for carrying a tool (not shown in Figures 1-5) adapted to dispense food onto the food tray. The tool may, e.g., comprise a tube arranged to dispense food onto the food tray by means of pumping food through the tube. For example, the tube may be provided with a nozzle that spritzes the mashed potatoes by means of a pressing tool such as a sausage filler. In another example, the tool comprises a tube that picks up a meatball form the larger batch by means of vacuum suction and that thereafter places the meatball onto the food tray. In yet another example, the tool is adapted to stir food in the food tray. In a further example, the tool is adapted to move the food tray. Other tools are also possible.

[0062] The tool-carrying member 120 is rigid and solid cylinder made of stainless steel. The toolcarrying member 120 comprises a hook 144, which is a tool attachment point for carrying the tool. Thus, the tool-carrying member 120 is configured to carry the tool via a chain connection 144.

[0063] The tool-carrying member 120 is arranged suspended from the mounting arrangement 110 and arranged movable relative to the mounting arrangement 110. In particular, a primary steering rod 131 (which is discussed in more detail below) is suspended from the mounting arrangement 110, where the tool-carrying member 120 is suspended from the mounting arrangement 110 via the primary steering rod 131.

[0064] The food dispensing apparatus 100 further comprises steering rods 131 , 132, 133 connected to the tool-carrying member 120 so that movement of the tool-carrying member 120 is controllable by movement of the steering rods 131 , 132, 133. The steering rods 131 , 132, 133 are rigid and solid cylinders made of stainless steel. The food dispensing apparatus 100 of Figures 1-5 comprise three steering rods 131 , 132, 133. This enables a simple way of controlling the movement of the tool-carrying member 120 in a 3D pattern. In general, however, any number of steering rods are possible. For example, if a simpler movement pattern of tool- carrying member 120 is desired, the food dispensing apparatus 100 may be provided with only a single or only two steering rods.

[0065] In Figures 1-5, the steering rods comprise a primary steering rod 131 connected to the toolcarrying member 120 so that a first operation of the drive unit 160 controls a vertical movement of the of the tool-carrying member 120, and a first and a second secondary steering rod 132, 133 connected to the tool-carrying member 120 so that a second operation of the drive unit 160 controls a horizontal movement of the of the tool-carrying member 120.

[0066] The steering rods 131 , 132, 133 are connected to the tool-carrying member 120 via respective chain connections 141 , 142, 143.

[0067] The food dispensing apparatus 100 is provided with chain connections between a pluralities of parts, see 141-153. Each chain connection comprises at least a first and a second link member connected to each other so as to i) form a rigid chain connection when a tension force is applied onto the chain connection directed to pull the first and second link members apart, and ii) form a flexible chain connection when the tension force is not applied onto the chain connection. Each link member of the chain connections 141-153 is made of stainless steel.

[0068] Chain connection 141 comprises one link member rigidly attached to the tool-carrying member 120, where said link member is interlinked with another link member rigidly attached to the primary steering rod 131.

[0069] Chain connection 142 comprises one link member rigidly attached to the tool-carrying member 120, where said link member is interlinked with another link member rigidly attached to the first secondary steering rod 132.

[0070] Chain connection 143 comprises one link member rigidly attached to the tool-carrying member 120, where said link member is interlinked with another link member rigidly attached to the second secondary steering rod 133.

[0071] Chain connection 144 is formed by one link member rigidly attached to the tool-carrying member 120, where said link members is arranged to be interlinked with another link member rigidly attached to the tool (not shown in Figures 1-5).

[0072] Chain connection 145 comprises one link member rigidly attached to the tool-carrying member 120, where said link member is interlinked with another link member rigidly attached to a force rod 135.

[0073] Chain connection 146 comprises one link member rigidly attached to the first secondary steering rod 132, where said link member is interlinked with an intermediate link member, which in turn is interlinked with another link member rigidly attached to a motor rod 165. Chain connection 147 comprises one link member rigidly attached to the second secondary steering rod 133, where said link member is interlinked with an intermediate link member, which in turn is interlinked with another link member rigidly attached to a motor rod 166.

