ЗАГРУЗОЧНАЯ СИСТЕМА ДЛЯ МЯСА КОНЕЧНОСТИ С КОСТЬЮ

Изобретение относится к пищевой промышленности и может быть применено в загрузочной системе для мяса конечности с костью при загрузке его в блок обработки. Загрузочная система имеет блок захвата изображений для захвата изображения мяса конечности с костью перед загрузкой в блок обработки. Загрузочная система имеет блок обработки изображений, способный получать информацию об ориентации мяса конечности с костью из изображения мяса конечности с костью. Загрузочная система имеет пару зажимов, выполненных с возможностью размыкания/замыкания, для удерживания мяса конечности с костью. Загрузочная система имеет манипулятор, поддерживающий указанную пару зажимов и способный управлять положением и ориентацией указанной пары зажимов. Загрузочная система имеет блок управления, управляющий, на основе информации об ориентации, операцией манипулятора и тем самым удерживанием мяса конечности с костью и загрузкой мяса конечности с костью в блок обработки. Использование изобретения позволит повысить качество ...

СЕНСОРНАЯ СИСТЕМА, СОДЕРЖАЩЕЕ ЕЕ СЕНСОРНОЕ УСТРОЙСТВО И СОДЕРЖАЩЕЕ ЕЕ УСТРОЙСТВО ДЛЯ ОБРАБОТКИ МОЛОЧНОГО СКОТА

... 1. Сенсорная система с сенсорным устройством, содержащая:- проточную ячейку (2), имеющую отверстие (3) для подачи жидкости и отверстие (4) для выдачи жидкости, причем проточная ячейка выполнена с возможностью протекания через нее жидкости (5-1, 5-2),- детекторное устройство (6), которое выполнено с возможностью измерения свойства жидкости в ячейке и формирования связанного с этим сигнала детектора,- блок (7) управления сенсорами, который выполнен с возможностью анализировать сигнал детектора,отличающаяся тем, что блок управления сенсорами выполнен с возможностью обнаруживать переход (8) между двумя различными жидкостями в проточной ячейке, когда изменение сигнала детектора в единицу времени и/или изменение сигнала детектора становится больше, чем заданное пороговое значение изменения или чем заданное пороговое значение, соответственно, причем блок управления сенсорами выполнен с возможностью формирования сигнала оповещения, если блок управления сенсорами обнаруживает такой переход между ...

Gripper device with belt for extending around article to be picked up

A tool and method for capturing and despositing food items by impalement

A tool 1 for engaging, capturing and depositing food items comprises a bracket 3 to couple the tool 1 to a device for imparting controlled movement to the tool 1, a plurality of fixed penetration pins 5 to capture food items by impalement, a penetration pin support member 4 attached to the bracket 3, an ejection member 7 which has apertures through which the pins 5 pass and means 8 for imparting movement between the support member 4 and the ejection member 7. The device for imparting controlled movement may be a robotic arm 2. The pins 5 may be arranged in two or more rows of nine individual pins 5. Actuation devices such as pneumatic cylinders, hydraulic cylinders or electrical servo motors may be mounted on the support member 4 and may have extension arms 16 connected to the ejection member 7. Also disclosed is a method of compiling and depositing a shingled array ...

End effector carriage for delta robot

An end effector carriage 4 for a delta robot (2, figure 1) comprises a housing 17 connected to a delta robot arm 9, in use, for actuation of the housing. An electric motor 18 is sealed within the housing and an output shaft 28 is driven by the electric motor to move a picker (10) relative to the housing. The axis of rotation of the picker is parallel to an axis of an end effector carriage. The end effector carriage may comprise a fluid pressure line 22 within the housing to provide pneumatic or hydraulic actuation of the picker. The output shaft may be arranged in the force path between the motor and the picker and may further comprise a fluid pathway 30 extending between the fluid pressure line and the picker. The output shaft may comprise a range-taking fluid inlet (32, figure 3) to maintain fluid communication between the fluid pathway and the fluid pressure line during movement of the shaft. There may be a one or more fluid inlets circumferentially spaced about the shaft.

Pick and place gripper device

End effector

A gripper and gripping assembly

A gripper assembly 1 for gripping a product comprises first and second mounting members 52, 54 and 56, 58, an actuator (38 fig. 3) for causing relative movement between the first and second mounting members and a plurality of gripper members 2 spaced apart about a primary axis. At least one the gripper members 2 comprises a resiliently deformable body 4 comprising a distal end 6 and first and second connection formations 14, 24 spaced from the distal end 6 and from each other, the first and second connection formations 14, 24 being connected to the first and second mounting members 52, 54 and 56, 58 respectively such that an axial component of movement between the first and second mounting members 52, 54 and 56, 58 caused by the actuator (38 fig. 3) in use imparts a rotation of the distal end 6 of each gripper member 2 in a direction towards and/or away from the primary axis. The first and second connection formations 14, 24 may comprise a living hinge or a bridge of neck formation of reduced ...

Automated sandwich packaging

System and method for sorting and/or packing items

An item packing system 100 configured to sort and/or pack vine fruit such as bunches of grapes 133 into containers 142 comprises a first robotic arm 110 comprising at least one first end effector 120 for cutting vine fruit such as cutting grapes from a bunch 132, a second robotic arm 114 comprising at least one second end effector 122 for holding and manipulating a vine fruit such as a bunch of grapes 133 for packing into a container 142, at least one camera 155 for providing image data of the vine fruit 132, 133, and a controller 160 configured to receive the image data of the vine fruit 132, 133 and to make a determination of the weight of the vine fruit 132, 133 based on the received image data. The controller 160 is configured to control the at least one first end effector 120 of the first robotic arm 110 to cut the vine fruit 132 based on the determined weight of the vine fruit 132 and the controller 160 is configured to control the at least one second end effector 122 of the second ...

End effector

DEVICE FOR WORKING ON AND/OR HANDLING OF ARTICLES

AUFNAHMEUND POSITIONING DEVICE, GRIP ARM AND PROCEDURE

PICK AND PLACe GREIFERVORRICHTUNG

KNICKARMGREIFER

The invention relates to a picking system for the automated picking of articles having a detecting station for detecting the position of an article to be picked on a feeding belt and having an articulated arm gripper (6) for receiving the article out of the warehouse loading aid from the feeding belt and for depositing the article into the order loading aid on a discharge conveyor, wherein the articulated arm gripper (6) has a substantially vertical longitudinal arm (8) and an articulated arm (9) which can be articulated around an articulation angle (W), on which there is a suction gripper (S) for gripping the article, wherein the longitudinal arm (8) of the articulated arm gripper (6) is at least double as long and in particular at least five times as long as the articulated arm (9) of the articulated arm gripper (6) and, wherein the detecting station is designed to detect the three-dimensional position of the article in the warehouse loading aid and, wherein the articulation angle (W) ...

PROCEDURE FOR THE AUTOMATED GROUPING OF OBJECTS

Pick and throw harvesting

A conveyor system (24) carries work items, such as flexible, pliable, food products (22), through a scanning system (28) which generates data pertaining to various physical parameters of the food products. Thereafter, the food products are transported through a processing station which may be in the form of a portioning system (30). Next, the portioned food products are transported to a harvesting system (32) utilizing a actuator (34) to unload the food product portions (36) by vacuuming the portions into a nozzle (90). Such food products are transported to one or more desired locations through a hose/tube connected to a nozzle or may be launched through the air in a trajectory aimed at the desired placement location.

A gripper device and a method for picking up and re-positioning an item carried by a support surface

This invention relates to a pick and place gripper device and a method for picking up and repositioning an item carried by a support surface. The gripper device includes a base, at least one jaw pivotally mounted to the base having at least one leading edge, at least one belt of flexible material being wrapped around at least the leading edge of the at least one jaw such that it is sandwiched between the at least one jaw and the item when the at least one jaw penetrates below the item and as the at least one jaw moves below the item there is substantially no relative sliding movement between the sandwiched portion of the at least one belt and the item, wherein the leading edge of the at least one jaw, when coming into contact with the support surface, is configured to adjust to the support surface when penetrating between the item and the support surface.

Soft robotic actuators for positioning, packaging, and assembling

Exemplary embodiments relate to applications for soft robotic actuators in the manufacturing, packaging, and food preparation industries, among others. Methods and systems are disclosed for packaging target objects using soft robotic actuators, for moving and positioning target objects and/or receptacles, and/or for diverting or sorting objects. By using soft robotic actuators to perform the fixing, positioning, and/or diverting, objects of different sizes and configurations may be manipulated on the same processing line, without the need to reconfigure the line or install new hardware when a new object is received.

Apparatus and method for gripping, holding and releasing objects that can be penetrated

Double-gripper for the application of teat cups to an animal to be milked, rinse cup for this and milking machine provided therewith, and a method for milking

This invention is related to a double grab, its rinsing cup and milking machine provided therewith, and the method for automatically applying teat cups to the teats of an udder of an animal to be milked. The double grab according to the invention includes: - a first housing part provided with a first magnet designed to hold a first teat cup; - a second housing part, installed substantially in a horizontal plane next to the first housing part, provided with a second magnet designed to hold a second teat cup; - whereby each housing part is provided with separate pivoting means that can be activated and is designed to make the related housing part pivot around a pivoting axis which in use, extends substantially in a horizontal direction, substantially in a widthwise direction of the arm.

A METHOD OF PROCESSING FISH AND A FISH PROCESSING PLANT

A system for processing fish of different anatomic constitution where the fish (22) having at least an end waste part (23, 24), a body part (26)and a transition (30) between the end waste part and the body part. The system comprising a frame including a fish loading area (18) for receiving the fish and a fish unloading area (52), an optical measurement unit (36) monitoring at least part of the fish loading area for producing a digital representation of the fish, a grabbing unit (40) mounted on the frame downstream in relation to the optical measurement unit for collecting the fish from the fish loading area and placing the fish on the fish unloading area, a processing unit for receiving the digital representation of the fish, determining the transition between the end waste part and the body part of the fish and a separation arrangement for separating the end waste part from the body part at the transition.

BEEF SPLITTING METHOD AND SYSTEM

A system for processing a suspended beef carcass as the carcass is moved along a defined path. A robotic arm is carried on a moveable table and has mounted thereon a servo motor-driven band saw capable of effecting a splitting operation on the beef carcass. The band saw is counterbalanced by a mass having a weight less than the weight of the band saw, and the robotic arm has a maximum load-carrying capacity less than the weight of the band saw. A torque monitor for the servo motor detects breaks in the band saw or breaks in the support for the band saw. A vision-based sensor system detects location of a tail bone on the beef carcass. The system includes a controller in communication with the carcass rail, the carcass processing device and motor, and the vision-based sensor system.

A GRASPING AFFORDANCE FOR USE IN A ROBOT SYSTEM

An affordance is provided which allows a robot system to pick an expanded range of items using 5 a single type of end effector, without requiring the use of different end effectors. In particular, there is provided an affordance for an item to be grasped by a robot system, the robot system comprising an end effector. The affordance comprises a first layer and a second layer. The first layer is arranged to be grasped by the end effector and the second layer is arranged to adhere to the item. There is also provided a system comprising an affordance and a robot system 10 comprising an end effector arranged to grasp at least one item from at least one storage means by way of the affordance. There is also provided an order fulfilment system comprising a storage means arranged to store at least one item and a system wherein the robot system is arranged to grasp at least one item from the storage means by way of the affordance. There is also provided a method of applying to an item an affordance ...

GRIPPING APPARATUS

The present invention relates to a gripping apparatus (100) for receiving, conveying and dispensing a product (P), the gripping apparatus (100) comprising: a main structure (110) which can be releasably and preferably non-destructively attached to a handling device (R) by means of a coupling element (112); at least two gripping elements (120) which each have at least one bottom surface (122) and at least one top surface (124), the top surfaces (124) of the gripping elements (120) facing towards the coupling element (112) and the bottom surfaces (122) of the gripping elements (120) facing away from the coupling element (112); at least one drive means (13) for reversibly moving the gripping elements (120) between a first position, in which the gripping elements (120) can be positioned on opposing sides of the product (P) to be received, and a second position, in which the gripping elements (120) grip the product (P) to be received; and a stop plate (140), which rests at least approximately ...

ROBOTIC ARM

In general terms a first aspect of the invention provides a modular robotic arm in which respective joint modules and/or end effector modules can be swapped or exchanged for a replacement module. The modules are interconnected by pairs of interlocking features that can be readily and repeatably interlocked and separated.

AUTOMATED MACHINE FOR UNLOADING AND TRANSFERRING CUT AND TRIMMED POULTRY MEAT PIECES

An automated unloading machine for unloading cut and trimmed raw poultry meat pieces from an upstream poultry meat cutting machine. The automated unloading machine is operably associated with a feed conveyer configured to support the cut and trimmed poultry meat pieces provided by the meat cutting machine. The automated unloading machine comprises one of an exit conveyor movable in a second direction and a packaging machine, an electronic controller configured to receive and process position and orientation data of the poultry meat pieces located on the feed conveyer, and a robotic picking device operatively associated with the electronic controller and configured to pick the poultry meat pieces from the feed conveyer and place them onto one of the exit conveyor and the packaging machine so that the cut and trimmed poultry meat pieces are arranged on one of the exit conveyor and the packaging machine in a desired orientation.

SOFT ROBOTIC ACTUATORS FOR POSITIONING, PACKAGING, AND ASSEMBLING

Exemplary embodiments relate to applications for soft robotic actuators in the manufacturing, packaging, and food preparation industries, among others. Methods and systems are disclosed for packaging target objects using soft robotic actuators, for moving and positioning target objects and/or receptacles, and/or for diverting or sorting objects. By using soft robotic actuators to perform the fixing, positioning, and/or diverting, objects of different sizes and configurations may be manipulated on the same processing line, without the need to reconfigure the line or install new hardware when a new object is received.

High-end robot device

Discharging device of stuffed-food forming machine

GRIPPING TOOL PRODUCTS, ESPECIALLY FRESH FOOD PRODUCTS

L'invention concerne un outil préhenseur de produits, comprenant un support (1) qui comprend au moins deux têtes de préhension (2), chacune d'entre elles étant munie d'une ventouse d'aspiration (3) connectée à un conduit d'aspiration (4) et ces différents conduits d'aspiration (4) étant eux-mêmes connectés à une unique source d'aspiration (5) permettant de créer une dépression dans chacune desdites ventouses, chaque conduit d'aspiration (4) étant équipé d'une vanne d'arrêt (40). Cet outil est remarquable en ce que l'embouchure de chaque ventouse (3) est obturée par une grille (8), munie d'une tige verticale (81) qui s'étend depuis sa face intérieure en direction du conduit d'aspiration (4) auquel est connectée ladite ventouse, en ce qu'un actionneur (9) est disposé à l'intérieur de ladite tige (81), en ce qu'un capteur (6) de détection du déplacement dudit actionneur (9) est noyé dans ledit support (1), et en ce que lorsque ledit capteur de détection (6) ne détecte pas le déplacement dudit ...

DEVICE OF GRIPPING AND HANDLING Of a BATCH OF SECTIONS Of a Food product

PROCESS OF TREATMENT Of OBJECTS ACCORDING TO THEIR INDIVIDUAL WEIGHTS

Pour répartir des objets présentés avec une distribution de poids aléatoire, de façon à traiter les objets en fonction de leur poids, le procédé comprend des étapes exécutées cycliquement de façon à : - détecter (40) un objet (obj) ; - prendre (50) l'objet détecté au moyen d'un préhenseur monté sur un robot (Ri) et mesurer le poids (wj) au moyen d'un capteur de pesée ou de force disposé sur le préhenseur, sur le robot ou sur un organe d'ancrage du robot ; - acquérir (60) le poids (wj) en l'associant à l' objet (obj) .

