Systems, methods and apparatus for receiving and delivering flat objects

Abstract

The plate transfer system stores plates in a first-in, first-out format. When the kitchen staff completes a meal (plating), the plate containing the meal is provided to the plate transfer system, and then the plate enters the plate transfer system to prepare for the next plate. After a certain number of plates are stored in the plate transfer system, the plate transfer system is transported from the kitchen to the dining area (such as a restaurant table or a banquet table), and each plate is provided to a transfer mechanism (such as a robot or a waiter) in sequence for final delivery to the dining table. In some embodiments, the plate transfer system is closed and has a cover mechanism to prevent foreign matter from contaminating the food. In some embodiments, the plate transfer system has a heating / cooling mechanism to help keep hot food warm or help keep cool food cold.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and more particularly to a system for storing and retrieving flat objects, such as plates, and more particularly, plates having food thereon. Background Art

[0002] As automation progresses, the delivery and placement of plates on the table will eventually be automated, providing customers in restaurants, banquet halls, wedding banquets and other places with rapid delivery of plated foods (such as hot and cold foods).

[0003] Today, the plated food delivery process is largely manual. Kitchen staff prepares and distributes food onto multiple plates. For restaurants, plates are usually placed on trays and delivered to individual tables. At banquets or receptions, plates are usually placed in a plate cabinet on wheels, each plate is placed on a separate rack until the cabinet is full, and then the cabinet is pushed closer to the customers, and each plate is manually removed from the cabinet and delivered to each customer, one or a few plates at a time. To keep the food warm, a plastic or metal cover is usually placed on each plate.

[0004] Recent developments have provided a robotic delivery system where a robot places each plate on the table, but there are some issues with the robotic equipment for retrieving the plates. First, it is difficult to create a robot that can bend or reach to retrieve the plates from the lower or upper levels of the cabinet. For robotic retrieval, it is best to retrieve the plates from a height similar to the height of the table so that the robot does not need to be designed with a lifting or bending mechanism. Second, keeping the food at the proper serving temperature usually requires a separate plate cover, and it is usually difficult to design a robot that can grasp the plate and remove the cover at the same time.

[0005] Therefore, there is a need for a mechanism that can capture plates (e.g., plates with food on them) from kitchen staff, store the plates, and provide the plates to the robot in order for them to be delivered to customers in restaurants and banquet halls. The mechanism needs to provide the plates at a height that is suitable for the robot and maintain the correct orientation of the plates so that the robot does not have to rotate the plates during the serving process. In addition, it is desirable to keep the plates (and food) in a sealed environment until they are provided to the robot to prevent foreign matter from entering the food, and in some cases, it is desirable to have temperature control of the plates / food to keep hot food warm or cool food cold.

[0006] What is needed is a system that can deliver plates in sequence to a robot at a location near patrons of a restaurant or banquet hall. Summary of the invention

[0007] The plate transfer system stores plates in a first-in, first-out format. When the kitchen staff completes a meal (plating), the plate containing the meal is provided to the plate transfer system, and then the plate is moved to the plate transfer system to prepare for the next plate. After a certain number of plates are stored in the plate transfer system, the plate transfer system is transported from the kitchen to the dining area (such as a restaurant table or a banquet table), and each plate is provided to a transfer mechanism or personnel (such as a robot or a waiter) in sequence for final delivery to the dining table. In some embodiments, the plate transfer system is closed and has a cover mechanism to prevent foreign matter from contaminating the food. In some embodiments, the plate transfer system has a heating / cooling mechanism to help keep hot food warm or help keep cool food cold.

[0008] In one embodiment, a system is disclosed that includes a mechanism for receiving and delivering a flat object, such as a plate with food thereon. In this case, a system for receiving and delivering plates includes a staging area into which the plates are received or delivered, and a mechanism configured to move the plates into and out of the staging area by a distance defined by the contents of the plates (e.g., food) and the height of the plates.

[0009] In another embodiment, a method for receiving and transferring a plate from / to a staging area is disclosed, comprising: when receiving the plate, placing the plate in the staging area, and operating the mechanism to move the plate from the staging area to a storage location. When transferring the plate, reversely operating the mechanism to move the plate from the storage location to the staging area to remove the plate from the staging area.