[0074] Chain connection 148 comprises one link member rigidly attached to an intermediate rod 134, where said link member is interlinked with another link member rigidly attached to a motor rod 164.

[0075] Chain connection 149 comprises one link member rigidly attached to the force rod 135, where said link member is interlinked with an intermediate link member, which in turn is interlinked with another link member rigidly attached to both guiding rods 136 and 137.

[0076] Chain connection 150 comprises one link member rigidly attached to the guiding rod 137, where said link member is interlinked with another link member rigidly attached to the mounting arrangement 110.

[0077] Chain connection 151 comprises one link member rigidly attached to the primary rod 131 , where said link member is interlinked with another link member rigidly attached to the intermediate rod 134.

[0078] Chain connection 152 comprises one link member rigidly attached to the primary rod 131 , where said link member is interlinked with an intermediate link member, which in turn is interlinked with another link member rigidly attached to the mounting arrangement 110. Thus, it can be seen that the primary steering rod 131 is suspended from the mounting arrangement 110 by the chain connection 152.

[0079] Chain connection 150 comprises one link member rigidly attached to the guiding rod 136, where said link member is interlinked with another link member rigidly attached to the mounting arrangement 110.

[0080] In each of the respective chain connections 141-153, the first and the second link member are connected to each other so as to form a rigid chain connection when a tension force is applied onto the chain connection directed to pull the first and second link members apart. In other words, when the first link member is pulled away from the second link member, a rigid chain connection is formed. If a chain connection comprises more than two link members, the apparatus is preferably arranged such that said chain connection is under tension when a tool is mounted to the tool-carrying member 120 and when the drive unit 160 is operated to move the tool-carrying member 120. In this way, a relatively high level of control of the movement of the tool is enabled.

[0081] The food dispensing apparatus 100 comprises at least chain connections 141-143. The chain connections other than 141-143 may be replaced with other connections means, such as ball joints. Preferably, all connections on the tool-carrying member 120 are chain connections. In other words, the food dispensing apparatus 100 preferably comprises at least chain connections 141-145. In this way, all joints closest to the tool and the food tray are easy to clean.

[0082] The food dispensing apparatus 100 comprises counterweights 171-175, formed by respective solid stainless steel cylinders. Counterweights 171-173 are configured to apply and withhold the tension force onto the respective chain connections 141 , 142, 143 during operation of the drive unit 160 when the tool-carrying member 120 is carrying the tool.

[0083] Counterweights 171, 172, 173 comprise respective counterweight members arranged on the respective motor rods 164, 165, 166 of the first, the second, and the third motors 161 , 162, 163.

[0084] Counterweights 174 and 175 comprise respective counterweight members attached to the guiding rods 136 and 137, respectively.

[0085] A counterweight member is a separate member from a rod, and is rigidly attached to a rod. Alternative to a counterweight member, a counterweight may, e.g., be formed by the shape and arrangement of a steering rod itself, the shape and arrangement of a motor rod itself, and / or the shape and arrangement of a guiding rods itself.

[0086] Counterweight 171 is configured to apply and withhold the tension force onto the respective chain connections 148, 151, 152 during operation of the drive unit 160 when the tool-carrying member 120 is carrying the tool.

[0087] Counterweight 172 is configured to apply and withhold the tension force onto the chain connection 146 during operation of the drive unit 160 when the tool-carrying member 120 is carrying the tool.

[0088] Counterweight 173 is configured to apply and withhold the tension force onto the chain connection 147 during operation of the drive unit 160 when the tool-carrying member 120 is carrying the tool.

[0089] Counterweights 174 and 175 are configured to apply and withhold the tension force onto the respective chain connections 145, 149, 150, 153 during operation of the drive unit 160 when the tool-carrying member 120 is carrying the tool.