Unmanned coffee drink manufacturing system

ROBOT HAND AND FOOD STUFF CONVEYANCE SYSTEM

Provided is a robot hand capable of holding goods (5). The robot hand (19) is provided with multiple opening and closing members (71) that are provided to a hand support member (29) in such a manner that the members can open and close together. Finger members (79) for holding food products (5) are provided to the convergent end of each of the opening and closing members, which converge in the central region with the opening and closing action of each opening and closing member (71), and project down from the hand support member (29). The finger members (79) are in contact with adjacent finger members (79) at the holding surface (77) that holds the food products (5) in such a manner that the fingers slide freely. Also provided is a holding space (83) for encircling the food product (5) with the aforementioned holding surface (77) of the finger members (79) and holding the edge of the food product (5) using surface contact. Facing the central area where the opening and closing members (71 ...

SYSTEMS AND METHODS FOR PROCESSING STACKABLE ARTICLES

Systems (10, 300, 400, 600, 800, 1000) and methods for processing stackable articles (12), such as, frozen hamburgers or compact disks, are provided. The systems include mechanisms for determining the number of articles in a stack of articles (20), a transfer device (46, 340, 446, 640, 850) adapted to transfer the articles (12) when the number of articles equals a predetermined number of articles, a gripping device (30, 130) adapted to receive the stacks of articles from the transfer device, an automated manipulator (31, 431, 660, 1050) adapted to transfer the gripping device with the stacks of articles, and a mechanism for discharging the stacks of articles (20) from the gripping device (30, 130) to, for example, a container. Though aspects of the invention may be uniquely adapted to handle food items, aspects of the invention may also be used for non-food items.

Robot Interaction With Human Co-Workers

Embodiments provide functionality to prevent collisions between robots and objects. An example embodiment detects a type and a location of an object based on a camera image of the object, where the image has a reference frame. Motion of the object is then predicted based on at least one of: the detected type of the object, the detected location of the object, and a model of object motion. To continue, a motion plan for the robot is generated that avoids having the robot collide with the object based on the predicted motion of the object and a transformation between the reference frame of the image and a reference frame of the robot. The robot can be controlled to move in accordance with the motion plan or a signal can be generated that controls the robot to operate in accordance with the motion plan.

AUTOMATED SYSTEM FOR APPLYING DISINFECTANT TO THE TEATS OF DIARY LIVESTOCK

A system for operating a robotic arm, comprises a controller and a robotic arm. The controller receives an indication that a stall of a rotary milking platform in which a dairy livestock is located has moved into an area adjacent a robotic arm that is detached from the rotary milking platform. The controller also determines whether a milking cluster is attached to the dairy livestock. The robotic arm is communicatively coupled to the controller and extends between the legs of the dairy livestock if the controller determines that the milking cluster is not attached to the dairy livestock. The robotic arm does not extend between the legs of the dairy livestock if the controller determines that the milking cluster is attached to the dairy livestock.

AUTOMATED SYSTEM FOR APPLYING DISINFECTANT TO THE TEATS OF DAIRY LIVESTOCK

In certain embodiments, a system for applying disinfectant to the teats of a dairy livestock includes a carriage mounted on a track, the carriage operable to translate laterally along the track. The system further includes a robotic arm including a first member pivotally attached to the carriage such that the first member may rotate about a point of attachment to the carriage, a second member pivotally attached to the first member such that the second member may rotate about a point of attachment to the first member, and a spray tool member pivotally attached to the second member such that the spray tool member may rotate about a point of attachment to the second member. The robotic arm further includes a spray tool attached to the spray tool member. The system further includes a controller operable to cause at least a portion of the robotic arm to extend between the hind legs of a dairy livestock such that the spray tool is located at a spray position from which the spray tool may discharge an amount of disinfectant to the teats of the dairy livestock. 1. A method for applying disinfectant to the teats of a dairy livestock , comprising:receiving a trigger signal indicating that a stall of a rotary milking platform housing a dairy livestock is located adjacent to a track, the track having a carriage carrying a robotic arm mounted thereto;communicating a first signal to a first actuator coupled to the track and the carriage, the first signal causing operation of the first actuator such that the carriage moves along the track in relation to the rotary milking platform;communicating one or more additional signals to one or more actuators of the robotic arm, the one or more additional signals causing operation of the one or more actuators of the robotic arm such that at least a portion of the robotic arm extends between the hind legs of a dairy livestock.2. The method of claim 1 , further comprising accessing claim 1 , in response to the trigger signal claim 1 , a ...

Automated system for applying disinfectant to the teats of dairy livestock

A method for operating a robotic arm comprises determining a speed of rotation of a rotary milking platform, the rotary milking platform having a stall for a dairy livestock. The method further includes moving a carriage along a track positioned adjacent to the rotary milking platform at a rate that is based at least in part upon the determined speed of rotation of the rotary milking platform. The method further includes extending a robotic arm that is coupled to the carriage between the legs of the dairy livestock.

COOKING ROBOT, COOKING ROBOT CONTROL DEVICE, AND CONTROL METHOD

There is provided a cooking robot, a cooking robot control device, and a control method for improving reproducibility in a case where the same dish as a cook makes is reproduced by the cooking robot. The cooking robot according to one aspect of the present technology controls a cooking operation performed by a cooking arm, using recipe data including a data set in which cooking operation data and sensation data are linked, the cooking operation data describing information regarding an ingredient of a dish and information regarding an operation of a cook in a cooking process using the ingredient, and the sensation data indicating a sensation of the cook measured in conjunction with a progress of the cooking process. The present technology can be applied to a cooking robot that operates an arm to cook. 1. A cooking robot comprising:a cooking arm configured to perform a cooking operation for making a dish; anda control unit configured to control the cooking operation performed by the cooking arm using recipe data including a data set in which cooking operation data and sensation data are linked, the cooking operation data describing information regarding an ingredient of the dish and information regarding an operation of a cook in a cooking process using the ingredient, and the sensation data indicating a sensation of the cook measured in conjunction with a progress of the cooking process.2. The cooking robot according to claim 1 , whereinthe sensation data is data indicating at least one of a flavor of the ingredient before cooking, a flavor of the cooked ingredient cooked in the cooking process, and a flavor of the dish completed through all the cooking processes.3. The cooking robot according to claim 2 , whereinthe sensation data includes gustatory information indicating at least one of sweetness, sourness, saltiness, bitterness, umami, pungency, and astringency.4. The cooking robot according to claim 3 , whereinthe sensation data includes another information ...

ROBOTIC FOOD PREPARATION SYSTEM

A robotic system for food preparation has a compact form factor and enables processes for dispensing food ingredients, weighing ingredients, processing ingredients, and storing and transferring ingredients in a tight space, such as within a kitchen cabinet or similar enclosure. The robotic system can also be put to use in larger commercial settings. The robotic system includes one or more gantry subsystems to translate and rotate tools relative to orthogonal axes. An ingredient storage subsystem includes multiple ingredient storage containers, each having a dispenser actuatable by an ingredient dispensing mechanism. A sensor subsystem includes a camera, a temperature sensor, or a weight sensor to detect presence or absence of objects at locations within the robotic apparatus, or to determine weight of ingredients. One or more cooking appliances have lids that can be inverted to receive and weigh dispensed ingredient(s), and transfer the ingredient(s) into the cooking appliance(s).

PICK AND PLACE GRIPPER DEVICE

СЕНСОРНАЯ СИСТЕМА, СОДЕРЖАЩЕЕ ЕЕ СЕНСОРНОЕ УСТРОЙСТВО И СОДЕРЖАЩЕЕ ЕЕ УСТРОЙСТВО ДЛЯ ОБРАБОТКИ МОЛОЧНОГО СКОТА

Сенсорная система с сенсорным устройством содержит проточную ячейку для жидкости, детекторное устройство для измерения свойства жидкости в ячейке и формирования связанного с этим сигнала детектора, блок управления сенсорами для анализа сигнала детектора. Блок управления сенсорами выполнен с возможностью обнаруживать переход между двумя различными жидкостями в ячейке, когда изменение (в единицу времени) в сигнале детектора больше, чем пороговое значение. В случае обнаружения такого перехода блок управления сенсорами выдает сигнал оповещения. Сенсорное устройство содержит проточную ячейку, детекторное устройство, блок управления сенсорами, который выполнен с возможностью анализа сигнала детектора, в котором проточная ячейка содержит трубку из светоизлучающего материала, а детекторное устройство содержит несколько светочувствительных датчиков. Устройство для обработки молочного скота содержит устройство обнаружения соска, устройство обработки соска, манипулятор с управляющим устройством и ...

Device for picking up articles that cannot be squeezed

A device for picking up and re-positioning articles that cannot be squeezed, such as thin slices of meat or fish, comprises a first part 3 situated to one side of a support surface 12 with a gap between its underside and the support surface, and a second part comprising a thin plate 8 that is moveable parallel to the support surface through the gap. A belt 9 of flexible material is wrapped around a leading edge of the plate and is secured at one end to a point which is separate from the plate, such that as the plate moves below the article 11 there is no relative sliding movement between the belt and the article. Preferably, a second pair of first and second parts is provided on the opposite side of the support surface to the first pair.

Device for picking up articles that cannot be squeezed

Apparatus for moving products

Automatic cooking system

DEVICE AND PROCEDURE FOR SEIZING PENETRATE-CASH ARTICLES

PICK AND PLACE HANDHABUNGSVORRICHTUNG AND PROCEDURE FOR THE THEIR USE

DEVICE FOR GROUPING AS WELL AS PROCEDURE FOR THE OPERATION THE SAME

Improved pick and place handling device

Mushroom harvester

A device for harvesting mushrooms from a mushroom bed involves a robotic arm configured to interchangeably deploy one of a plurality of different suction grippers, each of the suction grippers having a suction cup having a size and shape profile appropriate for gripping a cap of a mushroom, the cap having a size and shape profile within a predetermined range. A vacuum source in fluid communication with the suction gripper supplies negative air pressure to the suction gripper for retaining a cap of the mushroom to be harvested in the suction cup. A control circuit in electronic communication with the suction gripper and the vacuum source is configured to automatically adjust the negative air pressure in the suction gripper in response to harvesting requirements during a mushroom harvesting process. A few standard mushroom shapes have been identified, which permits suction cup designs that maximize contact between the suction cups and the mushroom caps, which permits minimizing the strength ...

A grasping affordance for use in a robot system

An affordance is provided which allows a robot system to pick an expanded range of items using 5 a single type of end effector, without requiring the use of different end effectors. In particular, there is provided an affordance for an item to be grasped by a robot system, the robot system comprising an end effector. The affordance comprises a first layer and a second layer. The first layer is arranged to be grasped by the end effector and the second layer is arranged to adhere to the item. There is also provided a system comprising an affordance and a robot system 10 comprising an end effector arranged to grasp at least one item from at least one storage means by way of the affordance. There is also provided an order fulfilment system comprising a storage means arranged to store at least one item and a system wherein the robot system is arranged to grasp at least one item from the storage means by way of the affordance. There is also provided a method of applying to an item an affordance ...

APPARATUS AND METHOD TO GRIP OBJECTS THAT CAN BE PENETRATED

The present invention concerns an apparatus (10) for gripping penetrable objects. The apparatus includes at least two needles (2) placed at an angle to each other and an actuation unit (3) connected to the needles (2) to thrust these in a lengthwise direction between an extended and a retracted position. A tool block (1) for securing the actuation units (3) includes a fixed contact surface (8) towards the object that is to be lifted, such that the needles (2) can be led in and out of the tool block (1) between the extended and the retracted position. Guides (2a) for the needles (2) are placed in the tool block (1) such that the needles create a cross (9) when they are in an extended position. A method for gripping objects that can be penetrated is also described.

A GRIPPER DEVICE

This invention relates to a gripper device (100) configured to pick up a pliable food product having a tail-like part (107) from a pick up area and releasing it at a releasing area, where a support (101) is provided, a pair of jaws (102) mounted to the support for movement of distal ends thereof towards each other defining a closing position of the pair of jaws and away from each other defining an open position of the pair of jaws, and a tail bender device (103) attached to the support and adjacent to one end of the pair of jaws, the tail bender device being moveable in relation to the pair of jaws and is configured to bend the tail- like part while transferring the food product from the pick up area until releasing it at the releasing area.

APPARATUS FOR PROCESSING AND GRADING FOOD ARTICLES AND RELATED METHODS

This disclosure concerns a system and a method for processing and grading food articles using a system for grading a food article that has been cut into portions, the system comprising: a first conveyor; at least one spray-removal robot; a first receiving conveyor and a second receiving conveyor, defining a space therebetween; at least one spray-removal robot; and a third receiving conveyor, wherein the spray-removal robot comprises at least one valve with a nozzle, wherein the valve ejects fluid through the nozzle to impact a food article being moved on the first conveyor toward the third receiving conveyor, such that at least one portion of the food article is moved by the impact through the space between the first receiving conveyor and the second receiving conveyor, and such that at least one portion of the food article is moved by the motion of the first receiving conveyor and the second receiving conveyor to the third receiving conveyor.

SYSTEMS, METHODS AND APPARATUSES FOR PROCESSING SEEDLINGS

Provided are methods of inserting seedlings into soil plugs. The method includes: a) automatically identifying a target seedling located in a pick-up area using seedling detection apparatus; b) pick-up up the target seedling with an automated seedling handling apparatus; c) transporting the target seedling to an insertion area; d) providing a first soil plug in the insertion area to receive the target seedling, the first soil plug having a first plug end, a second plug end longitudinally spaced apart from the first plug end and a longitudinal slit extending from the first plug end toward the second plug end; e) spreading the slit in the first soil plug; f) inserting a root portion of the seedling into the slit while a stem portion of the seedling is positioned outside the first soil plug; and g) stripping the target seedling from the handling apparatus whereby the seedling remains received within the slit in the first soil plug. Also provided are apparatuses and systems for inserting seedlings ...

FEED WAGON

Livestock feed wagon (1), comprising a moving frame (2), a feed container (3) which is fitted on the frame for accommodating animal feed (7), in particular provided with feed-mixing means (16), a movable arm construction (4) having an operable gripper (5) fitted thereto for grabbing an amount of animal feed (6), wherein the arm construction is configured in such a way that the arm construction can pivot the gripper only in one plane from a first position for grabbing animal feed next to the livestock feed wagon to a second position for releasing the animal feed above the feed container. This makes it possible to provide a very simple and compact construction.

DOUBLE GRAB FOR APPLYING TEAT CUPS FOR AN ANIMAL TO BE MILKED, A RINSING CUP FOR THEM AND A MILKING MACHINE PROVIDED WITH IT, AND METHOD FOR MILKING

This invention is related to a double grab, its rinsing cup and milking machine provided therewith, and the method for automatically applying teat cups to the teats of an udder of an animal to be milked. The double grab according to the invention includes: - a first housing part provided with a first magnet designed to hold a first teat cup; - a second housing part, installed substantially in a horizontal plane next to the first housing part, provided with a second magnet designed to hold a second teat cup; - whereby each housing part is provided with separate pivoting means that can be activated and is designed to make the related housing part pivot around a pivoting axis which in use, extends substantially in a horizontal direction, substantially in a widthwise direction of the arm.

EGG CANDLING AND RELOCATION APPARATUS FOR USE WITH IN OVO INJECTION MACHINES

PROCESS OF TREATMENT Of OBJECTS ACCORDING TO THEIR INDIVIDUAL WEIGHTS

DEVICE FOR HOLDING AT LEAST ONE DEFORMABLE PRODUCT.

Dispositif de préhension d'au moins un produit alimentaire déformable, caractérisé en ce qu'il comprend : - une chambre, - un système de dépressurisation de la chambre, - un raccordement fluidique reliant le système de dépressurisation à la chambre, et - au moins une plaque perforée (246) définissant une surface (248) de réception du produit alimentaire déformable, la plaque perforée (246) présentant au moins une perforation débouchant dans la surface de réception (248) et dans la chambre.