[0010] In another embodiment, a system for receiving and delivering plates is disclosed, including a staging area into which plates are received or delivered, and a plurality of spirals. The plurality of spirals are engaged with a motor, and the spirals are spaced apart to engage with the outer edges of the plates. The motor rotates the spirals in one set of directions to move the plates into the staging area for delivery, and the motor rotates the spirals in a second set of directions to move the plates out of the staging area to receive the plates. By rotation of the spirals, the plates are moved into and out of the staging area by a distance defined by the contents of the plates and the height of the plates. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The present invention may be best understood by those skilled in the art by referring to the following detailed description in conjunction with the accompanying drawings, in which:

[0012] Figure 1 A schematic diagram of a mechanism for receiving and delivering a plate (eg, a plate with food thereon) is shown.

[0013] Figure 2A , Figure 2B and Figure 2C A perspective view of a multi-part lid showing a mechanism for receiving and delivering plates.

[0014] Figure 3 Shows Figure 1 A perspective view of a flat object transfer mechanism of a mechanism for receiving and transferring plates.

[0015] Figure 4A , 4B , 4C and 4D show plan views of the mechanism for receiving and delivering plates.

[0016] Figure 5 A schematic diagram of another mechanism for receiving and delivering a plate (eg, a plate with food thereon) is shown.

[0017] Figure 6 A schematic diagram of another mechanism for receiving and delivering a plate (eg, a plate with food thereon) is shown.

[0018] Figure 7 A schematic diagram of another mechanism for receiving and delivering a plate (eg, a plate with food thereon) is shown.

[0019] Figure 8 and Fig. 9 A perspective view of another mechanism for receiving and delivering plates (eg, plates containing food) out of order is shown.

[0020] Fig.10 , Fig.11 , Fig.12 and Fig.13 A perspective view of another mechanism for receiving and delivering a plate (eg, a plate with food thereon) is shown having an extending arm for placing the plate on a surface.

[0021] Fig.14A , 14B , 14C, 14D, 14E and 14F show schematic diagrams of another mechanism for receiving and delivering a plate (e.g., a plate with food thereon) having an extending arm for placing the plate on a surface during operation.

[0022] Fig.15 A schematic diagram of the control system for the mechanism for receiving and delivering plates is shown.

[0023] Fig.16 A flow chart of the control system placement operation for a plate transfer mechanism is shown.

[0024] Fig.17A flow chart showing the removal (transfer) operation of the control system for the dish transfer mechanism.

[0025] Fig.18 A flow chart showing the removal (transfer) operation of the control system for the dish transfer mechanism. DETAILED DESCRIPTION

[0026] Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings. In the following detailed description, like reference numerals refer to like elements throughout the drawings.

[0027] In this document, the term "plate" is used as a general term for an object having a surface for holding food, and since it is well known that food can be held in / on a bowl or other similarly shaped object, "plate" is used as an example of such an object. It should be noted that although the plate in the example is a disc, other shaped plates, such as hexagonal or square plates, can also be used.

[0028] Reference Figure 1 , shows a first embodiment of a transfer mechanism 10 for receiving and transferring a plate 6 (e.g., a plate with food thereon). In this embodiment, a plurality of screw shafts 12A / 12B are spaced apart to hold a plate 6 therebetween and are configured to be rotated by one or more motors 14A / 14B. As the screw shafts 12A / 12B rotate, any plate located between the screw shafts 12A / 12B will pass through the screw shafts, moving up or down depending on the direction of rotation of the screw shafts 12A / 12B. While any number of screw shafts 12A / 12B is contemplated, Figure 1 The embodiment of the present invention shows four screw shafts 12A / 12B. In some embodiments, a first subset of the screw shafts 12A / 12B rotates in one direction (first rotating screw shafts 12A / 12B) and a second subset of the screw shafts 12A / 12B rotates in the opposite direction (second rotating screw shafts 12A / 12B). In such an embodiment, the counteracting friction between the screw shafts 12A / 12B and the plate 6 helps to maintain the position of the plate 6 in the same orientation as when the plate 6 was introduced into the transfer mechanism 10 to receive and transfer the plate 6.