[0090] The food dispensing apparatus 100 comprises a drive unit 160 operatively connected to the steering rods 131, 132, 133 so that movement of the tool-carrying member 120 is controllable by controlling an operation of the drive unit 160. In particular, the drive unit 160 comprises a first motor 161 configured to move the primary steering rod 131 relative to the drive unit 160, a second motor 162 configured to move the first secondary steering rod 132 relative to the drive unit 160, and a third motor 163 configured to move the second secondary steering rod 133 relative to the drive unit 160. The first, the second, and the third motors are encompassed by the housing of the drive unit 160, and illustrated with respective dashed arrows. Each motor comprises a motor shaft extending to the outside of the housing of the drive unit 160.

[0091] The first motor 161 is provided with a motor rod 164 arranged to be rotated relative to the first motor 161 when the first motor 161 is operated. In particular, the motor rod 164 is rigidly attached to the motor shaft of the first motor. As mentioned, the motor rod 164 of the first motor 161 is connected to an intermediate rod 134 via a chain connection 148, where the intermediate rod 134 is connected to the primary steering rod 131 via a chain connection 151.

[0092] The second motor 162 is provided with a motor rod 165 arranged to be rotated relative to the second motor 162 when the second motor 162 is operated. In particular, the motor rod 165 is rigidly attached to the motor shaft of the second motor.

[0093] The third motor 163 is provided with a motor rod 166 arranged to be rotated relative to the third motor 163 when the third motor 163 is operated. In particular, the motor rod 166 is rigidly attached to the motor shaft of the third motor.

[0094] The steering rods 131 , 132, 133 are arranged such that the tool-carrying member 120 is horizontally displaced from the drive unit 160. The steering rods provide a distance between the tool-carrying member 120 and the drive unit 160. This is advantageous since the drive unit 160 is displaced away from the location where the interaction with the food happens. Consequently, the any parts in the drive unit 160 that may become loose will not fall into the food tray. Similarly, potential leakage of lubricating oils and similar will not leak into the food tray. Furthermore, the distance makes the tool-carrying member 120 and the one or more steering rods more accessible, which makes them easier to clean.

[0095] In some embodiments, as an alternative or as a combination with the counterweights, the drive unit 160 is configured to apply and withhold the tension force onto one of the respective chain connections 141 , 142, 143 during operation of the drive unit 160 when the tool-carrying member 120 is carrying the tool. For example, a motor operatively connected to one steering rod can be provided with a biasing signal that constantly puts the chain connection of said steering rod under tension when the tool is attached to the tool-carrying member 120. To move the tool around, a control signal may be provided to the motor to operate around the biasing signal.

[0096] In alternative embodiments, one or more of the counterweight members 171-175 are omitted, and the drive unit 160 is not configured not to apply and withhold the tension force according to the previous paragraph. In that case, some precision of the movement may be lost. However, if a chain connection comprises few link members (such as less than four), the precision may be high enough depending on the application and type of desired movement of the tool.

[0097] The food dispensing apparatus 100 comprises a force rod 135 arranged suspended from the mounting arrangement 110 and arranged connected to the tool-carrying member 120 via a chain connection 145 such that a force is exerted onto tool-carrying member 120 relative to the mounting arrangement 110 during operation of the drive unit 160 when the tool-carrying member 120 is carrying the tool. The force rod 135 enables the tool-carrying member 120 to be arranged in a desired position when it is carrying a tool, while simultaneously enabling the chain connections (including but not limited to the chain connections 141-143 of the one or more steering rods) to be tensioned when the drive unit 160 is operated to move the toolcarrying member 120. Note that the force exerted on the tool-carrying member 120 by the force rod 135 is a pulling force via the chain connection 145 of the force rod 135 when said chain connection 145 is tensioned. As mentioned above, the force rod 135 is associated with counterweight members 174, 175. Here, it should be noted that using counterweights 174, 175 for the force rod 135 is one alternative embodiment. Optionally, the force applied on the forcerod 135 may also be generated from a designated motor. In some embodiments, this may eliminate the need for the counterweights 174, 175. Alternatively, for the force rod 135, the first secondary and the second secondary steering rod 132, 133 counterweights are optional. In general, for any rod that has no default force given by a counterweight tension on the chain connections, such a force needs to be provided by a designated motor for that rod.