GRIPPING DEVICE COMPLIANT WITH NEEDLES FOR FOOD PRODUCT

L'invention se rapporte à un dispositif de préhension d'au moins un produit alimentaire déformable. Ce dispositif de préhension comprend : - au moins une plaque perforée définissant au moins une surface (130) de réception du produit alimentaire déformable (10), et - pour la ou chaque surface de réception (130), une paire d'aiguilles (182, 184) associée à ladite surface de réception (130), chaque aiguille (182, 184) de ladite paire étant apte à être déplacée entre une position rétractée, dans laquelle l'aiguille (182, 184) ne traverse pas la surface de réception (130), et une position déployée, dans laquelle l'aiguille (182, 184) traverse la surface de réception (130). L'invention concerne également une installation de production de produits alimentaires déformables comprenant un tel dispositif de préhension, et un procédé de déplacement d'un produit alimentaire déformable au moyen d'un tel dispositif de préhension.

Automated system for applying disinfectant to the teats of dairy livestock

A system for operating a robotic arm, comprises a controller and a robotic arm. The controller receives an indication that a stall of a rotary milking platform in which a dairy livestock is located has moved into an area adjacent a robotic arm that is detached from the rotary milking platform. The controller also determines whether a milking cluster is attached to the dairy livestock. The robotic arm is communicatively coupled to the controller and extends between the legs of the dairy livestock if the controller determines that the milking cluster is not attached to the dairy livestock. The robotic arm does not extend between the legs of the dairy livestock if the controller determines that the milking cluster is attached to the dairy livestock.

AUTOMATED SYSTEM FOR APPLYING DISINFECTANT TO THE TEATS OF DAIRY LIVESTOCK

A method for operating a robotic arm, comprises determining a speed of rotation of a rotary milking platform, the rotary milking platform having a stall for a dairy livestock. The method continues by moving a carriage along a track positioned adjacent to the rotary milking platform at a rate that is based at least in part upon the determined speed of rotation of the rotary milking platform, wherein the carriage moves independently of the rotary milking platform and in a direction corresponding to a direction of rotation of the rotary milking platform. The method continues by extending a robotic arm that is coupled to the carriage between the legs of the dairy livestock, wherein the robotic arm remains extended between the legs of the dairy livestock for a period of time as the stall rotates adjacent to the robotic arm. The method concludes by retracting the robotic arm from between the legs of the dairy livestock as the stall rotates adjacent to the robotic arm.

Solid Dispenser

In one embodiment, the present disclosure includes a solid dispenser comprising a dispensing element and a housing. The dispensing element includes a plurality of blades extending from a cylindrical base. In one example embodiment, the blades are separated by 90 degrees to form channels from an upper opening in the housing to a lower opening in the housing. A hopper for storing items to be dispensed may be configured on one side of the dispenser, and a trap for controlling the flow of dispensed items may be configured on the other side of the dispenser. In one embodiment, the dispenser is controlled by motors coupled to a server as part of a fully automated cloud controlled robotic food preparation system, where each dispenser may accurately deliver different quantities of ingredients for different orders.

PICKING SYSTEM HAVING AN ARTICULATED ARM GRIPPER

Robot hand, robot system provided with the robot hand, method of production using the robot system and product produced by the method

A robot hand (11) comprising two receiving portions (111, 112) for receiving, processing, and placing a workpiece (6) is provided. The robot hand (11) is configured to receive the workpiece (6) conveyed by a conveyor (4) at a lower side of the conveyor (4), process the workpiece (6), and place the processed workpiece (6) in a specified position (5).

СПОСОБ И СИСТЕМА УПРАВЛЕНИЯ МОЛОЧНЫМИ ЖИВОТНЫМИ

Группа изобретений относится к управлению группой молочных животных. Система содержания включает зону обитания, например хлев, включающий зону лежания и кормления и зону доения, при этом зона доения снабжена доильной станцией для автоматического доения молочного животного. Система содержит устройство отбора и зону отделения, которая отделена от зоны обитания и соединена с зоной обитания посредством устройства отбора. Осуществляют определение подгруппы молочных животных, подлежащих отделению от группы молочных животных. Производят определение времени окончания, в которое необходимо, чтобы одно или более молочных животных из подгруппы, подлежащей отделению, находилось/находились в зоне отделения. Осуществляют определение отдельно индивидуального периода отделения для каждого индивидуального молочного животного из подгруппы, подлежащей отделению. Индивидуальный период отделения продолжается от индивидуально определяемого времени начала до времени окончания. Приводят в действие устройства отбора ...

СПОСОБ И СИСТЕМА УПРАВЛЕНИЯ МОЛОЧНЫМИ ЖИВОТНЫМИ

Манипулятор

Gelenkroboter mit Verbindungselement zum Verbinden eines auf einem Arm angeordneten Leitungskörpers

Ein Gelenkroboter umfasst einen Arm, der an einem Gelenk eine Richtung ändert, und eine Rohrkupplung, mit der ein Leitungskörper verbunden ist und die an dem Arm angebracht ist. Der Arm umfasst einen Rahmen, der einen hohlen Innenraum aufweist. Der Rahmen weist ein konkaves Teil auf, das zum Innenraum hin vertieft ist. Die Rohrkupplung ist im Innern des konkaven Teils angeordnet.

Pick and place gripper device

End effector carriage for delta robot

System and method for sorting and/or packing items

AUFNAHMEUND JOGGLE GRIP ARM

DEVICE AND PROCEDURE FOR MANUFACTURING WITH FOOD EQUIPPED SPIESSEN

DEVICE FOR THE ADMISSION AND FOR THE TRANSPORT OF A PROPERTY

Beef splitting method and system

A system for processing a suspended beef carcass as the carcass is moved along a defined path. A robotic arm is carried on a moveable table and has mounted thereon a servo motor-driven band saw capable of effecting a splitting operation on the beef carcass. The band saw is counterbalanced by a mass having a weight less than the weight of the band saw, and the robotic arm has a maximum load-carrying capacity less than the weight of the band saw. A torque monitor for the servo motor detects breaks in the band saw or breaks in the support for the band saw. A vision-based sensor system detects location of a tail bone on the beef carcass. The system includes a controller in communication with the carcass rail, the carcass processing device and motor, and the vision-based sensor system.

BEEF SPLITTING METHOD AND SYSTEM

A system for processing a suspended beef carcass as the carcass is moved along a defined path. A robotic arm is carried on a moveable table and has mounted thereon a servo motor-driven band saw capable of effecting a splitting operation on the beef carcass. The band saw is counterbalanced by a mass having a weight less than the weight of the band saw, and the robotic arm has a maximum load-carrying capacity less than the weight of the band saw. A torque monitor for the servo motor detects breaks in the band saw or breaks in the support for the band saw. A vision-based sensor system detects location of a tail bone on the beef carcass. The system includes a controller in communication with the carcass rail, the carcass processing device and motor, and the vision-based sensor system.

ROBOTIC HANDLING OF SOFT PRODUCTS IN NON-RIGID PACKAGING

Techniques are disclosed to perform robotic handling of soft products in non-rigid packaging. In various embodiments, sensor data associated with a workspace is received. An action to be performed in the workspace using one or more robotic elements is determined, the action including moving an end effector of one of the robotic elements relatively quickly to a location in proximity to an item to be grasped; actuating a grasping mechanism of the end effector to grasp the item using an amount of force and structures associated with minimized risk of damage to one or both of the item and its packaging; and using sensor data generated subsequent to the item being grasped to ensure the item has been grasped securely. Control communications are sent to the robotic element via the communication interface to cause robotic element to perform the action.

ELASTIC SUPPORT DEVICE

An elastic support device according to one embodiment of the present invention comprises: a first member that includes a first magnet; and a second member that includes a second magnet, that is disposed to face the first member, and that can move relatively with respect to the first member when receiving an external force. The elastic support member is configured so that the magnetic force acting between the first magnet and the second magnet acts to hold the second member at an in-situ position when the second member does not receive an external force, and to return the second member to the in-situ position when the second member does move by receiving an external force.

PICK AND THROW HARVESTING

A conveyor system (24) carries work items, such as flexible, pliable, food products (22), through a scanning system (28) which generates data pertaining to various physical parameters of the food products. Thereafter, the food products are transported through a processing station which may be in the form of a portioning system (30). Next, the portioned food products are transported to a harvesting system (32) utilizing a actuator (34) to unload the food product portions (36) by vacuuming the portions into a nozzle (90). Such food products are transported to one or more desired locations through a hose/tube connected to a nozzle or may be launched through the air in a trajectory aimed at the desired placement location.

GRIPPER ACTUATING SYSTEM IN A FOOD PROCESSING MACHINE

A gripping system of a food processing machine includes a gripping device, an airflow sensing device, at least one processor, and at least one memory. The gripping device is moveable between an open configuration and a closed configuration. The airflow sensing device is configured to sense an airflow. The at least one processor is in electronic communication with the airflow sensing device. The at least one memory is in electronic communication with the at least one processor. The at least one memory comprises programming code for execution by the at least one processor. The programming code is configured to move the gripping device from the open configuration to the closed configuration when the airflow sensing device senses a change in the airflow.

AUTOMATED SYSTEM FOR APPLYING DISINFECTANT TO THE TEATS OF DAIRY LIVESTOCK

In certain embodiments, a system for applying disinfectant to the teats of a dairy livestock includes a carriage mounted on a track, the carriage operable to translate laterally along the track. The system further includes a robotic arm including a first member pivotally attached to the carriage such that the first member may rotate about a point of attachment to the carriage, a second member pivotally attached to the first member such that the second member may rotate about a point of attachment to the first member, and a spray tool member pivotally attached to the second member such that the spray tool member may rotate about a point of attachment to the second member. The robotic arm further includes a spray tool attached to the spray tool member. The system further includes a controller operable to cause at least a portion of the robotic arm to extend between the hind legs of a dairy livestock such that the spray tool is located at a spray position from which the spray tool may discharge ...

FEED WAGON

Livestock feed wagon (1), comprising a moving frame (2), a feed container (3) which is fitted on the frame for accommodating animal feed (7), in particular provided with feed-mixing means (16), a movable arm construction (4) having an operable gripper (5) fitted thereto for grabbing an amount of animal feed (6), wherein the arm construction is configured in such a way that the arm construction can pivot the gripper only in one plane from a first position for grabbing animal feed next to the livestock feed wagon to a second position for releasing the animal feed above the feed container. This makes it possible to provide a very simple and compact construction.

TOOL AND PROCESS FOR HANDLING PLIANT COMESTIBLES

A tool and process for handling a pliant comestible are disclosed. The tool includes a tool body including a recessed mold and a plurality of cavities. The tool body is configured to position the pliant comestible and retain the pliant comestible within the recessed mold.

INSTALLATION FOR THE HANDLING OF PRODUCTS, PARTICULARLY WAFERS OF FOODSTUFFS

Device for gripping and handling batch of food product slices transported on conveyor belt

Ce dispositif de préhension et de manipulation d'un lot de tranches d'un produit alimentaire est transporté pas à pas par un convoyeur à courroies espacées. Selon l'invention, il comprend: - un support (10) porté par des moyens aptes à le déplacer dans l'espace entre une zone de chargement et une zone de déchargement, - une fourche inférieure (12), fixée sur le support (10) et venant, dans la zone de chargement, entre et au-dessous des brins supérieurs (3a) du convoyeur (2), - une fourche supérieure (13), dont les branches (13a) sont disposées au-dessus de celles (12a) de la fourche inférieure, et dont le corps (16) est guidé en translation verticale dans le support (10), - et des moyens moteurs (17) aptes à déplacer la fourche supérieure (13) entre une position supérieure de repos et une position inférieure de serrage, dans laquelle ses branches (13a) pincent contre les branches (12a) de la fourche inférieure (12), les tranches (6) d'un lot de tranches porté par le convoyeur (2).

IMPROVED PICK AND PLACE HANDLING DEVICE

A pick and place device for picking up and re-positioning an article (11) carried by a support surface, comprising a first part which includes a plate portion (8, 8' ) which is movable parallel to the support surface so that a leading edge thereof penetrates below the article, between the article and the support surface, and a belt of flexible material (9, 9') which is wrapped around at least the leading edge of the plate portion so that it is sandwiched between the plate and the article when the former penetrates therebelow and as the plate portion moves below the article there is substantially no relative sliding movement between the sandwiched portion of the belt and the article.

GRIPPER WITH TUNABLE COMPLIANCE FOR DEXTEROUS OBJECT MANIPULATION

Harvesting tools are disclosed which may comprise a gripper including a set of finger elements constructed and arranged to envelop a target object pertaining to agricultural produce, and a manipulator carriage configured to actuate the gripper during operation to grasp the target object. Related systems and methods are also disclosed.

Determining How To Assemble A Meal

In an embodiment, a method includes determining a given material to manipulate to achieve a goal state. The goal state can be one or more deformable or granular materials in a particular arrangement. The method further includes, for the given material, determining, a respective outcome for each of a plurality of candidate actions to manipulate the given material. The determining can be performed with a physics-based model, in one embodiment. The method further can include determining a given action of the candidate actions, where the outcome of the given action reaching the goal state is within at least one tolerance. The method further includes, based on a selected action of the given actions, generating a first motion plan for the selected action.

AUTOMATED FOOD MAKING APPARATUS

An automated food making apparatus is described. An automated food making apparatus can include: a carousel; a dispensing apparatus shared among a plurality of canisters on the carousel, wherein at least one canister includes a paddle; and wherein the dispensing apparatus is configured to rotate the canister's paddle to dispense ingredients stored in the canister. A dispensing mechanism for an automated food making apparatus can include: an actuator arm; a motor that is adapted to rotate the actuator arm; one or more magnets embedded in the actuator arm; and one or more sensors configured to detect position of the actuator arm; wherein the actuator arm dispenses ingredients by rotating a pin located on a canister. 18-. (canceled)9. A dispensing mechanism for an automated food making apparatus , comprising:an actuator arm;a motor that is adapted to rotate the actuator arm;one or more magnets embedded in the actuator arm; andone or more sensors configured to detect position of the actuator arm;wherein the actuator arm dispenses ingredients by rotating a pin located on a canister.10. The dispensing mechanism of claim 9 , wherein:the sensors comprise hall sensors.11. The dispensing mechanism of claim 9 , wherein:the motor comprises a stepper motor.12. The dispensing mechanism of claim 9 , wherein:the motor comprises a servo motor.13. An automated food making apparatus claim 9 , comprising:a carousel;a dispensing apparatus shared among a plurality of canisters on the carousel;wherein at least one canister is configured to dispense a liquid; andwherein the dispensing apparatus is configured to dispense said canister's contents by rotational motion of the dispensing apparatus.14. The automated food making apparatus of claim 13 , further comprising:a cam mechanism.15. The automated food making apparatus of claim 13 , further comprising:a flexible tube that is compressed with a rotor.16. The automated food making apparatus of claim 13 , further comprising:a one way valve.17. ...

Gripper device and a method for picking up and re-positioning an item carried by a support surface

This invention relates to a pick and place gripper device and a method for picking up and re-positioning an item carried by a support surface. The gripper device includes a base, at least one jaw pivotally mounted to the base having at least one leading edge, at least one belt of flexible material being wrapped around at least the leading edge of the at least one jaw such that it is sandwiched between the at least one jaw and the item when the at least one jaw penetrates below the item and as the at least one jaw moves below the item there is substantially no relative sliding movement between the sandwiched portion of the at least one belt and the item, wherein the leading edge of the at least one jaw, when coming into contact with the support surface, is configured to adjust to the support surface when penetrating between the item and the support surface.

