# US 11,440,199 B2 · Robotic service system in restaurants > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,440,199 B2 - Document ID: US11440199B2 - Status: Granted - Kind: B2 - Application number: 16/445,119 - Filed: 2019-06-18 - Published: 2020-12-24 - Granted: 2022-09-13 - Earliest claimed: 2019-06-18 - Applicants: Gang Hao - Inventors: Gang Hao - Web page: https://patentgrep.com/patent/US11440199B2 ## CPC - B25J 11/0045: {Manipulators used in the food industry} - B25J 11/008: {Manipulators for service tasks} - B25J 5/00: Manipulators mounted on wheels or on carriages (B25J1/00 takes precedence; program-controlled manipulators B25J9/00) - B25J 9/0087: {Dual arms (double SCARA arms B25J9/043)} - B25J 9/0093: {co-operating with conveyor means} - B25J 9/162: {Mobile manipulator, movable base with manipulator arm mounted on it} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A system for serving a plate on a table includes a robot including a movable base, a body on the movable base, a first pair of arms connected to the body and including a first arm and a second arm; and a first plate holder including a first and a second connectors, the first and second connectors to engage the first and second arms, respectively. ## Claims ### Claim 1 A system for serving a plate on a table, comprising: a robot comprising a movable base, a body on the movable base, and a first pair of arms connected to the body and comprising a first arm and a second arm spaced apart from the first arm, the first pair of arms configured to complete one or more actions of raising, extending, lowering, and withdrawing to reach at least one position selected from a retracted lower position, an extended lower position, an extended first lifted position, an extended second lifted position, and a retracted second lifted position; and a first plate holder comprising a first connector and a second connector spaced apart from the first connector, the first connector and the second connector to engage the first arm and the second arm, respectively, wherein the system further comprises: a plurality of plate holders; the robot further comprises a plurality pairs of arms comprising a plurality of first arms and a plurality of second arms, each pair of arms comprising a first arm aligned vertically with other first arms, and a second arm aligned vertically with other second arms, each pair of arms configured to engage with a plate holder of the plurality of plate holders; and a first endless conveyer belt connected to each of the plurality of first arms and a second endless conveyer belt spaced apart from the first endless conveyer belt, the second endless conveyer belt connected to each of the plurality of second arms, and wherein each pair of arms is to be conveyed between a plurality of positions between a topmost position and a lowermost position vertically. ### Claim 2 (depends on 1) The system of claim 1, wherein the first connector and the second connector each have an opening to accommodate the respective first arm and the second arm. ### Claim 3 (depends on 1) The system of claim 1, wherein the first connector and the second connector each have a top edge to engage with the respective first arm and the second arm. ### Claim 4 (depends on 1) The system of claim 1, wherein the first plate holder has a base portion and a top portion on the base portion, the first connector and the second connector are each an opening extending vertically on the base portion, each opening has a top edge, and the first arm and the second arm are to engage with the top edge of the respective opening in the extended first lifted position. ### Claim 5 (depends on 1) The system of claim 1, wherein the first plate holder and a corresponding plate are integrally formed together, and the first plate holder has an upper surface defining an interior of the corresponding plate to receive food. ### Claim 6 (depends on 1) The system of claim 1, further comprising a table to receive the plate, wherein a top surface of the table has substantially the same height as a bottom surface of the first plate holder when the first arm and the second arm are in the extended first lifted position. ### Claim 7 (depends on 6) The system of claim 6, wherein a height of the first pair of arms in the extended lower position is higher than the top surface of the table. ### Claim 8 (depends on 1) The system of claim 1, wherein the first plate holder has a rectangular box shape. ### Claim 9 (depends on 1) The system of claim 1, wherein at least a portion of the first plate holder has a curved shape. ### Claim 10 (depends on 1) The system of claim 1, wherein the body has a chamber surrounded by a vertical plate and a back plate, and each of the first arm and the second arm comprises a first segment and a second segment connected to the first segment, wherein in the retracted lower position, the first segment is inside the chamber and the second segment is outside the chamber, and in the extended lower position, both the first and the second segments are outside the chamber. ### Claim 11 (depends on 1) The system of claim 1, wherein the first arm and the second arm