[0098] The force exerted onto the tool-carrying member 120 by the force rod 135 is in a different direction than a composite force exerted on the tool-carrying member 120 by the respective chain connections 142, 143 of the first and the second secondary steering rods 132, 133 when respective tension forces are applied onto the respective chain connections of the first and the second secondary steering rods 132, 133.

[0099] The force exerted on the tool-carrying member 120 by the first and the second secondary steering rods 132, 133 are respective pulling forces via the respective chain connections 142, 143 of the first and the second secondary steering rods 132, 133 when said chain connection are tensioned 142, 143. These two pulling forces provide a composite force exerted on the tool-carrying member 120 in a first direction. The force exerted onto the tool-carrying member 120 by the force rod 135 is in a second direction. The first and the second directions are different. In particular, the force exerted in the first direction, as projected onto a horizontal plane, is opposite to, or has an opposite component to, the force exerted in the second direction, as projected onto the horizontal plane. This enables, the tool-carrying member 120 to be arranged in a desired position when it is carrying a tool, while simultaneously enabling the chain connections (including but not limited to the chain connections 141-143 of the one or more steering rods) to be tensioned when the drive unit 160 is operated to move the toolcarrying member 120.

[0100] The motor rod 164 of the first motor 161 is connected to the first motor 161 without any gears, the motor rod 165 of the second motor 162 is connected the second motor 162 without any gears, and the motor rod 166 of the third motor 163 is connected to the third motor 163 without any gears. In other words, the motor shaft of a motor is operatively connected to said motor without any gears and the corresponding motor rod is attached to said motor shaft without any gears. In this way, it is easy to move around the tool-carrying member 120 manually when it is carrying a tool and when the drive unit 160 is not operated. If, on the other hand, there were a relatively high gear ratio between a motor and the corresponding motor rod, the tool-carrying member 120 would resist such manual movement. The manual movement may, e.g., be used to record a movement pattern of the food dispensing apparatus 100.

[0101] Here it should be noted that this kind of low resistance movement enables more freedom in recording the movement pattern. Using counterweights will give the proper tension to the chain connections, which in turn creates precision when recording the movement pattern as the motors 161 , 162, 163 are not operated, i.e. disabled / turned off. However, instead of using counterweights, the motors 161 , 162, 163 may optionally be arranged to provide counter forces, wherein the counter forces are large enough to provide tension to the chain connections. This will provide the recording of the movement pattern with the desired precision when the motors 161 , 162, 163 are operated, i.e. non-disabled / turned on.

[0102] In some cases, this may also imply that in order to have a recording of the movement pattern with proper motor positions, the chain connections should be tensioned (which is otherwise provided by the equilibrium position of the counter weights including the force rod). For this to be true with one or more of the counter weights absent, the corresponding motor needs to maintain the counter force to keep the chain connections tensed. This, in turn also implies that, if the force rod 135 has no counter weights, the force rod 135 needs its own motor to apply the force.

[0103] Furthermore, it should also be noted that using counterweights is more simplistic and disabling the motors while recording the movement pattern may a safety issue, for example, in case the motors are powerful and the tool potentially may be harmful, e.g. a sharp knife. However, having only motors and no counter weights may provide other advantages, such as, for example, moving the tool by hand would be even easier. Another advantage may be that the default force by counterweights may be higher than using minimal needed force by the motors.

[0104] More generally, any gear ratio between a motor and the corresponding motor rod is possible. Preferably, there is a low gear ratio between a motor and the corresponding motor rod. Here, “low” means a gear ratio less than 1 :10, preferably less than 1 :5, and more preferably less than 1 :2.

