Gripping device for a robot
AssigneeScanvaegt International A/S
InventorBjørn Heide Pedersen
Life of this patent
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Abstract
A gripping device arranged for gripping an article 44, such as a food article, in particular a piece of meat, said gripping device 1 comprising at least two gripping parts 5, 7 pivotally suspended with respect to each other. At least one of the gripping parts 5, 7 is pivotally suspended and comprises a gripping arm 4, 6 and a gripping clamp 12, 14, wherein the gripping arm 4, 6 is adapted for carrying the gripping clamp 12, 14. The gripping device 1 further comprises a flexible belt-shaped material 20, which extends at least between lower parts of the at least two gripping parts.
Claims20
A gripping device for gripping a food article, wherein said food article is susceptible to assume a form change, affected by the gripping device, and which food article is located on a transport carrier or conveyor, said gripping device comprising
- a base part,
- at least two gripping arms carried by said base part, wherein at least one of said at least two gripping arms is pivotally suspended on said base part,
- at least two gripping clamps, wherein each gripping clamp is carried by a respective gripping arm, and
- a flexible belt-shaped material,
- wherein
- the flexible belt-shaped material is either arranged as an endless part, which is mounted on the gripping device, or is arranged with two ends, which are both mounted on the gripping device, wherein
- the flexible belt-shaped material extends at least between lower parts of said at least two gripping clamps,
- the flexible belt-shaped material is adaptable to size and shape of the food article,
- the food article, when gripped, is at least partly formed by the flexible belt-shaped material, and
- wherein the gripping device comprises a resilient part, which affect the flexible belt-shaped material for controlling the flexible belt-shaped material during movements of the gripping clamps.
A gripping device for gripping a food article, wherein said food article is located on a transport carrier or conveyor, said gripping device comprising
- at least two gripping parts, which are pivotally suspended with respect to each other, and
- a flexible belt-shaped material, extending at least between lower parts of said at least two gripping parts,
- wherein at least one of said gripping parts is pivotally suspended and comprises a gripping arm and a gripping clamp,
- wherein said gripping arm carries said gripping clamp,
- wherein said gripping clamp:
- is a lower part of said at least one gripping part,
- is configured with a lower part adapted for being placed substantially parallel with a surface of the transport carrier or conveyor, and
- comprises a flexible structure or material,
- and wherein
- said flexible belt-shaped material extends between the lower parts of said at least two gripping parts, passes underneath said lower parts of said at least two gripping parts and extends upwards from said lower parts to be connected to the gripping device,
- wherein the gripping device
- a) is carried towards a selected article carried on a conveyor belt,
- b) is lowered down towards the article while the gripping parts during at least part of this movement are moved apart so that the flexible belt-shaped material is substantially spread out,
- c) the gripping parts are starting to be moved towards each other while being lowered down, or after having been lowered down,
- d) the gripping device is lifted upwards with the gripping parts moved together with the flexible belt-shaped material having gripped around the article,
- e) the gripping device is carried to a selected location for delivering the article, and
- f) the gripping parts are starting being moved from each other whereby the grip around the article is released and whereby the flexible belt-shaped material is starting being extended or stretched out between the gripping parts so that the article is affected in a direction away from the gripping device.
Dependencies are inferred from the claim text.