[0029] Because many plates 6 have a desired orientation (e.g., entrees closest to the diners and vegetables farther away), it is sometimes preferred for kitchen staff to load the plates 6 in a certain direction so that when each plate 6 is provided to the robot 90 (see Figures 4A-4D), the plate 6 is in the correct orientation to be placed on the dining table. If all of the spiral shafts 12A / 12B rotate in one direction, friction between the spirals would cause the plate 6 to change orientation as they descend or ascend, possibly requiring the robot 90 to reorient. Therefore, in some embodiments, a first subset of the spiral shafts 12A / 12B rotates in one direction (first rotating spiral shafts 12A), and a second subset of the spiral shafts 12A / 12B rotates in the opposite direction (second rotating spiral shafts 12B), applying approximately equal frictional rotational forces in opposite directions to prevent the plate 6 from rotating.

[0030] In some embodiments, each screw shaft 12A / 12B has a dedicated motor 14A / 14B (e.g., a servo motor or the like), while in some embodiments, a single motor 14A is rotatably coupled to all screw shafts 12A / 12B via gears, pulleys, belts, serpentine belts, or any known rotary coupling mechanism. It is also known that such a rotary coupling mechanism is fully capable of providing one direction of rotation for the first rotary shaft 12A and an opposite direction of rotation for the second rotary shaft 12B. It is not necessary for the screw shafts 12A / 12B that are relative to each other to rotate on the same axis. For example, in some embodiments, the first two screw shafts 12A are adjacent to each other, and the second two screw shafts 12B are adjacent to each other and relative to the first two screw shafts 12A. It is also contemplated that there will be more than four screw shafts 12A / 12B.

[0031] In some embodiments, the rotation of the rotation axis 12A / 12B is controlled by the processor 70 (see Figure 8 ). Thus, the processor 70 receives a signal to receive the plate 6 and starts the rotation axis 12A / 12B to rotate in a first direction (or a set of directions), for example, by providing power to one or more motors 14A / 14B to move the plate 6 into the transfer mechanism 10. Then, for example, the kitchen staff puts the plate 6 into the transfer area (the uppermost position).

[0032] Subsequently, when the processor receives a signal to provide a plate 6, the top plate 6 is removed, and the processor then initiates rotation of the rotation axis 12A / 12B in the opposite direction (or set of directions), for example, by providing power of opposite polarity to one or more motors 14A / 14B. This allows the plate 6 to be moved to the plate staging area (top position) for removal by the robot 90 (or by a person). In some embodiments, the processor is programmed with an interval between plates (e.g., depending on the height of the plate plus the maximum height of the food resting on the plate 6), and the processor rotates the directional axis 12A / 12B a number of times to move each plate by the interval between plates. In some embodiments, a sensor 11 is provided, and the processor 70 reads and interprets data from the sensor 11 to determine the position and travel of the plate 6, and knows how far to move the plate 6 based on the height of the plate 6 just added or the distance of the next plate 6 from the staging area (top position). Examples of such sensors 11 include cameras, photodetectors, and / or ultrasonic devices that use reflected ultrasonic waves to determine the position and location of each plate 6.

[0033] It should be noted that although a processor 70 is shown in the above example, it is known in the industry that some or all of the functions may be implemented by logic without the use of a processor.

[0034] In some embodiments, the delivery mechanism 10 is enclosed in a housing 13 and has a cover 20 that protects the food from contamination before it reaches its destination, such as a dining table area. Figure 1 In the illustrated embodiment, the lid 20 is composed of multiple parts 24A / 24B / 24D as shown in Figure 2, and is opened by a lid motor 22 controlled by a processor 70 or by a dedicated switch. In some embodiments, the lid 20 is manually opened / closed.

[0035] In some embodiments, the transfer mechanism 10 is also enclosed in the housing 13 and includes a heater / cooler 19. The heater / cooler 19 can heat or cool the area within the housing 13 depending on whether the food on the plate 6 is hot food (such as a hot entree) or cold food (such as cold food such as ice cream). The heater / cooler 19 can be independently set by temperature settings, etc., or it can be controlled by the processor 70.

[0036] Although the transfer mechanism 10 is shown as loading the plates 6 in a downward direction from the plate staging area (top position), it is also contemplated that the plates 6 may be loaded in an upward direction (e.g., loading the plates 6 into an area above the plate staging area) or both (e.g., alternately loading the plates 6 into areas above and below the plate staging area).

[0037] Although not shown, it is contemplated that any embodiment of the transfer mechanism 10 will be mounted on three or more wheels, which in some embodiments are driven by motors under the control of the processor 70 to move the transfer mechanism 10 (e.g., from the kitchen to the dining area and back). As such, it is contemplated that a positioning system (e.g., a global satellite positioning receiver) may also be interfaced with the processor 70 so that the processor 70 knows the location of the transfer mechanism 10.