[0105] The steering rods 131 , 132, 133 are arranged such the tool is held at an equilibrium position when the tool-carrying member 120 is carrying the tool and when the drive unit 160 is not powered. The equilibrium position is a state of balance between opposing forces acting on the tool-carrying member 120. In particular, the forces acted on the tool-carrying member 120 has a resultant that is zero when the tool and when the drive unit 160 is not powered. The equilibrium position is a different position from an end position of the tool-carrying member 120, and the tool-carrying member 120 may be moved in different directions away from the equilibrium position. In this way, it is easy to manually move around the tool-carrying member 120 when it is carrying a tool and when the drive unit 160 is operated. If, on the other hand, there is no equilibrium position different from an end position, an operator may have to counteract gravity when manually moving the tool-carrying member 120, which is undesired. The manual movement may, e.g., be used to record a movement pattern of the food dispensing apparatus 100.

[0106] Figure 6 is a flow chart illustrating a method for recording pattern for dispensing food using the food dispensing apparatus 100. In the method, the steering rods 131 , 132, 133 of the apparatus 100 are arranged such the tool is held at an equilibrium position when the tool-carrying member 120 is carrying the tool and when the drive unit 160 is not powered. Furthermore, in the method, the drive unit 160 is not powered.

[0107] Here, it should further be noted that the tension of the chain connections needed for recording a movement pattern with a deterministic position may be provided by the counter weights. However, if no counterweights is to be used, but instead the option of using motor-generated counter forces as previously described is to be used, e.g. on the force rod, the motors need to be powered to provide at least the minimal force able to maintain the equilibrium position. Moving the tool carrying member in this state needs very little force as no gear box is needed. This enables formation of a natural and / or artistic movement pattern, where not only starting and ending positions are relevant but the complete movement itself.The method comprises mounting S1 the tool onto the tool-carrying member 120. As an example, a tool comprising tube for spritzing mashed potatoes may be mounted onto the tool-carrying member 120 by means of hanging a link member of the tool onto a hook on the tool-carrying member 120 to form chain connection 144.

[0108] The method further comprises moving S2 the tool in a pattern. In particular, the tool may manually be moved around in a desired pattern for later use when dispensing food onto the food tray. Here, it should also be noted that moving the tool when recording the movement pattern may naturally be done by hand, but it may also be performed, for example, by physically connecting the tool to another occurring movement.

[0109] The method further comprises recording S3 the pattern by means of obtaining a signal from position sensor associated with the drive unit 160. The position sensor may comprise a respective unit for each motor 161-163 of the drive unit 160. A unit of the position sensor may be configured to record a position of a motor shaft or motor rod. The recorded pattern may subsequently be used to feed one or more control signals to the drive unit 160 (or to respective motors of the drive unit 160) to cause the tool attached to the tool-carrying member 120 to move in the same pattern in an automatic fashion.

[0110] The disclosed method thus provides an easy way of programming the food dispensing apparatus 100 and enables a simple way operating the food dispensing apparatus 100 in an automated fashion.

[0111] Figure 7 schematically illustrates, in terms of a number of functional units, the components of a control unit 700 according to embodiments of the discussions herein. This control unit 700 may be comprised in the drive unit 160, attached to the drive unit 160, be attached to the mounting arrangement 110, or be separate from the food dispensing apparatus 100. Processing circuitry 710 is provided using any combination of one or more of a suitable central processing unit CPU, multiprocessor, microcontroller, digital signal processor DSP, etc., capable of executing software instructions stored in a computer program product, e.g. in the form of a storage medium 730. The processing circuitry 710 may further be provided as at least one application specific integrated circuit (ASIC), or field programmable gate array (FPGA).

[0112] Particularly, the processing circuitry 710 may configured to cause the control unit 700 to perform a set of operations, or steps, such as the recording S3 the pattern discussed in connection to Figure 6, or such as controlling the movement of the tool-carrying member 120 via the drive unit 160. For example, the storage medium 730 may store the set of operations, and the processing circuitry 710 may be configured to retrieve the set of operations from the storage medium 730 to cause the control unit 700 to perform the set of operations. The set of operations may be provided as a set of executable instructions. Thus, the processing circuitry 710 is thereby arranged to execute steps of the methods as herein disclosed.