each comprise a second segment having a hollow core and a first segment between the second segment and the body of the robot, and wherein in the retracted lower position, at least a portion of the first segment is inside the hollow core of the second segment, and in the extended lower position, the first segment is outside the hollow core of the second segment. ### Claim 12 (depends on 1) The system of claim 1, wherein the robot further comprises a processor and a display, wherein a user is to input a position of the table through the display, and the processor is to control movement of the movable base and the first pair of arms. ### Claim 13 A method of serving a plate on a table, comprising: moving a robot to a spot adjacent to the table, the robot carrying a first plate holder, and the first plate holder having a first plate thereon, wherein the first plate holder comprises a first connector and a second connector spaced apart from the first connector, wherein the robot comprises a movable base, a body on the movable base, and a first pair of arms connected to the body and comprising a first arm and a second arm spaced apart from the first arm, the first pair of arms configured to complete one or more actions of raising, extending, lowering, and withdrawing to reach at least one position selected from a retracted lower position, an extended lower position, an extended first lifted position, an extended second lifted position, and a retracted second lifted position, wherein the first arm and the second arm are engaged with the first connector and the second connector during the moving of the robot; extending the first arm and the second arm to the extended second lifted position, the first plate holder over a surface of the table; moving the first arm and the second arm to the extended first lifted position, the first plate holder being placed on the table; moving the first arm and the second arm to the extended lower position to disengage from the first connector and the second connector; and retracting the first arm and the second arm to the retracted lower position, wherein the robot further comprises a plurality pairs of arms comprising a plurality of first arms and a plurality of second arms, each pair of arms comprising a first arm aligned vertically with other first arms, and a second arm aligned vertically with other second arms, each pair of arms configured to engage with a plate holder of a plurality of plate holders, and wherein the robot further comprises a first endless conveyer belt connected to each of the plurality of first arms and a second endless conveyer belt spaced apart from the first endless conveyer belt, the second endless conveyer belt connected to each of the plurality of second arms. ### Claim 14 (depends on 13) The method of claim 13, wherein the first plate holder has a base portion and a top portion on the base portion, the first connector and the second connector are each an opening extending vertically on the base portion, each opening has a top edge, and the first arm and the second arm are to engage with the top edge of the respective opening in the extended first lifted position. ### Claim 15 (depends on 13) The method of claim 13, wherein the first plate holder and the first plate are integrally formed together, and the first plate holder has an upper surface defining an interior of the first plate to receive food. ### Claim 16 (depends on 13) The method of claim 13, further comprising prior to the moving of the robot, picking up the first plate holder, wherein the picking up of the first plate holder comprises: moving the first arm and the second arm into the extended lower position, the first arm and the second arm adjacent to or inside the first connector and the second connector of the first plate holder in the extended lower position, moving the first arm and the second arm to the extended first lifted position to engage with the first connector and the second connector of the first plate holder, moving the first arm and the second arm to the extended second lifted position, the first plate holder being held horizontally by the first arm and the second arm, and retracting the first arm and the second arm to the retracted second lifted position. ### Claim 17 (depends on 13) The method of claim 13, wherein each of the first and second endless conveyer belts have a first long side closer to a center of the body, and a second long side further away from the center of the body, wherein the method further comprises after retracting the first arm and the second arm of a topmost pair of arms of the plurality pairs of arms in a topmost position to the retracted lower position, moving the first arm and the second arm of the topmost pair of arms to the second long side of the respective first and second endless conveyer belts, and moving a second pair of arms under the topmost pair of arms to the topmost position. ### Claim 18 (depends on 13) The method of claim 13, wherein the robot further comprises a speaker, and the method further comprises announcing a message prior to extending the first arm and the second arm to the extended second lifted position.