[0038] Figure 2A , Figure 2B and Figure 2C A perspective view of an exemplary lid system 20 is shown, showing a transfer mechanism 10 for receiving and transferring a plate 6. In some embodiments, the transfer mechanism 10 is enclosed in a housing 13, and a lid 20 is provided to protect the food from contamination before the food reaches its destination (such as a dining table area). In the exemplary embodiment shown in FIG. 2, the lid 20 is composed of multiple parts 24A / 24B / 24D and is opened by a lid motor 22 controlled by a processor 70 or by a dedicated switch. In some embodiments, the lid 20 is manually opened / closed. Figure 2A The lid 20 is shown in a closed position, Figure 2B The lid 20 is shown partially opened, Figure 2C The lid 20 is shown opened, allowing the trays 6 to be placed in / removed from the staging area.

[0039] Reference Figure 3 , Figure 3 yes Figure 1 1 is a perspective view of a transfer mechanism 10 for receiving and transferring a plate 6. In this example, it is shown how two spiral shafts 12A rotate in one spiral direction and the other two spiral shafts 12B rotate in the opposite spiral direction to reduce the rotation of the plate during rotation. It should be noted that it is not required that the two spiral shafts 12A are located on opposite sides of the plate 6. The two spiral shafts 12A can be adjacent to each other and the other two spiral shafts 12B can also be adjacent to each other.

[0040] Reference Figure 4A , 4B 4C and 4D show a plan view of the robot 90 using the transfer mechanism 10. Figure 4A In the embodiment, the robot 90 approaches the transfer mechanism 10, as shown in FIG. Figure 4B As shown, the gripping mechanism 94 of the robot 90 removes the top plate 6. It should be noted that Figure 4B , the next plate 6 has not yet moved up to the staging area.

[0041] exist Figure 4CIn the embodiment, the robot 90 moves to a placement area of ​​a transfer surface 100 (e.g., a table, a counter, or any target surface) by means of a robot motion device 92 (e.g., electric wheels, pedals, etc.), and as Figure 4D As shown, the plate 6 is left on the table. Then, the robot 90 returns to take off the next plate 6.

[0042] Reference Figure 5 , shows a schematic diagram of another plate transfer mechanism for receiving and transferring flat objects (e.g., plates with food thereon). In this mechanism, a plurality of chains 116 have teeth 112 on which plates are placed, and the plurality of chains 116 are used to move the plates to / from a staging area. The chains 116 are driven by sprockets that rotate in one direction to raise and transfer plates 6 and rotate in the other direction to lower and receive plates 6. It is noted that, as with all embodiments, it is contemplated that plates may be loaded from the top of the plate transfer mechanism (as shown), or from the bottom of the plate transfer mechanism, or from both the top and bottom if there are upper and lower plate transfer mechanisms.

[0043] Reference Figure 6 , shows a schematic diagram of another plate transfer mechanism for receiving and transferring a flat object (e.g., a plate with food on it). In this mechanism, a plurality of propellers 212A / 212B rotate under the control of motors 14A and 14B. The plate is placed on the propellers 212A / 212B, and the plate is lowered or raised to the next set of propellers 212A / 212B by the rotation of the propellers 212A / 212B on which the plate 6 is currently placed. The propellers 212A / 212B rotate in one direction to lift and transfer the plate 6, and the propellers 212A / 212B rotate in the opposite direction to lower and receive the plate 6.

[0044] Note that, as with all embodiments, it is contemplated that plates will be loaded from the top of the plate transfer mechanism (as shown), or from the bottom of the plate transfer mechanism, or if there are upper and lower plate transfer mechanisms, then plates can be loaded from both the top and bottom.

[0045] Reference Figure 7 , shows a schematic diagram of another alternative plate transfer mechanism for receiving and transferring flat objects (e.g., plates with food on them). In this mechanism, a plurality of elongated shafts 316 have teeth 312 on which plates 6 rest. The plates rest on the teeth 312 and are moved up and down by alternately raising and lowering adjacent elongated shafts 316.

[0046] Reference Figure 8 and Fig. 9 , shows a perspective view of a plate transfer mechanism 10 for receiving and transferring plates 6 (eg, plates having food thereon) out of order.