[0113] The storage medium 730 may also comprise persistent storage, which, for example, can be any single one or combination of magnetic memory, optical memory, solid-state memory or even remotely mounted memory.

[0114] The control unit 700 may further comprise an interface 720 for communications with at least one external device, such as the motors 161-163 or the position sensor. As such, the interface 720 may comprise one or more transmitters and receivers, comprising analogue and digital components and a suitable number of ports for wireline or wireless communication.

[0115] The processing circuitry 710 controls the general operation of the control unit 700, e.g., by sending data and control signals to the interface 720 and the storage medium 730, by receiving data and reports from the interface 720, and by retrieving data and instructions from the storage medium 730. Other components, as well as the related functionality, of the control unit are omitted in order not to obscure the concepts presented herein.

Claims

CLAIMS1. A food dispensing apparatus (100) for automatically dispensing food onto a food tray, the food dispensing apparatus (100) comprising: a mounting arrangement (110); a tool-carrying member (120) for carrying a tool adapted to dispense food onto the food tray, wherein the tool-carrying member (120) is arranged suspended from the mounting arrangement (110) and arranged movable relative to the mounting arrangement (110); one or more steering rods (131 , 132, 133) connected to the tool-carrying member (120) so that movement of the tool-carrying member (120) is controllable by movement of the one or more steering rods (131 , 132, 133); and a drive unit (160) operatively connected to the one or more steering rods (131 , 132, 133) so that movement of the tool-carrying member (120) is controllable by controlling an operation of the drive unit (160), wherein the one or more steering rods (131 , 132, 133) are connected to the tool-carrying member (120) via respective chain connections (141 , 142, 143), each chain connection (141 , 142, 143) comprising at least a first and a second link member connected to each other so as to i) form a rigid chain connection when a tension force is applied onto the chain connection (141 , 142, 143) directed to pull the first and second link members apart, and ii) form a flexible chain connection when the tension force is not applied onto the chain connection (141 , 142, 143).

2. The food dispensing apparatus (100) according to claim 1 , wherein the one or more steering rods (131 , 132, 133) are arranged such that the tool-carrying member (120) is horizontally displaced from the drive unit (160).

3. The food dispensing apparatus (100) according any previous claim, wherein the one or more steering rods (131 , 132, 133) are arranged such that the tool-carrying member (120) is vertically displaced from the drive unit (160).

4. The food dispensing apparatus (100) according to any previous claim, comprising at least one counterweight (171 , 172, 173) configured to apply and withhold the tension force onto one of the respective chain connections (141 , 142, 143) during operation of the drive unit (160) when the tool-carrying member (120) is carrying the tool.

5. The food dispensing apparatus (100) according to any previous claim, wherein the drive unit (160) is configured to apply and withhold the tension force onto one of the respective chain connections (141 , 142, 143) during operation of the drive unit (160) when the toolcarrying member (120) is carrying the tool.

6. The food dispensing apparatus (100) according to any previous claim, wherein the one or more steering rods comprise a primary steering rod (131) connected to the tool-carrying member (120) so that a first operation of the drive unit (160) controls a vertical movement of the of the tool-carrying member (120), and a first and a second secondary steering rod (132, 133) connected to the tool-carrying member (120) so that a second operation of the drive unit(160) controls a horizontal movement of the tool-carrying member (120).

7. The food dispensing apparatus (100) according to any previous claim, wherein the primary steering rod (131) is suspended from the mounting arrangement (110), and wherein the tool-carrying member (120) is suspended from the mounting arrangement (110) via the primary steering rod (131).

8. The food dispensing apparatus (100) according to claim 7, wherein the primary steering rod (131) is suspended from the mounting arrangement (110) by a chain connection (152).