METHOD AND APPARATUS FOR ROBOTIC OBJECT PICK AND PLACE

An object pick-up, transfer and placement apparatus which does not employ a source of negative pressure. A flexible bellow defines a collapsible interior chamber and a top through-bore in communication with atmospheric or greater pressure via a valve. The bellow collapses when contacting an object, and the valve is closed, preventing air from entering the interior chamber. When the apparatus is used to lift the object, the bellow expands, causing reduced pressure in the interior chamber, securing the object to the apparatus. To release the object, the valve is opened, allowing entry of air to the interior chamber, and release of the object. This invention prevents contamination on egg shell surfaces to become air-born and cross-contaminate the entire egg pack, equipment surfaces, floors and other facility surfaces which in turn creates a hazardous working environment. 1. A device for transferring eggs comprising a flexible bellows defining a collapsible interior chamber with a through-bore at a top thereof in selective communication with atmospheric pressure via a valve-assembly defining an air path between said through-bore and an exterior port , said valve configured for selectively opening and closing said air path , wherein in an egg pick-up mode , the flexible bellows are compressed , the valve is closed preventing the entry of air into the collapsible interior chamber , wherein separation of the egg from an egg support causes extension of the flexible bellows and creation of reduced pressure in the collapsible interior chamber relative to surrounding atmosphere , securing the egg to said device , and wherein in an egg drop-off mode , the valve is opened , allowing the entry of air into the collapsible interior chamber , equalizing pressure between the collapsible interior chamber and the surrounding atmosphere , allowing the flexible bellows to relax and release of the egg; and further wherein said egg pick-up mode requires no vacuum or negative pressure ...

AUTOMATED FOOD FRYING SYSTEM

An automated food frying system includes a plurality of functional stations for dispensing a predetermined amount of raw food, transferring the raw food to a fry basket, frying the raw food, transferring the cooked food to a mixing bowl, mixing the cooked food with seasonings, transferring the cooked food to a receiving pan, and cleaning the mixing bowl. Related methods are described.

METHOD FOR POSITIONING FOOD PRODUCTS

Greifer für Lebensmittelportionen mit flexiblem Flächenelement

Die Erfindung bezieht sich auf einen Greifer (1) für Lebensmittelportionen, insbesondere Stapel von aufgeschnittenen Lebensmittelscheiben, für einen Roboter, wobei der Greifer (1) eine Grundstruktur (2), die an dem Roboter anbringbar ist, ein Greiferelement (3), das eine Schaufelkante (10) und eine Auflagefläche (15), die sich an die Schaufelkante (10) anschließt, umfasst, und wobei die Schaufelkante (10) bezüglich der Grundstruktur (2) beweglich ist, um die Lebensmittelportion zu untergreifen. Des Weiteren ist die Auflagefläche (15) ausschließlich durch ein flexibles Flächenelement (14) gebildet.

Vision System for Facilitating the Automated Application of Disinfectant to the Teats of Dairy Livestock

In certain embodiments, a system includes a controller operable to access an image signal generated by a camera. The accessed image signal corresponds to one or more features of the rear of a dairy livestock. The controller is further operable to determine positions of each of the hind legs of the dairy livestock based on the accessed image signal. The controller is further operable to determine a position of an udder of the dairy livestock based on the accessed image signal and the determined positions of the hind legs of the dairy livestock. The controller is further operable to determine, based on the image signal and the determined position of the udder of the dairy livestock, a spray position from which a spray tool may apply disinfectant to the teats of the dairy livestock.

Robot End Effector with Cable Management

Cable manager 30 is positioned between the distal end of a robot arm 16 and the robot end effector 18 . Elongated cable carrier 44 positioned in a circular cable track 34 extends in an arc about the axis of connection 17 between the robot arm and the end effector. One end 56 of the cable carrier moves with the robot arm and the other end 54 moves with the end effector. The cable carrier forms a U-shape 60 between its ends so that the movements of the ends of the cable carrier result in the U-shape accommodating the change in distance between the ends of the utility line and the cable carrier. Utility lines 62 are gathered in one or more cables that extend through the cable carrier to provide the end effector with the controls necessary for its operation.

Robot apparatus, robot system, and method for manufacturing packaged product of string-shaped object

A robot apparatus includes a turning base, a lower arm, an upper arm, a wrist unit, a hand, and a controller. The hand is provided on the wrist unit to hold or release a longitudinally intermediate portion of a noodle lump. The controller controls operations of the turning base, the lower arm, the upper arm, the wrist unit, and the hand. The controller controls the turning base, the lower arm, the upper arm, and the wrist unit so that the hand moves the noodle lump obliquely upward at least in a part of a path from a holding position at which the noodle lump is held and a releasing position at which the noodle lump is released.

DEVICE FOR TREATING AND/OR HANDLING ARTICLES

A device for treating and/or handling articles (), especially molds in the production of chocolate articles, comprises a gripper () that is arranged on arms (-) which can be displaced along a rail () on carriages (-). At least three arms ( to ) are connected to the gripper (), every arm having its own joint () on the gripper () which joint is independent of the other arm. 118-. (canceled)19. A device for handling molds for the production of chocolate articles , comprising a gripper which is arranged on at least three arms which can each be moved along at least one rail on two outer carriages and one inner carriage , the at least three arms include an outer arm on the outer carriage which crosses an inner arm on the inner carriage , wherein the outer arm , which crosses the inner arm , forms a common joint with a further outer arm on the gripper , or crosses the further outer arm and forms its own joint with the gripper.20. The device as claimed in claim 19 , characterized in that the two arms are connected to two arm strips via a center joint claim 19 , and the arm strips are separately coupled to the gripper at the other end.21. The device as claimed in claim 19 , characterized in that an attachment with a transfer surface claim 19 , which is positioned obliquely with respect to the gripper surface claim 19 , is located on the gripper.22. The device as claimed in claim 19 , characterized in that the carriage has a box housing which clasps the rail.23. The device as claimed in claim 19 , characterized in that the carriage is supported on both sides alongside the linear drive on guide rails.24. The device as claimed in claim 19 , characterized in that permanent-magnet strips are arranged linearly claim 19 , as part of a stator on the rail claim 19 , and windings are arranged linearly on the carriage claim 19 , with there being an air gap between the permanent-magnet strips and the windings.25. The device as claimed in claim 19 , characterized in that the linear drive ...

ROBOT HAND, ROBOT SYSTEM PROVIDED WITH THE ROBOT HAND, METHOD OF PRODUCTION USING THE ROBOT SYSTEM AND PRODUCT PRODUCED BY THE METHOD

A robot hand for receiving, processing, and placing a workpiece is provided. The robot hand is configured to receive the workpiece conveyed by a conveyor at a lower side of the conveyor, process the workpiece, and place the processed workpiece in a specified position. 1. A robot hand configured to receive a workpiece conveyed by a conveyor at a lower side of the conveyor , process the workpiece , and place the processed workpiece in a specified position.2. (canceled)3. The robot hand of claim 1 , wherein the workpiece is a soft object.4. A robot system comprising one or more robot hands claim 1 , wherein each of the robot hands is configured to receive a workpiece conveyed by a conveyor at a lower side of the conveyor claim 1 , process the workpiece claim 1 , and place the processed workpiece in a specified position.5. The robot system of claim 4 , wherein each of the robot hands includes one or more reception portions claim 4 , each of the reception portions including a passage portion through which the workpiece passes during reception and removal of the workpiece and a mounting portion on which the workpiece coming through the passage portion is placed.6. The robot system of claim 4 , further comprising:a control unit configured to control receiving, processing, and placing operations of the workpiece which are performed by the robot hands, each of the robot hands including a first reception portion and a second reception portion arranged along a longitudinal direction of the workpiece to receive the workpiece.7. The robot system of claim 5 , further comprising:a control unit configured to control receiving, processing, and placing operations of the workpiece which are performed by the robot hands, each of the robot hands including a first reception portion and a second reception portion arranged along a longitudinal direction of the workpiece to receive the workpiece.8. The robot system of claim 6 , wherein the control unit is configured to control the first ...

APPARATUS FOR PROCESSING AND GRADING FOOD ARTICLES AND RELATED METHODS

This disclosure concerns methods for processing and grading food articles including x-raying the food articles a first time and taking a 3D image of the food articles. 1. A method for grading a food article , the method comprising:utilizing a grading device to move a portion of the food article from a position on the surface of the grading conveyor,wherein the portion is one of a plurality of portions of the food article that each have an alignment and orientation with respect to the surface of the grading conveyor and are positioned parallel to each other on the surface of the grading conveyor,wherein none of the remaining portions of the plurality of portions that are positioned parallel to each other on the surface of the grading conveyor are substantially moved during the movement of the portion of the food article from the position on the surface of the grading conveyor, andwherein the alignments and orientations of the remaining portions of the plurality of portions that are positioned parallel to each other on the surface of the grading conveyor are substantially maintained during the movement of the portion of the food article from the position on the surface of the grading conveyor.2. A method for grading a food article , the method comprising:utilizing a grading device to move a portion of the food article from a position on the surface of the grading conveyor,wherein the portion is one of a plurality of portions of the food article that are positioned parallel to each other and in series with each other on the surface of the grading conveyor,wherein the portion is adjoined on every side by another portion,wherein none of the remaining portions of the plurality of portions that are positioned parallel to each other on the surface of the grading conveyor are substantially moved during the movement of the portion of the food article from the position on the surface of the grading conveyor, andwherein the alignments and orientations of the remaining portions ...

SILVERWARE PROCESSING SYSTEMS AND METHODS

An imaging system captures images of a work surface having articles of cutlery distributed thereon. An end effector, such as a magnetic end effector, may be used to grasp articles of cutlery and place them in a designated location according to the type of the article of cutlery as determined using an image of the work surface and machine vision. A type of articles of cutlery may be classified based on the image such as according to category (knife, fork, spoon), size, or brand. Multiple articles of cutlery occluding one another may be dealt with by stirring or grasping multiple items and releasing them on a separate work surface in order to disperse them. Whether the end effector is grasping multiple articles of cutlery may be determined by capturing an image of the end effector. Machine vision may determine whether an article of cutlery is contaminated or damaged. 1. A method comprising:receiving, by a robotic actuator that includes a magnetic end effector, a command from a processing system to move the magnetic end effector proximate a plurality of articles of cutlery;engaging, by the robotic actuator, an article of cutlery from the plurality of articles of cutlery using the magnetic end effector;presenting, by the robotic actuator, the article of cutlery in a field of view of an imaging system;capturing, by the imaging system, an image of the article of cutlery; andidentifying, by the processing system, a type of the article of cutlery based on the image;2. The method of claim 1 , wherein the type of the article of cutlery includes at least one of:whether the article of cutlery is a knife, fork, or spoon;a size of the article of cutlery; anda brand of the article of cutlery.3. The method of claim 2 , further comprising identifying the type of the article of cutlery using a computer vision algorithm.4. The method of claim 1 , wherein the article of cutlery is one of a plurality of items of cutlery.5. The method of claim 1 , further comprising placing the article ...

Smooth surfaced flexible and stretchable skin for covering robotic arms in restaurant and food preparation applications

A sleeve apparatus for protecting a robotic kitchen arm from contamination. The sleeve includes a proximal end, a distal end, a passageway extending from the proximal end to the distal end, and an exterior surface. The passageway has an effective diameter less than the effective diameter of the robotic kitchen arm such that the exterior surface of the sleeve apparatus is substantially fold-free when the robotic arm is in the extended configuration. Methods of cleaning a robotic kitchen arm are also described.

SYSTEM AND METHOD FOR COOKING ROBOT

A cooking robot system and a control method thereof is provided. The cooking robot system includes: a robot configured to acquire the image of the object through a sensing unit and generate image data to transmit the image data to a server, or receive a motion of a user with respect to the object from an input unit upon a request of the server and generate demonstration data to transmit the demonstration data to the server, and implement a motion for the object based on motion data corresponding to the image data or the demonstration data; and a server configured to detect the motion data for the object and control the robot by searching for a motion corresponding to the image data via a web server to generate the motion data or by generating the motion data corresponding to the demonstration data. 1. A cooking robot system , which is server-based and recognizes an image of an object to implement a motion , the cooking robot system comprising: acquire the image of the object through a sensing unit and generate image data to transmit the image data to a server, or receive a motion of a user with respect to the object from an input unit upon a request of the server and generate demonstration data to transmit the demonstration data to the server, and', 'implement a motion for the object based on motion data corresponding to the image data or the demonstration data; and, 'a robot configured toa server configured to detect the motion data for the object and control the robot by searching for a motion corresponding to the image data via a web server to generate the motion data or by generating the motion data corresponding to the demonstration data.2. The cooking robot system according to claim 1 , wherein the cooking robot system interworks with an artificial intelligence server and is implemented based on an artificial intelligence to generate the motion data by automatically recognizing the image of the object.3. The cooking robot system according to claim 1 , wherein ...

TOOL-PICKUP SYSTEM, METHOD, COMPUTER PROGRAM AND NON-VOLATILE DATA CARRIER

Tools in an automatic milking arrangement are picked up by using a robotic arm (). The robotic arm () moves a camera () to an origin location (PC) from which the camera () registers three-dimensional image data (DimgD) of at least one tool (). The three-dimensional image data is processed using an image-based object identification algorithm to identify objects in the form of the tools and hoses (). In response to identifying at least one tool, a respective tool position (PT, PT, PT) is determined for each identified tool based on the origin location (PC) and the three-dimensional image data. Then, a grip device () is exclusively controlled to the one or more of the respective tool positions (PT, PT, PT) to perform a pick-up operation. Thus, futile attempts to pick-up non-existing or blocked tools can be avoided. 1. A tool-pickup system for an automatic milking arrangement , the tool-pickup system comprising:{'b': 110', '115', '141', '142', '143', '144', '130', '3, 'a robotic arm () provided with a grip device () configured to pick up tools (, , , ), and a camera () configured to register three-dimensional image data (DimgD); and'}{'b': 120', '120, 'a control unit () operatively connected to the robotic arm, the control unit () configured to{'b': 110', '130', '141', '142', '143', '144', '130, 'control the robotic arm () to move the camera () to an origin location (PC) from which at least one tool of the tools (, , , ) is expected to be visible within a view field (VF) of the camera (),'}{'b': 3', '130, 'obtain three-dimensional image data (DimgD) registered by the camera () at the origin location (PC),'}{'b': 3', '141', '143', '144', '152, 'process the three-dimensional image data (DimgD) using an image-based object identification algorithm to identify objects in a form of the tools (, , ) and/or hoses (), and'}{'b': 141', '143', '144, 'in response to identifying at least one of the tools (, , ){'b': 1', '3', '4', '141', '143', '144', '3, 'i) determine a respective ...

VISION SYSTEM FOR FACILITATING THE AUTOMATED APPLICATION OF DISINFECTANT TO THE TEATS OF DAIRY LIVESTOCK

A system includes a camera, a controller and a robotic arm. The camera generates an image of an udder of a dairy livestock. The controller determines a position of the udder of the dairy livestock based at least in part upon the image. The controller further determines a spray position based at least in part upon the determined position of the udder of the dairy livestock. Determining the spray position includes processing the accessed image to determine a tangent at the rear of the udder and a tangent at the bottom of the udder. The spray position is a position relative to the intersection of the two tangents. The robotic arm is communicatively coupled to the controller and positions a spray tool at the spray position. 1. A method , comprising:accessing an image signal of an udder of a dairy livestock;determining a position of the udder of the dairy livestock based at least in part upon the image signal;determining a spray position based at least in part upon the determined position of the udder of the dairy livestock, wherein determining the spray position comprises processing the accessed image signal to determine a tangent at the rear of the udder and a tangent at the bottom of the udder, the spray position being a position relative to the intersection of the two tangents; andpositioning a spray tool at the spray position.2. The method of claim 1 , further comprising applying disinfectant to one or more teats of the dairy livestock using the spray tool.3. The method of claim 1 , wherein the image signal comprises a three-dimensional video image signal.4. The method of claim 1 , further comprising determining positions of each of two hind legs of the dairy livestock by processing the accessed image signal to locate edges in depth claim 1 , the edges in depth corresponding to the edges of the hind legs of the dairy livestock.5. The method of claim 4 , wherein determining the position of the udder of the dairy livestock comprises processing the accessed image ...