[0047] In some applications of the plate transfer mechanism 10, for example, when each customer can choose a meal from the menu (such as chicken, beef or fish), it is necessary to receive the plates 6 in a random order. In this case, one meal may be prepared and plated before another meal. To accommodate this situation, the plate transfer mechanism 10 for receiving and transferring plates 6 out of order has a door mechanism 13A / 13B that is hinged to open. In this example, the capture screw shaft 12C is integrated into one door of the door mechanism 13A / 13B, such as Fig. 9 As shown, when the door mechanism 13A / 13B is in the open configuration, the capture screw shaft 12C will move away from the plate receiving area. When the capture screw shaft 12C rotates out with the door mechanism 13A / 13B, any plate held between the screw shafts 12A / 12B / 12C will be held in place due to the contact points with the screw shafts 12A / 12B. When the door mechanism 13A / 13B is in the open configuration, the plate 6 (for clarity, Figure 8 and Fig. 9 The plate 6 (not shown) can be taken out or inserted into the spiral shaft 12A / 12B at any relative position (e.g., fish entrees are placed at the top position, beef entrees are placed at the bottom position, etc.). After the plate 6 is randomly placed on the plate transfer mechanism 10 for receiving and transferring in an unordered manner, the door mechanism 13A / 13B is moved to the closed position (e.g., Figure 8 ), and reposition the dish delivery mechanism 10 for unordered reception and delivery to deliver to the delivery surface 100. It should be noted that once close to the delivery surface 100, it is expected that the dish 6 will be randomly delivered in the staging area or by opening the door mechanism 13A / 13B.

[0048] Reference Fig.10 , 11 , 12 and 13, show perspective views of an integrated transfer mechanism 10A for receiving and transferring a plate 6 (e.g., a plate with food thereon), which has a transfer mechanism 120 for placing the plate 6 on a surface 100. In this embodiment, the integrated transfer mechanism 10A for receiving and transferring a plate 6 (e.g., a plate with food thereon) does not require a separate transfer person or robot 90, but has a transfer arm 124 for transporting the plate 6 from the staging area to the surface 100. Fig.10 , Fig.11 , Fig.12 and Fig.13In the illustrated embodiment, the transfer arm 124 has fingers 126 for holding the plate 6 to be transferred from the staging area to the surface 100. A first motion mechanism 122A (e.g., servo motor, hydraulic ram, screw drive) extends / retracts the arm 124 (e.g., telescopes). A second motion mechanism 122B (e.g., servo motor, hydraulic ram, screw drive) rotates the transfer arm 124 to engage / disengage the fingers 126.

[0049] exist Fig.10 In the process, the transfer arm 124 is retracted and the finger 126 is rotated away from the plate 6, thereby moving the plate 6 into the transfer area. Fig.11 As shown, once entering the staging area, the transfer arm 124 is rotated by the second motion mechanism 122B, and the plate 6 is lifted to a position above the staging area by the fingers 126. Now, the first motion mechanism 122A is operated to extend the arm 124 and move the plate 6 forward, away from the staging area, until the plate 6 is above the surface 100 on which the plate 6 is to be placed. Once the surface 100 on which the plate 6 is to be placed is reached, the second motion mechanism 122B is operated in the opposite direction to release the plate 6 at the surface.

[0050] Now, the arm 124 is retracted, and the integrated transfer mechanism 10A for receiving and transferring the plate 6 is repositioned to the next position of the surface 100 where the next plate is to be placed by the repositioning mechanism 2 (e.g., by motor-driven wheels, tracks, etc.), and the above steps are repeated until all plates 6 are placed. It should be noted that any repositioning mechanism 2 is expected to include motor-driven wheels (one motor or two motors provide rotation), tracks, etc. It is also expected to have position and navigation sensors such as GPS 89, ultrasonic ranging devices for detecting the distance to objects such as walls, bumper switches for detecting contact with objects, cameras 11, inertial sensors for detecting contact with objects, etc.

