Back to results
US 2026/0080737 A1Published application
Transfer Module
OwnerOtalicio Pacheco da Cunha, JR., Shawn Michael Lange +1inventors
InventorsOtalicio Pacheco da Cunha, JR., Shawn Michael Lange, John Paul Norman
Life of this patent
Estimating the term…
Abstract
An automated food system is provided that includes a vertically movable transfer module having an arm assembly with articulating arms and an end effector for transporting food items between storage, preparation, and cooking stations. The arm assembly is configured to extend laterally beyond the module frame and into a rack or adjacent station to retrieve or place items. A sensor mounted on the arm assembly detects spatial features of food items, enabling a processor to calculate location and size and control precise movement of the end effector. The system facilitates item transfer using coordinated vertical and planar motion based on sensor input.
Claims20
An automated food system comprising:
- a rack including vertically spaced bays, each bay defined by a pair of laterally spaced horizontal supports that define a lateral access spacing configured to receive and support a food item;
- a food preparation station spaced from the rack;
- a first transfer module adjacent the rack and including:
- a frame including vertical supports extending between a base and an upper frame member to form an enclosure defining a lateral perimeter, the rack located
- adjacent a first side of the frame, and the food preparation station located adjacent a second side of the frame;
- a vertical drive mounted to a third side of the frame and including:
- a vertical track;
- a linear stage configured for displacement along the vertical track;
- and
- a motorized drive operably coupled to the linear stage to vertically displace the linear stage;
- an arm assembly mounted to the linear stage and vertically displaceable therewith, the arm assembly including:
- an arm base extending outwardly from the linear stage;
- a first articulating arm rotatably mounted to a distal end of the arm base at a first rotary joint;
- a second articulating arm rotatably connected to a distal end of the first articulating arm at a second rotary joint;
- and
- an end effector coupled to a distal end of the second articulating arm at a third rotary joint;
- wherein the first articulating arm is configured to rotate about the first rotary joint in a first rotational direction, the second articulating arm is configured to rotate about the second rotary joint in a second rotational direction opposite the first rotational direction, and the end effector is configured to rotate about the third rotary joint in the first rotational direction, such that, during lateral insertion and retraction, movement of the articulating arms and end effector cooperatively positions the end effector along a defined planar trajectory into and out of the bay and into and out of the food preparation station to transfer the food item from the rack to the food preparation station;
- and
- a sensor disposed on the arm assembly and configured to acquire data indicative of spatial features of the food item;
- and
- a processor configured to determine a location of the food item based on data from the sensor and control a combination of vertical and lateral displacement of the end effector to retrieve the food item from the bay and transfer the food item to the food preparation station.
18 more elements
An automated food system comprising:
- a food station configured to receive and support a food item;
- a first transfer module adjacent the food station and including:
- a frame defining a vertically oriented enclosure and a lateral perimeter;
- a vertical drive mounted to the frame and including:
- a vertical track;
- a linear stage configured for displacement along the vertical track;
- and
- a motorized drive operably coupled to the linear stage to vertically displace the linear stage;
- an arm assembly mounted to the linear stage and vertically displaceable therewith, the arm assembly including:
- an arm base extending outwardly from the linear stage;
- a first articulating arm rotatably mounted to a distal end of the arm base at a first rotary joint;
- a second articulating arm rotatably connected to a distal end of the first articulating arm at a second rotary joint;
- and
- an end effector coupled to a distal end of the second articulating arm at a third rotary joint;
- wherein each of the first, second, and third rotary joints is configured to rotate in a plane perpendicular to a direction of the vertical displacement such that the end effector is displaceable laterally beyond the lateral perimeter of the frame into the food station;
- and
- a sensor disposed on the arm assembly and configured to acquire data indicative of spatial features of the food item;
- and
- a processor configured to determine a location of the food item based on data from the sensor and control a combination of vertical and lateral displacement of the end effector to retrieve the food item from the food station.
16 more elements
A transfer module of an automated food system, the transfer module comprising:
- a frame defining a vertically oriented enclosure and a lateral perimeter;
- a vertical drive mounted to the frame and including:
- a vertically extending track;
- a linear stage movable along the track;
- and
- a drive mechanism configured to displace the linear stage vertically along the track;
- an arm assembly coupled to the linear stage for vertical displacement therewith, the arm assembly including:
- an arm base extending laterally from the linear stage;
- a first articulating arm rotatably mounted to a distal end of the arm base at a first rotary joint;
- a second articulating arm rotatably coupled to a distal end of the first articulating arm at a second rotary joint;
- an end effector rotatably mounted to a distal end of the second articulating arm at a third rotary joint;
- wherein each of the rotary joints is configured to provide rotation in a plane perpendicular to a direction of the vertical displacement such that the end effector is displaceable laterally beyond the lateral perimeter of the frame;
- a sensor disposed on the arm assembly and configured to acquire distance measurements relative to a food item;
- and
- a processor configured to determine a lateral position of the food item based on the distance measurements and to control coordinated rotation of the articulating arms and vertical displacement of the linear stage to position the end effector for engagement with the food item.
12 more elements
Dependencies are inferred from the claim text.