TEAT DIP APPLICATION SYSTEM

A teat dip application system includes a teat cup having an opening for inserting therein a teat of a diary animal, one or more teat dip inlet ports located on the teat cup, one or more inflatable teat holders/scrubbers located inside the teat cup, and one or more inflation ports in fluid communication with the one or more teat holder/scrubbers. 1. A teat dip application system comprising:a teat cup having an opening for inserting therein a teat of a diary animal;one or more teat dip inlet ports located on said teat cup;one or more inflatable teat holders/scrubbers located inside said teat cup; andone or more inflation ports in fluid communication with said one or more teat holder/scrubbers.2. The teat dip application system according to claim 1 , wherein at least one of said one or more teat dip inlet ports comprises a nozzle faced inwards in said teat cup.3. The teat dip application system according to claim 1 , wherein said one or more teat holder/scrubbers comprise inflatable bladders.4. The teat dip application system according to claim 1 , wherein said one or more teat holders/scrubbers have identical textures.5. The teat dip application system according to claim 1 , wherein said one or more teat holders/scrubbers have different textures.6. The teat dip application system according to claim 1 , wherein said teat cup comprises a robotic arm interface member.7. The teat dip application system according to claim 1 , wherein said teat cup comprises a drain port.8. The teat dip application system according to claim 1 , wherein said one or more teat holders/scrubbers are covered with a covering.9. The teat dip application system according to claim 1 , wherein said one or more teat holders/scrubbers comprise separate teat holders/scrubbers that extend between adjacent teat dip inlet ports.10. The teat dip application system according to claim 1 , wherein said one or more teat holders/scrubbers comprise discrete inflatable portions that extend between adjacent teat ...

ROBOT FOR MAKING COFFEE AND METHOD FOR CONTROLLING THE SAME

A robot for making coffee and a method for controlling the same are provided to couple or decouple a portafilter to or from an espresso machine without damage to the espresso machine or the portafilter due to a collision between the espresso machine and the portafilter. The robot includes a robot arm to move with a predetermined degree of freedom, a gripper provided in the robot arm to grip a portafilter, a torque sensor provided in the robot arm to detect repulsive force (Fr) when the portafilter makes contact with a group head of an espresso machine, and a controller configured to set a virtual spring having a predetermined elastic modulus (C) based on the repulsive force (Fr) detected by the torque sensor, and to control driving torque (T) of the robot arm depending on the restoring force (Fe) of the virtual spring. 1. A robot to make coffee , the robot comprising:a robot arm to move with at least one degree of freedom;a gripper connected to the robot arm, the gripper being configured to grip a portafilter;a torque sensor provided at the robot arm to detect a repulsive force when the portafilter makes contact with a group head of an espresso machine; and set a virtual spring having a predetermined elastic modulus based on the repulsive force detected by the torque sensor; and', 'control a driving torque of the robot arm based on a restoring force of the virtual spring., 'a controller configured to2. The robot of claim 1 , wherein the robot arm includes at least one joint claim 1 , and wherein the torque sensor is provided in a first joint of the at least one joint.3. The robot of claim 1 , wherein the robot includes a base claim 1 ,wherein the robot arm includes a proximal end adjacent to the base and a distal end spaced from the base, andwherein the torque sensor is provided at the distal end of the robot arm.4. The robot of claim 1 , wherein the virtual spring includes a first virtual spring positioned on a virtual horizontal plane relative to one of the ...

HOLDING DEVICE FOR FOOD

A holding device for food includes a second posture detecting part configured to detect that all the plurality of foods fed to the given positions are in the second posture, and a control part configured to control operation of the second holding part to hold the plurality of foods in the second posture so that the foods are piled up in the given direction, when the second posture detecting part detects that all the plurality of foods are in the second posture at the given positions. 1. A holding device for food , comprising:a first holding part configured to hold the food in a first posture where a given first surface of the food is oriented horizontally, and to be changeable of the posture of the food from the first posture into a second posture where a second surface different from the first surface of the food is oriented horizontally;a food feeding part configured to sequentially feed the food held in the second posture by the first holding part to a given position;a second holding part configured to hold a plurality of foods fed to the given positions in the second posture, the foods being held so as to be laterally piled up in a given direction;a food accommodating part configured to accommodate the plurality of foods held by the second holding part into a given container;a second posture detecting part configured to detect that all the plurality of foods fed to the given positions are in the second posture; anda control part configured to control operation of the second holding part to hold the plurality of foods in the second posture so that the foods are piled up in the given direction, when the second posture detecting part detects that all the plurality of foods are in the second posture at the given positions.2. The holding device of claim 1 , wherein the second posture detecting part further includes:a light source unit configured to emit a plurality of parallel lights in a direction intersecting with the given direction, the plurality of parallel ...

Clamp gripping device and system consisting of such devices

The device includes at least: a bar longitudinally mobile along an axis of symmetry provided at one end with a plate; a first rigid connection and a second rigid connection which are symmetrical about the axis, each ending in a jaw, the two jaws forming a gripper clamp able to pick up an object; two pairs of flexible beams which are symmetrical about the axis, the beams each being connected by one end to one of the rigid connections, the other end being fixed, and guiding the movements of the rigid connections perpendicular to the axis, the ends of a pair of beams forming a parallelogram; two pairs of flexible beams which are symmetrical about the axis the beams each being connected by one end to one of the rigid connections, the other end being connected to the bar, and guiding the movements of the bar parallel to the axis, the ends of a pair of beams forming a parallelogram.

MULTI-STAGE COOKING

The present application firstly discloses a cooking system including a second cooking apparatus and a first cooking apparatus, which is used to deep fry or boil a food or food ingredients. A semi-cooked food is produced in the first cooking apparatus and is used as an ingredient in the second cooking apparatus. The cooking apparatuses work together to produce a cooked food. 1. A cooking system comprising: a support component;', a liquid container configured to contain a heated cooking liquid;', 'a container holder comprising a solid structured to position or hold a cooking container, wherein the cooking container is used to contain or hold the one or more food ingredients;', 'a first motion mechanism configured to move the container holder up or down, said first motion mechanism comprising a motor, an actuator, or other driving mechanism;', 'a lid configured to cover a cooking container which is positioned or held by the container holder; and', 'a second motion mechanism configured to move said lid, said second motion mechanism comprising a motor, an actuator, or other driving mechanism; and, 'a plurality of cooking sub-apparatuses configured to deep fry or boil one or more food ingredients, wherein each cooking sub-apparatus comprises, 'a third motion mechanism comprising a motor, said third motion mechanism being configured to produce a motion of the plurality of cooking sub-apparatuses relative to the support component; and, 'a first cooking apparatus comprising a cookware configured to contain or otherwise hold one or more foods or food ingredients;', 'a fourth motion mechanism configured to move said cookware, to dispense a cooked food from said cookware to a food container, wherein the food container is used to contain or hold the cooked food, said fourth motion mechanism comprising a motor or other driving mechanism;, 'a second cooking apparatus comprisingwherein the first cooking apparatus is configured to produce a semi-cooked food from the one or more food ...

Microwave cooking systems

The present application firstly discloses a cooking system comprising two cooking apparatuses, each capable of producing a cooked food from food or food ingredient(s). The first cooking apparatus comprises a plurality of microwave ovens which can be moved by an intermittent motion mechanism or a transport system. The second cooking apparatus comprises a cookware and a motion mechanism to move the cookware to dispense a cooked food to a food container. A semi-cooked food is produced by a microwave oven of the first cooking apparatus and is used as an ingredient in the second cooking apparatus to produce cooked food.

ROBOT

A robot includes an ingredient mold configured to process food ingredients into solid ingredients; a storage container configured to store the solid ingredients processed in the ingredient mold; a transfer tube through which the solid ingredients in the storage container pass; a feed tube connected to the transfer tube, formed with an ingredient port, and having a passage configured to guide ingredients to the ingredient port; and a feeder configured to feed the solid ingredients, which are moved to the feed tube, to the ingredient port. 1. A robot comprising:an ingredient mold configured to process food ingredients into solid ingredients;a storage container configured to store the solid ingredients processed in the ingredient mold;a transfer tube through which the solid ingredients in the storage container pass;a feed tube connected to the transfer tube, formed with an ingredient port, and having a passage configured to guide ingredients to the ingredient port; anda feeder configured to feed the solid ingredients, which are moved to the feed tube, to the ingredient port.2. The robot according to claim 1 , further comprising a control valve disposed at an outlet of the storage container or an upper portion of the transfer tube to control a drop of the solid ingredients contained in the storage container.3. The robot according to claim 2 , wherein the control valve includes:a valve body rotatably disposed at the outlet of the storage container or in the transfer tube; anda motor configured to rotate the valve body.4. The robot according to claim 3 , wherein the motor includes:a motor rod connected to the valve body to linearly move; anda solenoid motor configured to linearly reciprocate the motor rod.5. The robot according to claim 3 , wherein the control valve is configured to be opened or closed for a time during which a plurality of solid ingredients contained in the storage container drop one by one.6. The robot according to claim 3 , further comprising a ...

ROBOT SYSTEM AND CONTROL METHOD OF THE SAME

A robot system includes a cooking device to heat a cooking container and having an operation unit configured to select a temperature level; a robot configured to control the temperature level and a cooking time of the cooking device; a dust sensor disposed around the cooking device or on the robot to sense a concentration of foreign substances; a temperature sensor disposed around the cooking device or on the robot to sense a temperature of the cooking container or the cooking device; and a controller configured to control the robot in a safe mode such that at least one of the temperature level and the cooking time is varied according to a danger level determined by a concentration sensing value of the dust sensor and a temperature sensing value of the temperature sensor. 1. A robot system comprising:a cooking device having an operation unit configured to select a temperature level to heat a cooking container with the temperature level selected by the operation unit;a robot configured to control the temperature level and a cooking time of the cooking device;a dust sensor disposed around the cooking device or on the robot to sense a concentration of foreign substances;a temperature sensor disposed around the cooking device or on the robot to sense a temperature of the cooking container or the cooking device; anda controller configured to control the robot in a safe mode such that at least one of the temperature level and the cooking time is varied according to a danger level determined by a concentration sensing value of the dust sensor and a temperature sensing value of the temperature sensor.2. The robot system according to claim 1 , wherein the robot includes a robot arm having a plurality of arms and at least one arm connector connecting the plurality of arms; and an end effector installed on the robot arm claim 1 , andwherein the dust sensor is installed on the robot arm, andthe temperature sensor includes an infrared sensor installed on the end effector.3. The ...

ROBOT

A robot includes an ingredient mold configured to cool food ingredients into solid ingredients; a storage container spaced from the ingredient mold and having a storage space configured to store the solid ingredients; a cooling chamber formed therein with a cooling space in which the storage container is accommodated; a cooler configured to cool the cooling space; and a guide configured to guide the solid ingredients dropped from the ingredient mold to the storage space. 1. A robot comprising:an ingredient mold configured to cool food ingredients into solid ingredients;a storage container spaced from the ingredient mold and having a storage space configured to store the solid ingredients;a cooling chamber formed therein with a cooling space in which the storage container is accommodated;a cooler configured to cool the cooling space; anda guide configured to guide the solid ingredients dropped from the ingredient mold to the storage space.2. The robot according to claim 1 , wherein the guide has an inclined surface disposed between the ingredient mold and the storage container and inclined toward the storage space.3. The robot according to claim 1 , wherein the guide has a spiral guide surface disposed between the ingredient mold and the storage container to guide the solid ingredients into the storage space while turning the solid ingredients in a spiral direction claim 1 , anda lower end of the guide surface faces the storage space.4. The robot according to claim 1 , wherein the ingredient mold is disposed above the cooling chamber while being spaced apart from the storage container claim 1 ,an opening is formed in a portion of the cooling chamber between the ingredient mold and the storage container, andthe solid ingredients dropped from the ingredient mold pass through the opening.5. The robot according to claim 4 , wherein the guide is disposed between the opening and the storage space.6. The robot according to claim 5 , further comprising a shutter configured ...

Robot

A robot includes a robot arm formed with an ingredient channel including an ingredient inlet and an ingredient outlet; an ingredient feeder having an ingredient port configured to discharge ingredients; and a carrier configured to move the robot arm to a connection position where the ingredient inlet is connected to the ingredient port, and move the robot arm to an area where the ingredient inlet is separated from the ingredient port.

DOUBLE-GRIPPER FOR THE APPLICATION OF TEAT CUPS TO AN ANIMAL TO BE MILKED, RINSE CUP FOR THIS AND MILKING MACHINE PROVIDED THEREWITH, AND A METHOD FOR MILKING

This invention is related to a double grab, its rinsing cup and milking machine provided therewith, and the method for automatically applying test cups to the teats of an udder of an animal to be milked. The double grab according to the invention includes: —a first housing part provided with a first magnet designed to hold a first teat cup; —a second housing part, installed substantially in a horizontal plane next to the first housing part, provided with a second magnet designed to hold a second teat cup; —whereby each housing part is provided with separate pivoting means that can be activated and is designed to make the related housing part pivot around a pivoting axis which in use, extends substantially in a horizontal direction, substantially in a widthwise direction of the arm. 115-. (canceled)16. A double grabber mounted on an arm of a robotic attacher , the double grabber comprising:a first housing part operable to hold a first teat cup; anda second housing part operable to hold a second teat cup and positioned side-by-side with the first housing part;wherein the first housing part is operable to retract longitudinally in relation to the arm of the robotic attacher in conjunction with the second housing part attaching the second teat cup to a dairy livestock; andwherein the second housing part is operable to retract longitudinally in relation to the arm of the robotic attacher in conjunction with the first housing part attaching the first teat cup to the dairy livestock.17. The double grabber of claim 16 , further comprising a cylinder to pivot the first housing part.18. The double grabber of claim 16 , wherein:the first housing part is operable to pivot downwardly in relation to the second housing part in conjunction with the second housing part attaching the second teat cup to the dairy livestock; andthe second housing part is operable to pivot downwardly in relation to the first housing part in conjunction with the first housing part attaching the first ...

CONTROL DEVICE, CONTROL METHOD, AND NON-TRANSITORY COMPUTER READABLE STORAGE MEDIUM

A control device () according to the present application includes a limitation portion that is provided in a joint portion, which joins two or more links, of a robot and that physically limits motion of the links, and a control unit () that limits movable ranges of the links by controlling the limitation portion corresponding to a predetermined joint portion on the basis of a task executed by the robot. With this configuration, it becomes possible to secure safety of when the robot executes a task. 1. A control device comprising:a limitation portion that is provided in a joint portion, which joins two or more links, of a robot and that physically limits motion of the links; anda control unit that limits, on the basis of a task executed by the robot, movable ranges of the links by controlling the limitation portion corresponding to a predetermined joint portion.2. The control device according to claim 1 , whereinthe control unit controls the limitation portion corresponding, as the predetermined joint portion, to a joint portion determined on the basis of the task.3. The control device according to claim 1 , whereinthe control unit controls the limitation portion corresponding to the predetermined joint portion in such a manner as to move within a movable range determined on the basis of the task.4. The control device according to claim 2 , whereinthe control unit controls the limitation portion corresponding, as the predetermined joint portion, to a joint portion determined on the basis of information related to an object to be a target of the task.5. The control device according to claim 3 , whereinthe control unit controls the limitation portion corresponding to the predetermined joint portion in such a manner as to move within a movable range determined on the basis of information related to an object to be a target of the task.6. The control device according to claim 4 , whereinthe control unit controls the limitation portion corresponding to a joint portion ...