[0051] Reference Fig.14A , 14B , 14C, 14D, 14E and 14F, show the operation of the integrated transfer mechanism 10A for receiving and transferring a plate 6 (e.g., a plate with food thereon). Fig.14A In FIG. 1 , the integrated transfer mechanism 10A is shown loaded with plates 6 (only the plates 6 in the staging area are visible) and moved by the repositioning mechanism 2 to the surface 100 where the plates 6 are to be placed. Fig. 14B In the embodiment, the cover 20 is retracted to expose the tray 6 in the staging area. Fig. 14C In FIG. 6 , the arm 124 rotates, causing the finger 126 (not visible) to lift the plate 6. Fig.14D In FIG. 1 , the arm 124 is extended to move the plate 6 over the surface 100. Fig.14E In the process, the arm 124 rotates in the opposite direction of rotation, causing the plate 6 to fall onto the surface. Fig.14F, arm 124 is retracted and integrated transfer mechanism 10A is ready to place another plate 6 and be repositioned to another location on surface 100 or to a different surface 100 (e.g., another table).

[0052] Reference Fig.15 , a control system 60 for a delivery mechanism 10 for receiving and delivering a plate 6 is shown. The example control system 60 represents a typical system for controlling the delivery mechanism 10. This example control system 60 is shown in its simplest form. Different architectures are known to achieve similar results in a similar manner, and the present invention is not limited in any way to any particular control system 60 architecture or implementation. In this example control system 60, a processor 70 executes or runs a program in a random access memory 75. The program is typically stored in a permanent memory 74 and loaded into the random access memory 75 when needed. The processor 70 is any processor, typically a processor designed for control operations. The persistent memory 74 and the random access memory 75 are connected to the processor, for example, by a memory bus 72. The random access memory 75 is any memory suitable for connecting and operating with the selected processor 70, such as SRAM, DRAM, SDRAM, RDRAM, DDR, DDR-2, etc. The persistent memory 74 is any type, configuration, and capacity of memory suitable for persistently storing data, such as magnetic memory, flash memory, read-only memory, battery backup memory, etc. In some embodiments, the persistent memory 74 is removable and is in the form of a memory card in an appropriately formatted format, such as an SD (Secure Digital) card, micro SD card, compact flash, or the like.

[0053] The system bus 82 is also connected to the processor 70 for connecting to peripheral subsystems such as a graphics adapter 84 and a touch screen interface 89. The graphics adapter 84 receives commands from the processor 70 and controls what is depicted on the display 86. The touch screen interface 89 provides navigation and selection features. In some embodiments, an illumination device (e.g., LED) is provided instead of the display 86 or as a supplement to the display screen 86.

[0054] Generally speaking, some portion of persistent storage 74 is used to store programs, executable code, data, etc.

[0055] Peripheral devices are examples, and other devices are also known in the industry, such as a global positioning system 91, a speaker, a microphone, a USB interface, a Bluetooth transceiver 93, a Wi-Fi transceiver 96, a sensor 11 (such as a camera), other sensors 11A, a motor 14A / 14B, a temperature control 16, a cover motor 22, etc.

[0056] For local communication, in some embodiments, the control system 60 includes a Bluetooth transceiver 93, a Wi-Fi transceiver 96, or both. In such embodiments, local communication provides data communication between the control system 60 (e.g., the delivery mechanism 10) and other computer-based devices (e.g., the robot 90 or a central control computer) for monitoring the progress and scheduling of the transfer, etc.

[0057] Reference Fig.16 , a flow chart showing the operation of the control system 60 for the transfer mechanism 10 is shown.

[0058] After initialization 600, a test 602 is performed to verify whether there is room for a new plate 6. If the test 602 determines that there is no room for a new plate 6, a full state 604 is reported and the plate 6 is not received.

[0059] If the test 602 determines that there is room for the new plate 6, a plate height calculation 610 is performed (e.g., by applying a preset height or using sensor 11 to determine the height of the plate 6 from the food on the plate 6). Now, the motor 14A / 14B is activated 612 to run in one direction to make room for the new plate 6, and the position of the top plate 6 is sensed 614 (e.g., using sensor 11 / 11A), and a plate position test 616 is performed. If the plate position test 616 shows that the top plate 6 has not moved far enough to receive the new plate 6 without another plate 6 contacting the food on the top plate 6, the top plate 6 is again detected 614 (e.g., using sensor 11 / 11A), and the plate position test 616 is performed again (with the motor 14A / 14B still running) until the plate position test 616 shows that there is enough room for the new plate 6, at which time the motor 14A / 14B is stopped 618 and the new plate 6 is received 620 in the staging area. In some embodiments, the plate count 622 is updated to provide the processor with data on how many plates 6 are stored in the transfer mechanism 10.