9. The food dispensing apparatus (100) according to claim 7 or 8 when dependent on claim 2, comprising a respective counterweight (171 , 172, 173) for each of the primary, the first secondary, and the second secondary steering rods (131 , 132, 133), wherein each counterweight (171 , 172, 173) is configured to apply and withhold respective tension force onto the respective chain connections (141 , 142, 143) of the primary, the first secondary, and the second secondary steering rods (131 , 132, 133) during operation of the drive unit (160) when the tool-carrying member (120) is carrying the tool.

10. The food dispensing apparatus (100) according to claim 9, wherein the drive unit (160) comprises a first motor (161) configured to move the primary steering rod (131) relative to the drive unit (160), a second motor (162) configured to move the first secondary steering rod (132) relative to the drive unit (160), and a third motor (163) configured to move the second secondary steering rod (133) relative to the drive unit (160).

11. The food dispensing apparatus (100) according to claim 10, wherein the first motor(161) is provided with a motor rod (164) arranged to be rotated relative to the first motor (161) when the first motor (161) is operated, wherein the motor rod (164) of the first motor (161) is connected to the primary steering rod (131) via a chain connection or connected to an intermediate rod (134) via a chain connection (148), wherein the intermediate rod (134) is connected to the primary steering rod (131) via a chain connection (151).

12. The food dispensing apparatus (100) according to claim 10 or 11 , wherein the second motor (162) is provided with a motor rod (165) arranged to be rotated relative to the second motor (162) when the second motor (162) is operated, wherein the third motor (163) is provided with a motor rod (166) arranged to be rotated relative to the third motor (163) when the third motor (163) is operated, and wherein the motor rod (165, 166) of the second and the thirdmotors (162, 163) are connected to the first and the second secondary steering rods (132, 133), respectively, via respective chain connections (146, 147).

13. The food dispensing apparatus (100) according to 12 when dependent on claim 11 , wherein the counterweights (171 , 172, 173) comprise respective counterweight members arranged on the respective motor rods (164, 165, 166) of the first, the second, and the third motors (161 , 162, 163).

14. The food dispensing apparatus (100) according to any previous claim, comprising a force rod (135) arranged suspended from the mounting arrangement (110), and arranged connected to the tool-carrying member (120) via a chain connection (145) such that a force is exerted onto tool-carrying member (120) relative to the mounting arrangement (110) during operation of the drive unit (160) when the tool-carrying member (120) is carrying the tool.

15. The food dispensing apparatus (100) according to claim 14 when dependent on claim 9, wherein the force exerted onto the tool-carrying member (120) by the force rod (135) is in a different direction than a composite force exerted on the tool-carrying member (120) by the respective chain connections (142, 143) of the first and the second secondary steering rods (132, 133) when respective tension forces are applied onto the respective chain connections of the first and the second secondary steering rods (132, 133).

16. The food dispensing apparatus (100) according to any previous claim, wherein the toolcarrying member (120) is configured to carry the tool via a chain connection (144).

17. The food dispensing apparatus (100) according to claim 12 when dependent on claim 11 , wherein the motor rod (164) of the first motor (161) is connected to the first motor (161) without any gears, the motor rod (165) of the second motor (162) is connected the second motor (162) without any gears, and the motor rod (166) of the third motor (163) is connected to the third motor (163) without any gears.

18. The food dispensing apparatus (100) according to any previous claim, comprising the tool, wherein the tool comprises a tube arranged to dispense food onto the food tray by means of pumping food through the tube.

19. The food dispensing apparatus (100) according to any previous claim, wherein the one or more steering rods (131 , 132, 133) are arranged such the tool is held at an equilibrium position when the tool-carrying member (120) is carrying the tool and when the drive unit (160) is not powered.

20. A method for recording pattern for dispensing food using a food dispensing apparatus (100) according to claim 19 when the drive unit (160) is not powered, the method comprising: mounting (S1) the tool onto the tool-carrying member (120);moving (S2) the tool in a pattern; and recording (S3) the pattern by means of obtaining a signal from position sensor associated with the drive unit (160).

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