MATRIX CONFIGURED GRILL APPARATUS

Disclosed is a cooking system having a matrix configured grilling apparatus that includes a plurality of grill modules forming a grid of grills, each grill in the plurality of grill modules being thermally isolated, having an egress for inserting and removing foodstuff, and being individually and digitally controllable, and a movable end effector that is digitally controllable and that inserts and removes foodstuff from each grill of the plurality of grill modules. 1. A cooking system comprising:a matrix configured grilling apparatus that includes a plurality of grill modules forming a grid of grills, each grill in the plurality of grill modules being thermally isolated, having an egress for inserting and removing foodstuff, and being individually and digitally controllable, anda movable end effector that is digitally controllable and that inserts and removes foodstuff from each grill of the plurality of grill modules.2. The system of wherein the plurality of grill modules each includes a single grill.3. The system of wherein the plurality of grill modules comprises a plurality of rows of grills forming an integrated module.4. The system of wherein the plurality of grill modules comprises a plurality of columns of grills forming an integrated module.5. The system of wherein each grill in each module of grills is shaped as a rectangular parallelepiped.6. The system of further including a first articulating arm claim 1 , which is digitally controllable and includes a first end effector to insert and remove foodstuff in each grill.7. The system of further including a gantry system which is digitally controllable and includes an end effector to insert and remove foodstuff in each grill.8. The system of wherein the gantry system includes a plurality of gantry track components that are digitally controllable to control placement of the end effector.9. The system of wherein the gantry system includes a vertical track component that raises and lowers the end effector.10. ...

INFORMATION PROCESSING DEVICE, SCHEDULING METHOD, AND COMPUTER PROGRAM

Execution restrictions on tasks based on a state of a multifunction robot or the like are satisfied, and furthermore, the execution efficiency of the entirety of an operation is also enhanced. An information processing device includes a determination unit () configured to determine an execution order of a plurality of tasks including an operation for a target object, based on a transition of a state of an operation tool used in each of the tasks. 1. An information processing device , comprising a determination unit configured to determine an execution order of a plurality of tasks including an operation for a target object , based on a transition of a state of an operation tool used in each of the tasks.2. The information processing device according to claim 1 , wherein the state of the operation tool is a hygienic state of the operation tool.3. The information processing device according to claim 1 , wherein the determination unit determines the execution order of the tasks claim 1 , further based on a transition of a state of the target object.4. The information processing device according to claim 3 , wherein the state of the target object is a hygienic state of the target object.5. The information processing device according to claim 1 , further comprising:a state transition storage unit configured to store therein a transition of a state of the operation tool in each of the tasks; anda task information storage unit configured to store therein information on the tasks, wherein the transition of the state of the operation tool in each of the tasks, the transition of the state being stored in the state transition storage unit, and', 'the information on the tasks, the information being stored in the task information storage unit., 'the determination unit determines the execution order of the tasks, based on'}6. The information processing device according to claim 3 , further comprising:a state transition storage unit configured to store therein a transition of a ...

USHERING METHOD, ELECTRONIC DEVICE, AND STORAGE MEDIUM

An ushering method, an electronic device and a storage medium, related to the fields of short-distance positioning, geomagnetic positioning, computer vision positioning, map navigation, intelligent robots, ushering and the like, are provided. The method includes: in response to an ushering request initiated by a user, parsing a target dining position from the ushering request; creating a navigation route from a current position to the target dining position, wherein the navigation route comprises a first traveling route created in a case where an assistant robot is provided, or a second traveling route created by the user based on an ushering client; and performing ushering processing according to the navigation route, to usher the user to the target dining position. Manpower and material resource wastes are avoided, and convenient ushering for dining is implemented. 1. An ushering method , comprising:in response to an ushering request initiated by a user, parsing a target dining position from the ushering request;creating a navigation route from a current position to the target dining position, wherein the navigation route comprises a first traveling route created in a case where an assistant robot is provided, or a second traveling route created by the user based on an ushering client; andperforming ushering processing according to the navigation route, to usher the user to the target dining position.2. The method of claim 1 , further comprising:inputting information of a target dining table or a target private room to the robot; anddetermining the information of the target dining table or the target private room as the target dining position, and obtaining the ushering request according to the target dining position.3. The method of claim 2 , wherein the performing ushering processing according to the navigation route claim 2 , to usher the user to the target dining position claim 2 , comprises:identifying a preset position identifier through an acquisition ...

FOOD COOKING DEVICE

A food cooking device includes a robot main body having a tray where food is placeable, a spatula configured to move the food in a given direction while contacting the food, a first robotic arm to which the tray is attached, and a second robotic arm to which the spatula is attached, and a control device configured to control operations of the robot main body. The device moves the tray to a given position, while the food is placed on a placement surface of the tray, and sweeps out the food placed on the placement surface of the tray in a direction outward of the placement surface by the spatula. 1. A food cooking device , comprising:a robot main body having a tray where food is placeable, a spatula configured to move the food in a given direction while contacting the food, a first robotic arm to which the tray is attached, and a second robotic arm to which the spatula is attached; anda control device configured to control operations of the first robotic arm and the second robotic arm, move the tray to a given position, while the food is placed on a placement surface of the tray, and', 'sweep out the food placed on the placement surface of the tray in a direction outward of the placement surface by the spatula., 'wherein the control device controls the operations of the first robotic arm and the second robotic arm to2. The device of claim 1 , wherein the control device controls the operations of the first robotic arm and the second robotic arm to:in a state where the placement surface of the tray faces upward, bring the tray closer to the food disposed at the given position, andplace, by the spatula, the food on the placement surface of the tray by sending out the food toward the tray.3. The device of claim 1 , wherein the tray includes a flat-plate part having a placement surface claim 1 , a peripheral wall provided so as to protrude upwardly in a peripheral edge of the placement surface claim 1 , and a release part where the peripheral wall does not exist in the ...

FOOD HOLDING APPARATUS AND METHOD OF OPERATING SAME

A food holding apparatus configured to hold and release an ingredient having fluidity, including: a base; robot arm coupled to the base; end effector at a tip end of the arm; and controller configured to control an operation of the arm and of the end effector. The end effector includes: a base portion; rotational joint having a rotation axis parallel to a horizontal direction in at least one of postures of the arm; rotary portion rotatably coupled to the base portion by the rotational joint; and a tip end portion attached to the rotary portion and including a concave portion. The controller makes the rotational joint of the tip end portion in a predetermined reference state normally rotate to hold part of the ingredient, stored in a predetermined container, inside the concave portion, and makes the rotational joint of the tip end portion reversely rotate to release the ingredient. 1. A food holding apparatus configured to hold and release an ingredient having fluidity ,the food holding apparatus comprising:a base;a robot arm coupled to the base;an end effector provided at a tip end of the robot arm; anda controller configured to control an operation of the robot arm and an operation of the end effector, wherein: a base portion,', 'a rotational joint having a rotation axis parallel to a horizontal direction in at least one of postures of the robot arm,', 'a rotary portion rotatably coupled to the base portion by the rotational joint, and', 'a tip end portion attached to the rotary portion and including a concave portion;, 'the end effector includes'}the controller makes the rotational joint of the tip end portion in a predetermined reference state normally rotate to hold part of the ingredient, stored in a predetermined container, inside the concave portion; andthe controller makes the rotational joint of the tip end portion reversely rotate to release the ingredient held inside the concave portion.2. The food holding apparatus according to claim 1 , wherein the tip ...

Double-Gripper for the Application of Teat Cups to an Animal to be Milked, Rinse Cup for this and Milking Machine Provided Therewith, and a Method for Milking

This invention is related to a double grab, its rinsing cup and milking machine provided therewith, and the method for automatically applying teat cups to the teats of an udder of an animal to be milked. The double grab according to the invention includes:—a first housing part provided with a first magnet designed to hold a first teat cup;—a second housing part, installed substantially in a horizontal plane next to the first housing part, provided with a second magnet designed to hold a second teat cup;—whereby each housing part is provided with separate pivoting means that can be activated and is designed to make the related housing part pivot around a pivoting axis which in use, extends substantially in a horizontal direction, substantially in a widthwise direction of the arm. 115-. (canceled)16. A method for operating a double grabber mounted on an arm of a robotic attacher , the method comprising:holding a first teat cup using a first housing part of the double grabber;holding a second teat cup using a second housing part of the double grabber, wherein the second housing part is positioned side-by-side with the first housing part;attaching the first teat cup to the dairy livestock using the first housing part;retracting the second housing part longitudinally in relation to the arm of the robotic attacher in conjunction with the first housing part attaching the first teat cup to a dairy livestock;attaching the second teat cup to the dairy livestock using the second housing part;retracting the first housing part longitudinally in relation to the arm of the robotic attacher in conjunction with the second housing part attaching the second teat cup to the dairy livestock.17. The method of claim 16 , further comprising:pivoting the second housing part downwardly in relation to the first housing part in conjunction with the first housing part attaching the first teat cup to the dairy livestock; andpivoting the first housing part downwardly in relation to the second ...

ROBOTIC KITCHEN ASSISTANT FOR FRYING INCLUDING AGITATOR ASSEMBLY FOR SHAKING UTENSIL

A robotic kitchen assistant for frying includes a robotic arm, a fryer basket, and a robotic arm adapter assembly allowing the robotic arm to pick up and manipulate the fryer basket. The robotic arm adapter includes opposing gripping members to engage the fryer basket. A utensil adapter assembly is mounted to the handle of the fryer basket, and the opposing gripper members are actuated to capture a three-dimensional (3D) feature of the utensil adapter assembly. The robotic arm adapter assembly can include an agitator mechanism to shake the fryer basket or another utensil as desired. Related methods are also described. 1. An automated kitchen fryer system for frying a plurality of food items in a fryer , the automated kitchen fryer system comprising:a robotic arm comprising a plurality of links, at least one joint, a proximal portion and a distal portion, and multiple degrees of freedom;a gripper assembly coupled to the distal portion for securely grasping a fryer basket;an agitator assembly mounted between the gripper and the distal portion of the robotic arm, the agitator assembly operable to shake the gripper assembly without substantially shaking the robotic arm;at least one sensor or camera; and 'grab the fryer basket containing a basket of uncooked food items;', 'a processor operable to instruct the robotic arm, gripper assembly and agitator assembly based on input from the at least one sensor or camera tomove the fryer basket of uncooked food items into the fryer to cook;shake the gripper assembly and fryer basket; andremove the fryer basket of food items from the fryer.2. The automated kitchen fryer system of claim 1 , wherein the processor is operable to recognize clumping of food items during the cooking step and if the food items are clumped claim 1 , to shake the gripper assembly and fryer basket to de-clump the food items3. The automated kitchen fryer system of claim 1 , further comprising at least one fryer basket transfer station adapted to hold a ...

ROBOT

A robot includes an ingredient processor configured to produce a mixture by mixing food ingredients with water; an ingredient mold spaced apart from the ingredient processor and having a space portion to form a space for receiving the mixture supplied from the ingredient processor; a cooler configured to cool the ingredient mold; and a rotating device configured to rotate the ingredient mold in a plurality of directions. 1. A robot comprising:an ingredient processor configured to produce a mixture by mixing food ingredients with water;an ingredient mold spaced apart from the ingredient processor and having a space portion to form a space for receiving the mixture supplied from the ingredient processor;a cooler configured to cool the ingredient mold; anda rotating device configured to rotate the ingredient mold in a plurality of directions.2. The robot according to claim 1 , wherein the ingredient processor includes:a storage container configured to contain the produced mixture;a rotating body rotatably disposed inside the storage container to allow the mixture in the storage container to flow; anda motor configured to rotate the rotating body.3. The robot according to claim 1 , wherein the ingredient processor includes:a solid ingredient inlet into which solid ingredients are introduced from among the food ingredients;a grinder configured to contain the solid ingredients introduced into the solid ingredient inlet and provided therein with a grinding rotor rotatably installed;a water tube configured to guide water into the grinder; anda storage container configured to contain a mixture of water and the solid ingredients, which are pulverized in the grinder, in a form of a slush.4. The robot according to claim 1 , wherein the ingredient processor includes:a powder ingredient inlet into which powder ingredients having a size smaller than a size of solid ingredients are introduced from among the food ingredients;a mixer configured to contain the powder ingredients ...

ROBOT

A robot includes a robot arm including an arm to which an end effector is connected, in which the arm and the end effector are formed therein with an ingredient channel through which ingredients pass. The ingredient channel includes a first channel having an ingredient inlet into which the ingredients are introduced and extending from the ingredient inlet toward the end effector; and a second channel having an ingredient outlet provided in the end effector and positioned after the first channel in an ingredient transfer direction to guide the ingredients at a different speed from a speed of the first channel. 1. A robot comprising: an arm;', 'an end effector connected to the arm; and', a first channel having an ingredient inlet into which the ingredients are introduced, the first channel extending from the ingredient inlet toward the end effector; and', 'a second channel having an ingredient outlet provided in the end effector, the second channel communicating with the first channel and located downstream from the first channel in an ingredient transfer direction,', 'wherein the ingredients pass through the first channel at a first speed that is different from a second speed that the ingredients pass through the second channel., 'an ingredient channel located within the arm and the end effector, the ingredient channel being configured to pass ingredients therethrough, the ingredient channel including], 'a robot arm including2. The robot according to claim 1 , wherein the first speed is greater than the second speed.3. The robot according to claim 1 , wherein a length of the first channel in the ingredient transfer direction is greater than a length of the second channel in the ingredient transfer direction.4. The robot according to claim 1 , wherein the second channel includes a guide to provide a spiral flow path.5. The robot according to claim 4 , wherein the guide includes:an inlet block having a guide inlet;an outlet block having a guide outlet; anda center ...

Elastic Corrugated Pipe Single-Acting Cylinder-Driven Mechanical Arm with Series-Connection Loose-Leaf Hinge Framework

The present invention relates to an elastic corrugated pipe single-acting cylinder-driven mechanical arm with a series-connection loose-leaf hinge framework. The mechanical arm consists of a palm and two flexible fingers or a palm and three flexible fingers. The flexible fingers are identical in structure, and each one of the flexible fingers consists of an elastic corrugated pipe single-acting cylinder and a series-connection loose-leaf hinge. Each one of the series-connection loose-leaf hinges has a hinge mandrel equipped with a torsion spring, and the characteristic parameters and pre-tightening angle of the torsion spring are optimally designed according to the features of a grasped object. The mechanical arm is driven by the elastic corrugated pipe single-acting cylinder to generate a grasping force. The mechanical arm applies to the grasping of fragile brittle objects, or grasping of objects with varying shapes and dimensions. 1. An elastic corrugated pipe single-acting cylinder-driven mechanical arm with a series-connection loose-leaf hinge framework , comprising:a structure of a mechanical arm, including two identical flexible fingers the two identical flexible fingers being symmetrically installed in guide slots of a palm plate on a left and a right sides, with a center distance defined by a center hole on the palm plate; a finger root,', 'a bendable plate,', 'a series-connection loose-leaf hinge,', 'a large torsion spring,', 'a small torsion spring,', 'a pressure plate,', 'a hinge base,', 'two tension rods, and', 'an elastic corrugated pipe single-acting cylinder;, 'wherein each of the two flexible fingers consists of'}whereinspecifically, the finger root is configured to perform guidance in the guide slot of the palm plate;a first screw passes through a kidney slot on the finger root to fix the finger root on the palm plate;the kidney slot on the finger root is used to adjust the center distance of the flexible finger,an upper leaf of the series- ...