[0060] Reference Fig.17 , a flow chart of the control system 60 for the transfer mechanism 10 for the removal (transfer) operation is shown. After initialization 650, a test 652 is performed to verify whether there is a plate 6 in the transfer area. If the test 652 determines that there is no plate 6 in the transfer area (for example, the plate count is zero, so no plate 6 is provided), an empty state 654 is reported, and no plate 6 is available for removal.

[0061] If the test 652 determines that there is a plate 6, the plate 6 in the staging area is removed (e.g., by the robot 90), and the plate height is calculated 656 (e.g., by applying a preset height or by using the sensor 11 to determine the height of the plate 6 and the food on the plate 6). Now, the motor 14A / 14B is activated 658 so that it moves in one direction (e.g., with Fig. 9 The top plate 6 is moved to the staging area (in the opposite direction of the staging area) to provide the next plate 6, and the position of the next plate 6 is sensed 660 (e.g., using sensor 11 / 11A), and a plate position test 662 is performed. If the plate position test 662 indicates that the top plate 6 has not yet moved to the staging area, the top plate 6 is sensed 660 again (e.g., using sensor 11 / 11A), and the plate position test 662 is performed again (with motor 14A / 14B still running) until the plate position test 662 indicates that the top plate is in the staging area, at which time the motor 14A / 14B is stopped 664 and the top plate 6 is ready for transfer (e.g., to the robot 90). In some embodiments, the plate count 666 is updated to provide the processor 70 with data on how many plates 6 remain stored in the transfer mechanism 10.

[0062] Reference Fig.18 , a flow chart of the control system 60 for the integrated transfer mechanism 10A for taking out (transfer) operation is shown. The processor 70 performs a test 652 to verify whether there is a tray 6 ready. If the test 652 determines that no tray 6 is ready (for example, the tray count is zero, so no tray 6 is provided), an empty state 654 is reported, and no tray 6 is available for removal.

[0063] If the test 652 determines that a plate 6 is present, the integrated transfer mechanism 10A is moved 651 to the location of the surface 100 where the plate 6 is to be transferred (eg, using the global positioning subsystem 91 and the repositioning mechanism 2).

[0064] Once the surface 100 is reached, a plate height calculation 656 is performed (e.g., by applying a preset height or using sensor 11 to determine the height of plate 6 and the food on plate 6). Motor 14A / 14B is now activated 658 to move in one direction (e.g., with the Fig. 9The motor 14A / 14B is then operated (in the opposite direction of the direction in which the motor 14A / 14B is moved) to provide the next plate 6, and the position of the next plate 6 is sensed 660 (e.g., using sensor 11 / 11A), and a plate position test 662 is performed. If the plate position test 662 indicates that the top plate 6 has not yet moved to the staging area, the top plate 6 is again sensed 660 (e.g., using sensor 11 / 11A), and the plate position test 662 is performed again (with motor 14A / 14B still running) until the plate position test 662 indicates that the top plate is in the staging area, at which point the motor 14A / 14B is stopped 664 and the top plate 6 is ready for transfer.

[0065] Now, the transfer arm 124 rotates 680 and the finger 126 lifts the plate 6 from the staging area. Once the plate is lifted, the transfer arm 124 extends 682 to reposition the plate 6 to the location on the surface 100 where the plate 6 will be placed, and the transfer arm 124 rotates 684 in the opposite direction of rotation to place the plate 6 on the surface. After the plate 6 is placed on the surface 100, the transfer arm 124 retracts 686 and is ready for the next plate 6.

[0066] In some embodiments, the plate count 666 is updated to provide data to the processor 70 on how many plates 6 remain stored in the transfer mechanism 10.

Claims

1. A system for receiving and delivering plates, the system comprising: a staging area, where plates are received or passed to; a screw shaft configured to move the plate into and out of the staging area a distance defined by the height of the plate and the contents of the plate; wherein the screw shaft is engaged with a motor, the motor rotating the screw shaft in one set of directions to move the plate into the staging area for delivery, and the motor rotating the screw shaft in a second set of directions to move the plate out of the staging area for receiving the plate; wherein an edge of each of said plates rests directly on the spiral of each of said spiral shafts; and wherein the spiral shafts in a first subset of the spiral shafts are wound in one direction of rotation and the spiral shafts in a second subset of the spiral shafts are wound in a direction opposite to the one direction, wherein, in one set of directions, the motor rotates the first subset of the spiral shafts clockwise and the motor rotates the second subset of the spiral shafts counterclockwise, and wherein, in a second set of directions, the motor rotates the first subset of the spiral shafts counterclockwise and the motor rotates the second subset of the spiral shafts clockwise, thereby reducing the rotation of the plate.