Automatic Cooking Systems

The present application discloses an automated cooking system including: a cooking apparatus comprising a cooking container and a stirring motion mechanism configured to produce a motion in the cooking container as to stir, mix or distribute the food or food ingredients held in the cooking container; ingredient containers to store food ingredients; an dispensing apparatus to dispense the food ingredients from an ingredient container into the cooking container; food containers to hold a cooked food; an unloading motion mechanism to turn the cooking container to dispense cooked food from the cooking container to a food container; a transfer apparatus configured to grip and move a food container; a food container transport system; a liquid dispensing apparatus to dispense liquid ingredients into the cooking container; and a cleaning apparatus; and a computer system with algorithms to control these mechanisms and apparatuses. 1. A cooking system comprising:a computer;a plurality of ingredient containers each configured to store food ingredients;a plurality of food containers each configured to contain or hold a cooked food; a gripping mechanism comprising support component and one or more grippers, said gripping mechanism being configured to grip the food container; and', 'a motion mechanism configured to move the support component of the gripping mechanism, said motion mechanism comprising a motor or other driving mechanism; and, 'a receiving apparatus comprising a transfer apparatus configured to grip and move a said food container, said transfer apparatus comprising a cooking container configured to contain or otherwise hold food or food ingredients;', a support component;', 'a motor or other driving mechanism; and, 'a stirring motion mechanism configured to produce a motion of the cooking container relative to the support component as to stir or mix the food or food ingredients held by the cooking container, said stirring motion mechanism comprising, 'an unloading ...

ROBOT SYSTEM AND CONTROL METHOD OF THE SAME

A robot system includes a robot arm configured to tilt a fry basket in a first direction or in a second direction different from the first direction or lift up or lower the fry basket and a controller configured to perform a residue removal mode in which the robot arm rotates and moves the fry basket to a set residue removal path in which residue in a fryer is sifted out. 1. A robot system comprising:a robot arm configured to tilt a fry basket in a first direction or in a second direction different from the first direction or lift up or lower the fry basket; anda controller configured to perform a residue removal mode in which the robot arm rotates and moves the fry basket to a set residue removal path in which residue in a fryer is sifted out.2. The robot system of claim 1 ,wherein the first direction is a direction in which the fry basket is tilted upward or downward, andwherein the second direction is a direction in which the fry basket is tilted forward or backward with respect to a center axis of the fry basket or is inverted by 180°.3. The robot system of claim 1 , further comprising a vision camera configured to sense an image of the fryer claim 1 ,wherein the controller analyzes the image sensed by the vision camera, starts the residue removal mode and ends the residue removal mode.4. The robot system of claim 1 , wherein a plurality of QR codes is disposed on an upper portion of the fryer to be spaced apart from each other.5. The robot system of claim 4 , wherein the plurality of QR codes is sequentially disposed along an inner circumference of the fryer.6. The robot system of claim 1 ,wherein the residue removal mode includes a plurality of modes performed sequentially, andwherein the plurality of modes includes:a transverse traveling mode in which the robot arms performs operation of lowering the fry basket into the fryer, moving the fry basket in a transverse direction and then raising the fry basket at least once;a longitudinal traveling mode in which ...

MULTI-MODAL DISTRIBUTION SYSTEMS AND METHODS USING VENDING KIOSKS AND AUTONOMOUS DELIVERY VEHICLES

Vehicles, components, and methods are disclosed for distributing hot or cold food items from a vending kiosk, a locker system, or a self-propelled delivery vehicle. The vending kiosk may have multiple doors, at least one of which is unlocked responsive to confirming a purchase transaction or authenticating the presence of a person or device associated with the purchase transaction. The multiple doors provide access to respective compartments that may be selectively heated and refrigerated. Such temperature changes may be based upon a temperature control schedule. The locker system may include one or more configurable compartments that may be accessible via a set of set of doors that can be selectively coupled into larger doors. The self-propelled delivery vehicle may have a plurality of thermally insulated compartments that may be used to carry multiple items at different temperatures. 1. A self-propelled delivery robot , comprising:a propulsion subsystem including at least one motor coupled to move the self-propelled delivery robot through an environment;a first thermally insulated compartment having a first interior, the first interior sized and dimensioned to contain a first food item;a second thermally insulated compartment having a second interior, the second interior sized and dimensioned to contain a second food item; and a processor; and', receive location information related to a destination; and', 'transmit at least one instruction to the at least one motor, the at least one instruction which causes the at least one motor to move the self-propelled delivery robot along a route., 'a computer readable memory, the computer readable memory including processor-readable instructions that when executed by the processor, cause the processor to], 'a control subsystem comprising2. The self-propelled delivery robot of claim 1 , further comprising:a container, the container which surrounds the first thermally insulated compartment and the second thermally insulated ...

Vision System for Teat Detection

A system includes a robotic arm, a laser, and a processor. The processor is configured to determine whether a first teat of a diary livestock is found in a first scan of the dairy livestock by the laser, and if so, command the robotic arm to move to a location corresponding to the location of the first teat. The processor is further configured to increment a counter associated with the first teat and then determine whether the counter equals a predetermined number. If the counter equals the predetermined number, the processor commands the robotic arm to attach a teat cup to the first teat. If the counter does not equal the predetermined number, the processor determines whether the first teat is found in a second scan by the laser. If the first teat is found in the second scan, the processor commands the robotic arm to attach the teat cup to the first teat.

ROBOT SYSTEM AND CONTROL METHOD THEREOF

According to embodiments, a robot system configured to determine a recipe from an ingredient list obtained by detecting a type and an amount of an ingredient includes: a storage table configured to detect a weight change by a scale installed under each of cells that store ingredients according to types of the ingredients, detect the cell of which a weight is changed according to an ingredient selection of a user to identify the type of the ingredient, and identify the amount of the ingredient based on a degree of the weight change of the cell; and a robot configured to receive the ingredient list obtained from the type and the amount of the ingredient identified by the storage table from the storage table, retrieve menus to be cooked with the ingredient list, and perform cooking by determining the recipe according to a menu selected from the menus. 1. A robot system configured to determine a recipe from an ingredient list obtained by detecting a type and an amount of an ingredient , the robot system comprising: detect a weight change by a scale installed under each of cells that store ingredients according to types of the ingredients;', 'detect the cell of which a weight is changed according to an ingredient selection of a user to identify the type of the ingredient; and', 'identify the amount of the ingredient based on a degree of the weight change of the cell; and, 'a storage table configured to receive the ingredient list obtained from the type and the amount of the ingredient identified by the storage table from the storage table;', 'retrieve menus to be cooked with the ingredient list; and', 'perform cooking by determining the recipe according to a menu selected from the menus., 'a robot configured to2. The robot system according to claim 1 , wherein the storage table includes:a memory configured to store the type of the ingredient stored in each of the cells;a processor configured to:retrieve the cell of which the weight is changed from the memory to identify ...

ROBOTIC KITCHEN ASSISTANT INCLUDING UNIVERSAL UTENSIL GRIPPING ASSEMBLY

A robotic kitchen assistant for frying includes a robotic arm, a fryer basket, and a robotic arm adapter assembly allowing the robotic arm to pick up and manipulate the fryer basket. The robotic arm adapter includes opposing gripping members to engage the fryer basket. A utensil adapter assembly is mounted to the handle of the fryer basket, and the opposing gripper members are actuated to capture a three-dimensional (3D) feature of the utensil adapter assembly. The robotic arm adapter assembly can include an agitator mechanism to shake the fryer basket or another utensil as desired. Related methods are also described. 1. A robotic kitchen assistant for carrying out a food preparation step comprises:a robotic arm;a utensil and a utensil adapter assembly removably mounted to the utensil; anda robotic arm adapter having a proximal end coupled to the robotic arm and a distal portion adapted to releasably engage the utensil adapter assembly.2. The robotic kitchen assistant of claim 1 , wherein the robotic arm adapter comprises opposing movable gripping members having a first open configuration when the gripping members are separated claim 1 , and a second closed configuration when the gripping members are urged towards one another.3. The robotic kitchen assistant of claim 2 , wherein the opposing gripping members define a capture region sized to engage a target feature of the utensil adapter assembly when the gripping members are in the second closed configuration.4. The robotic kitchen assistant of claim 3 , wherein the utensil is a fryer basket claim 3 , and the utensil adapter assembly is secured to a handle portion of the fryer basket.5. The robotic kitchen assistant of claim 3 , wherein the target feature of the utensil adapter assembly comprises a three-dimensional shape.6. The robotic kitchen assistant of claim 5 , wherein the target feature is selected from the group consisting of a diamond claim 5 , sphere claim 5 , hourglass claim 5 , and bulb.7. The robotic ...

Method of automated cookware handling in robotic systems, and in different handling environments

The present invention relates to a method of cookware handling in varied environments including that in robotic systems, production lines, automated cooking and ingredient collection systems, washing and sanitizing manual or automated systems. The method involves use of electromagnetic force to generate friction that translate into gripping force for the cookware or likewise. The electromagnetic force may be generated by degaussing electromagnets. 1. A Method of cookware handling in varied environments including that in robotic systems , production lines , automated cooking and ingredient collection systems , washing and sanitizing manual or automated systems , the method comprising the steps of:activating the first positioning means;gripping and positioning the cookware in the handshake position by a first positioning means;deactivating the first positioning means;releasing the cookware in the new position;activating the second set of positioning means;gripping the positioned cookware by the second set of positioning means;moving the gripped cookware to the desired position;deactivating the second set of positioning means; andwherein,the gripping of the cookware is undertaken by the electromagnetic force generated by the friction between the positioning means and the cookware.2. The method of claim 1 , further comprising the steps of generating electric current for deactivating the gripping mechanism of the first and second set of positioning means; andwherein, the said current is generated by an external power supply and controlled by a relay.3. The method of claim 1 , wherein the step of releasing the cookware is achieved by disabling the gripping force of the positioning means claim 1 , by the relay claim 1 , triggered by a signal received from the controller.4. The method of claim 1 , wherein the positioning means are electromagnets.5. The method of claim 4 , wherein the said electromagnets are round in shape.6. The method of claim 4 , wherein the said ...

PORTIONING DEVICE AND A METHOD FOR PACKAGING OF FOOD PRODUCTS

The invention relates to a portioning device for packaging of food products () in a portion carrier, comprising positioning device and gripping device (), which gripping device comprises first and second articulating jaws () having first and second ends that together with a belt or table () for a food product () define an opening between said jaws () arranged to grip the food product laying on the belt or table (), wherein said first and second jaws () are articulately arranged in order to be movable between at least two relative positions, one holding position and one open position, wherein the portioning device also comprises a cutting device () arranged at said first and/or second ends of said first and second articulating jaws (), and wherein said cutting device () is arranged to use the belt/table () as support for cutting. The invention also relates to a method for packaging of food products by use of the portioning device. 13. A portioning device for packaging of food products () in a portion carrier , comprising;{'b': 1', '12', '12', '5', '3', '12', '12', '5', '12', '12, 'i': a', 'b', 'a', 'b', 'a', 'b, 'a positioning and gripping device (), wherein the gripping device comprises first and second jaws (, ) having first and second ends that together with a belt or table () for a food product () define an opening between said jaws (, ) arranged to grip the food product laying on the belt or table (), wherein said first and second jaws (, ) are arranged in order to be movable between at least two relative positions, one holding position and one open position; and'}{'b': 2', '12', '12', '2', '5', '120', '121', '122', '12', '12, 'i': a', 'b', 'a', 'b, 'a cutting device () arranged at said first and/or second ends of said first and second jaws (, ), and wherein said cutting device () is arranged to use the belt/table () as support for cutting and to pass along an edge (, , ) of the first and second jaws (, ) to perform a cut.'}221. The portioning device according ...

Gripping Device

The present invention relates to a gripping device for picking up, conveying, and delivering a product, the gripping device including: a base structure which may be attached to a handling device by means of a coupling element, preferably so in a non-destructively detachable manner; at least two gripper members having each at least one bottom surface and at least one top surface, said top surface of the gripper members facing towards the coupling element and said bottom surfaces of the gripper members facing away from the coupling element; at least one drive means for reversibly moving the gripper members between a first position, in which the gripper members may be positioned on opposite sides of the product to be picked up, and a second position, in which the gripper members seize the product to be picked up; and an abutment plate which is at least approximately supported by the top surfaces of the gripper members. 1. A gripping device for picking up , conveying , and delivering a product , said gripping device including:a base structure which may be attached to a handling device by means of a coupling element, preferably so in a non-destructively detachable manner;at least two gripper members having each at least one bottom surface and at least one top surface,wherein the top surfaces of the gripper members face towards the coupling elements and the bottom surfaces of the gripper members face away from the coupling elements;at least one drive means in order to reversibly move the gripper members between a first position, in which the gripper members may be positioned on opposite sides of the product to be picked up, and a second position, in which the gripper members seize the product to be picked up; andan abutment plate which is supported at least approximately by the top surfaces of the gripper members.2. The gripping device as claimed in claim 1 ,wherein the gripper members of the gripping device are provided with inwardly curved gripping surfaces which are ...

SYSTEM FOR PICKING UP, CONVEYING, AND DELIVERING A PRODUCT, AND METHOD OF CONTROLLING SUCH SYSTEM

The present invention relates to a system for picking up, conveying, and delivering a foodstuff product to a processing machine which preferably has an upright magazine tube, said system including: a handling device, a gripping device releasably attachable to the handling device, a transporting apparatus, and a control unit; wherein the transporting apparatus has a transporting portion on which the foodstuff product that is to be picked up by the gripping device may be positioned in a pick-up position allowing the foodstuff product to be picked up by the gripping device, and the control unit is connected at least to the handling device of the gripping device and to the transporting apparatus; wherein the control unit is configured for detecting when the foodstuff product to be picked up has reached the pick-up position. 1. A system comprising:a foodstuff portioning machine which has at least one magazine tube;a transporting apparatus for conveying a strand-like foodstuff product;a gripping device for picking up the foodstuff product from the transporting apparatus and for delivering the foodstuff product to the magazine tube;a handling device on which the gripping device may be detachably fastened;wherein the transporting apparatus further has a transporting portion on which the foodstuff product to be picked up by the gripping device may be positioned in a pick-up position so that the foodstuff product may be picked up by the gripping device, and{'b': '100', 'the control unit is connected at least to the handling device, the gripping device (), and the transporting apparatus;'}wherein the control unit is configured to detect when the foodstuff product to be picked up has reached the pick-up position.2. The system as claimed in claim 1 , further comprising:a first detection means which is arranged above the transporting apparatus;wherein the first detection means is configured to detect when the foodstuff product to be picked up has reached the pick-up position on ...

MILKING SYSTEM COMPRISING A MILKING CUP WITH A SENSOR AND A POWER SUPPLY

A milking system for milking a dairy animal includes a milking cup to be attached to a teat of the dairy animal and milking the milk, and an electronic component. The electronic component includes a sensor which is arranged in or on the milking cup for measuring a value of a variable related to the milking, a transmitter for transmitting the measured values, and a power supply for supplying the sensor and/or the transmitter with electrical energy. The power supply may include an inductive power supply with a first coil component and a second coil component, where the first coil component and the electronic component are electrically connected to each other, and where the second coil component is electrically directly connectable to an external source of electrical energy. The milking system also includes a fastening means which holds the first coil component and the second coil component together. 1: A milking system for milking a dairy animal , comprising:a milking cup to be attached to a teat of the dairy animal and milking milk from the dairy animal, andan electronic component with a sensor which is arranged in or on the milking cup for measuring a value of a variable related to the milking, a transmitter for transmitting the measured values, and a power supply for supplying the sensor and/or the transmitter with electrical energy,wherein the power supply comprises an inductive power supply with a first coil component and a second coil component,wherein the first coil component and the electronic component are electrically connected to each other in a direct and fixed manner, and wherein the second coil component is electrically directly connectable to an external source of electrical energy,wherein the milking system furthermore comprises a fastening means which holds the first coil component and the second coil component together, even during milking.2: The milking system as claimed in claim 1 , wherein the fastening means is detachable by a user in order to ...