2. The system according to claim 1, wherein: The motor is a single motor mechanically engaged with each of the screw shafts.

3. The system according to claim 1, wherein: Each of the screw shafts has an independent motor.

4. The system according to claim 1, wherein: The contents of the plate are food.

5. The system of claim 1, further comprising a housing having a cover, the cover covering / exposing the staging area.

6. The system of claim 5 further comprising a heater / cooler for maintaining the heat / coolness of the plate and contents.

7. The system of claim 1 further comprising a processor, software stored in a non-transitory memory of the processor, the software controlling the processor to control the motor to rotate the screw shaft to move the plate the distance.

8. The system according to claim 7, wherein: The software controls the processor to read one or more sensors that sense the position of the plate to determine when the plate has moved the distance.

9. The system of claim 1 further comprising a transfer arm, each of the transfer arms having fingers, the transfer arms being configured to rotate to lift and lower the plate via the fingers, and the transfer arms being configured to extend to transfer the plate to a surface, and the transfer arms being configured to retract.

10. A method of receiving and delivering plates from / to a staging area, the method comprising: When receiving the plate, at the staging area, receiving the plate in the spiral of the spiral shaft, and rotating the spiral shaft in a first rotational direction to move the plate from the staging area to a storage location; as well as When transferring the plate, rotating the screw shaft in a second opposite rotational direction to move the plate from the storage location to the staging area to remove the plate from the staging area, Wherein, the method further comprises a motor for rotating the screw shaft, and wherein the spiral shafts in a first subset of the spiral shafts are wound in one direction of rotation and the spiral shafts in a second subset of the spiral shafts are wound in a direction opposite to the one direction, wherein in the first rotational direction, the motor rotates the first subset of the spiral shafts clockwise and the motor rotates the second subset of the spiral shafts counterclockwise, and wherein in a second opposite rotational direction, the motor rotates the first subset of the spiral shafts counterclockwise and the motor rotates the second subset of the spiral shafts clockwise, thereby reducing the rotation of the plate.

11. The method according to claim 10, wherein: Rotating the screw shaft in the first rotational direction moves the plate from the staging area into the storage location, and rotating the screw shaft in a second, opposite rotational direction moves the plate a distance equal to the height of the plate plus any food on the plate.

12. The method according to claim 10, further comprising: When transferring the plates, after rotating the screw shaft in a second opposite rotational direction to move one of the plates from the storage position to the staging area, the transfer arm is rotated to lift the plate from the staging area by fingers attached to the transfer arm, the transfer arm is extended to transfer the plate, and then the transfer arm is rotated to release the plate.

13. A system for receiving and delivering plates, the system comprising: a staging area, where plates are received or passed to; as well as a screw shaft engaged with a motor, the screw shaft being spaced apart to directly engage an outer edge of the plate, the motor rotating the screw shaft in one set of directions to move the plate into the staging area for transfer, and the motor rotating the screw shaft in a second set of directions to move the plate out of the staging area to receive the plate, the plate being moved into and out of the staging area a distance defined by the height of the plate and the contents of the plate by rotation of the screw shaft, wherein the spiral shafts in a first subset of the spiral shafts are wound in one direction of rotation and the spiral shafts in a second subset of the spiral shafts are wound in a direction opposite to the one direction, wherein, in one set of directions, the motor rotates the first subset of the spiral shafts clockwise and the motor rotates the second subset of the spiral shafts counterclockwise, and wherein, in a second set of directions, the motor rotates the first subset of the spiral shafts counterclockwise and the motor rotates the second subset of the spiral shafts clockwise, thereby reducing the rotation of the plate.

14. The system according to claim 13, wherein: The motor is a single motor mechanically engaged with each of the screw shafts.

15. The system of claim 13 further comprising a transfer arm having fingers that are rotated to lift the plate from the staging area by the fingers and having a mechanism to extend the plate, wherein The transfer arm rotates to release the plate.

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