RESTAURANT FOOD ASSEMBLER ROBOT WITH SEQUENCE AND INGREDIENT MATRIX OPTIMIZATION TO INCREASE THRUPUT WITH DYNAMIC BATCH SIZE OF ORDERS PLATED

A food assembler device that works on sandwich prep table to assemble custom orders in a restaurant utilizing a robot and various attachment tools to collect ingredients from hot and cold containers based on online or manually input orders via a graphic user interface. The food assembler device does not contact any food ingredients and needs minimal cleaning. The food assembler device can be assembled with plurality of robots working together on larger food prep tables and placed along an assembly line using means to increase thruput by coordination of ordering systems, on board computers, controllers, smart weight measuring smart boats, conveyors with sequence and ingredient matrix optimization with dynamic batch size of orders. 1. A food assembler device comprising:a plurality of robots;a plurality of attachment tools;a plurality of containers placed in an array;a plurality of boats;an onboard computer;wherein, said robot is capable of assembling a customer order with a plurality of ingredients picked from said containers utilizing said attachment tools without said robot coming into direct contact with any of said ingredients.2. A food assembler device as in :wherein said containers are placed in an array in a sandwich prep table.3. A food assembler device as in claim 1 , further comprising:a quick access door;an interlock;wherein opening the door triggers said interlock causing said robot to come to a stop.4. A food assembler device as in :a said attachment tool is scooper;said robot being able to pick said scooper to scoop ingredients from said containers and deposit them on said boats;5. A food assembler device as in :a said attachment tool is a leaf grabber;said robot being able to pick said leaf grabber to pick ingredients from said containers and deposit them on said boats;6. A food assembler device as in :a said attachment tool is a vacuum cleaning tool;said robot being able to pick said vacuum cleaning tool to clean said sandwich prep table as directed by ...

EDIBLE SOFT ROBOTIC SYSTEMS AND METHODS

An edible soft robot system may be used to display and/or interact with edible inflatable objects. In an embodiment, the edible inflatable object is configured to receive a fluid in an internal compartment. The edible inflatable object may be reversibly coupled to a container, wherein coupling the edible inflatable object to the container comprises aligning a port of the edible inflatable object to a fluid conduit to fluidically couple the internal compartment to the fluid conduit. A control system of the edible soft robot system is configured to receive instructions to adjust inflation of the internal compartment by activating fluid flow into or out of the internal compartment via the fluid conduit, wherein adjusting inflation of the internal compartment causes the edible inflatable object to actuate on or within the container. 19.-. (canceled)10. An edible inflatable object display system , comprising:an edible inflatable object configured to receive a fluid in an internal compartment of the edible inflatable object;a container to which the edible inflatable object is reversibly coupled, wherein the reversible coupling of the edible inflatable object to the container comprises an aligned port of the edible inflatable object reversibly coupled to a fluid conduit such that the fluid conduit is fluidically coupled to the internal compartment; and 'receive instructions to adjust inflation of the internal compartment by activating fluid flow into or out of the internal compartment via the fluid conduit, wherein adjusting inflation of the internal compartment causes the edible inflatable object to actuate on or within the container.', 'a control system configured to11. The edible inflatable object display system of claim 10 , wherein the container comprises a tray configured to hold one or more edible inflatable objects.12. The edible inflatable object display system of claim 10 , wherein the reversible coupling comprises a tether inserted into the port claim 10 , ...

ROBOT AND METHOD OF OPERATING THE SAME

A robot is configured such that: a second hand of a second arm holds a container stack by gripping a top portion of a bottom container of the container stack; then, a first hand of a first arm holds the container stack by gripping a portion of the bottom container of the container stack, such that the portion gripped by the first hand is positioned lower than the portion gripped by the second hand; thereafter, the second hand of the second arm releases the top portion of the bottom container, and then holds the container stack by gripping the top portion of a second container from a bottom of the container stack; and subsequently, the first hand of the first arm moves the bottom container downward, and separates the bottom container from the container stack. 1. A robot for sequentially separating containers from a container stack ,each of the containers having an open top portion, a closed bottom portion, and such a shape that each container gets gradually thinner from the top portion to the bottom portion,the container stack being a stack of the containers that are sequentially stacked such that every two containers adjacent to each other in an upward-downward direction in the stack are arranged in such a manner that an upper one of the two containers is inserted from its bottom portion into an internal space of a lower one of the two containers, such that the top portion of the upper container is exposed,the robot comprising:a first arm including a first hand at a distal end thereof, the first hand being operable to grip each of the containers;a second arm including a second hand at a distal end thereof, the second hand being operable to grip each of the containers; anda controller configured to control operations of the first and second arms, wherein the second hand of the second arm holds the container stack by gripping the top portion of a bottom one of the containers of the container stack;', 'then, the first hand of the first arm holds the container stack by ...

Egg Candling and Relocation Apparatus for Use with In ovo Injection Machines

The invention relates to a candling apparatus for the rapid discrimination, removal and relocation of non-live avian eggs. The invention further relates to methods of use of the candling apparatus for the candling, removal and relocation of avian eggs. 2. The apparatus of claim 1 , wherein when an egg tray is loaded into the entrance of the apparatus and moved into the candling area claim 1 , the candling energy means directs an egg candling energy at the eggs;wherein energy that passes through the eggs is detected by the detection means and converted into at least one status signal by the signal processing means;wherein the status signal is transmitted to the robot controller, and in response, the robot controller directs the robot to pick up and relocate eggs having a selected status, as determined by the signal processing means; andwherein the apparatus comprises a four finger pusher that is configured to slide beneath the tray and engage with the tray to move the tray laterally, toward the apparatus exit; wherein when the four finger pusher slides beneath the tray, the fingers flexibly and pivotably retract, and after the first set of two fingers clears the edge of the tray, said two fingers pivot up to their resting positions; and wherein after the two fingers return to their resting positions, the four finger pusher reverses direction, engages its first two fingers with the tray, thereby moving the tray from the egg staging area to the apparatus exit.3. The apparatus of claim 2 , wherein the energy is visible light and the detection means is a camera.4. The apparatus of claim 2 , wherein the energy is sound waves and the detection means is a sound sensor.5. The apparatus of claim 2 , wherein the energy is infrared light and the detection means is a camera capable of detecting infrared light.6. The apparatus of claim 2 , wherein the energy is electromagnetic radiation and the detection means is a sensor capable of detecting the electromagnetic radiation.7. A ...

Methods and Systems for Workforce Resources and Workforce Capital Management

The invention provide methods for creating, implementing, and managing workforce resources and workforce capital. 1. The method for defining Workforce Resource as combining the abilities of human resources with the features of Robotics systems to build a single proactivity module with specific capabilities and attributes2. The method for defining Workforce Resource as combining the abilities of human resources with the features of Artificial Intelligent systems to build a single proactivity module with specific capabilities and attributes3. The method for defining Workforce Resource as combining the abilities of human resources with the features of high-performance information systems to build a single proactivity module with specific capabilities and attributes4. The system of collecting and organizing information for Workforce resources as resulted in5. The system of collecting and organizing information for Workforce resources as resulted in6. The system of collecting and organizing information for Workforce resources as resulted in7. Method for applying the result of in solutions for supporting business processes and operations8. Method for applying the result of in solutions for supporting business processes and operations9. Method for applying the result of in solutions for supporting business processes and operations The invention relates to methods and systems for managing workforce resources, and in particular using human resources and technical resources to define and manage productivity resources as part of operations and business processes.In organizations that produce value-added services or/and goods, employees work using Human Resources or/and Human Capital Management principles. In those models, people are defined as a labor unit of the process producing goods and/or services. Managing Employees is usually done by Human Resources (HR) or People departments of organizations. Employees' performance is used to measure productivity and set plans for ...

Automated cooking machine using a cartesian bot

An automated cooking machine is described wherein various functions, such as dispensing, stirring, chopping, baking and cleaning are conducted by intelligent use of a Cartesian robot system.

SYSTEM AND METHOD FOR TREATING LIVESTOCK

A system and method for treating livestock may include a ramp for containing dairy livestock and one or more mobile units configured to travel on the ramp, below the dairy livestock, and perform at least one action related to a treatment of the livestock. A mobile unit may be adapted to travel to a predefined location within a stall, and attach a milking equipment unit to a cow in the stall. A plurality of mobile units and a central management unit may be configured to dynamically cause at least some of the plurality of mobile units to each perform a portion of a treatment or task. 1. A system for treating dairy livestock having fore legs and hind legs , the system comprising: a plurality of adjacent milking stations positioned around said annular driven milking platform;', 'at least one teat cup holder positioned between two adjacent milking stations, wherein said teat cup holder comprises teat cups;, 'a milking parlor comprising an annular rotary driven milking platform configured to rotate and providing a support surface for livestock to stand during milking or treatment, wherein said annular rotary driven milking platform further comprises a guide rail track positioned along at least a portion of the support surface of the milking platform; and', travel along a predefined path defined by said guide rail track, wherein said predefined path is at least partially defined between the fore legs and hind legs of the dairy livestock standing at adjacent milking stations; and', 'use said treatment unit to perform at least one action related to a treatment of the dairy livestock;', 'wherein the treatment unit includes an arm configured to remove the teat cups from the teat cup holder and connect them to the dairy livestock; and, 'at least one mobile unit positioned on said guide rail track and comprising means for enabling mobility of the mobile unit, a treatment unit for treating livestock and a processor for automatically controlling, communicating and executing ...

A GRIPPER DEVICE

A gripper device is configured to pick up a pliable food product having a tail-like part from a pick-up area and releasing it at a releasing area, where a support is provided. A pair of jaws is mounted to the support for movement of distal ends thereof towards each other defining a closing position of the pair of jaws and away from each other defining an open position of the pair of jaws. A tail bender device is attached to the support and adjacent to one end of the pair of jaws. The tail bender device is moveable in relation to the pair of jaws and is configured to bend the tail-like part while transferring the food product from the pick-up area until releasing it at the releasing area. 114-. (canceled)15. A gripper device configured to pick up a pliable food product having a tail-like part from a pick up area and releasing it at a releasing area , comprising:a support,a pair of jaws mounted to the support for movement of distal ends thereof towards each other defining a closing position of the pair of jaws and away from each other defining an open position of the pair of jaws, anda tail bender device attached to the support and adjacent to one end of the pair of jaws, the tail bender device being moveable in relation to the pair of jaws and is configured to bend the tail-like part while transferring the food product from the pick up area until releasing it at the releasing area,wherein the movement of the tail bender device relative to the pair of jaws comprises a movement of the tail bender device at least partly below the pair of jaws when being in closing position such that said bending of the tail-like part comprises pushing the tail-like part downward.16. The gripper device according to claim 15 , wherein the tail bender device comprises a plate structure connected to a spring load mechanism claim 15 , the plate structure being configured to carry out said pushing of the tail-like part downward.17. The gripper device according to claim 16 , wherein the spring ...

AUTOMATED FOOD PREPARATION SYSTEM

Example embodiments of the present disclosure are directed to food preparation systems and associated automated gantry systems. An example automated food preparation system may include a housing that supports one or more baskets therein and a gantry system. The gantry system may include a retrieval arm and a drive system operably coupled with the retrieval arm. The drive system may cause movement of the retrieval arm in at least two directions relative to the housing. In operation, the retrieval arm may engage a basket and cause movement of the basket about the housing. In some instances, an ejection mechanism is provided that receives the basket from the retrieval arm and causes removal of the contents of the basket. 1. An automated food preparation system comprising:a housing configured to support one or more baskets therein; and a retrieval arm; and', 'a drive system operably coupled with the retrieval arm and configured to cause movement of the retrieval arm in at least two directions relative to the housing,, 'a gantry system comprisingwherein, in operation, the retrieval arm is configured to engage a basket and cause movement of the basket about the housing.2. The automated food preparation system according to claim 1 , wherein the housing further defines a reservoir configured to support a cooking medium therein.3. The automated food preparation system according to claim 2 , wherein the reservoir further defines a first reservoir and a second reservoir each configured to claim 2 , in operation claim 2 , support at least one basket therein.4. The automated food preparation system according to claim 2 , further comprising a temperature control element in thermal engagement with the cooking medium and configured to modify the temperature of the cooking medium.5. The automated food preparation system according to claim 2 , further comprising one or more temperature sensors in thermal engagement with the reservoir and configured to determine the temperature of the ...

SYSTEMS AND METHODS FOR MINIMANIPULATION LIBRARY ADJUSTMENTS AND CALIBRATIONS OF MULTI-FUNCTIONAL ROBOTIC PLATFORMS WITH SUPPORTED SUBSYSTEM INTERACTIONS

The present disclosure is directed to methods, computer program products, and computer systems of a multi-functional robotic platform including a robotic kitchen for calibration with either a joint state trajectory or in a coordinate system like a cartesian coordinate for mass installation of robotic kitchens, multi-mode operations of the robotic kitchen to provide different ways to prepare food dishes, and subsystems tailored to operate and interact with the various elements of a robotic kitchen, such as the robotic effectors, other subsystems, and containers, ingredients. Calibration verifications and minimanipulation library adaptation and adjustment of any serial model or different models provide scalability in the mass manufacturing of a robotic kitchen system, as well as methods as to how each manufactured robotic kitchen system meets the operational requirements. A robotic kitchen with multi-mode provides a robot mode, a collaboration mode and a user mode which a particular food dish can be prepared by the robot, a collaboration on sharing tasks between the robot and a user, or the robot serves as an aid for the user to prepare a food dish. 1. A system for mass production of a robotic kitchen module , comprising:a kitchen module frame for housing a robotic apparatus in an instrumented environment, the robotic apparatus having one or more robotic arms and one or more effectors, the one or more robotic arms including a share joint, the kitchen module having a set of robotic operable parameters for calibration verifications to an initial state for operation by the robotic apparatus; andone or more calibration actuators coupled to a respective one of the one or more robotic arms, each calibration actuator corresponding to an axis on x-y-z axes, each actuator in the one or more calibration three-degree actuators having at least three degrees of freedom, the one or more actuators comprising a first actuator for compensation of a first deviation on the x-axis, a ...

AUTOMATED PROCESSING AND PLACEMENT OF THREE-DIMENSIONAL FOOD INGREDIENTS ON A SURFACE OF AN OBJECT

A system and related method for placing three-dimensional food ingredients on a surface of an object, such as a pizza or other good to be baked that includes a memory for storing computer executable instructions, a processing device to execute the instructions, dispensing devices that are each structured and arranged to contain one food ingredient, and a distribution device that is structured and arranged to place food ingredients at discrete locations on the surface of the object in accordance with an input design that is replicated using the ingredients. 1. A system for placing three-dimensional food ingredients on a surface of an object , the system comprising:a memory for storing computer executable instructions and for storing image data for a design to be placed on the surface of the object;a processing device that is configured and arranged to execute the computer executable instructions stored in the memory;a plurality of dispensing devices, each of the dispensing devices structured and arranged to contain a three-dimensional food ingredient; anda distribution device that is structured and arranged to place, in response to an instruction from the processing device, a plurality of the three-dimensional food ingredients from the plurality of dispensing devices at discrete locations on the surface of the object.2. The system of claim 1 , wherein each of the plurality of dispensing devices is an elongate container that claim 1 , in cross section claim 1 , is at least one of circular claim 1 , oval claim 1 , rectangular claim 1 , hexagonal claim 1 , octagonal claim 1 , or triangular.3. The system of claim 2 , wherein each container is structured and arranged to contain one of the food ingredients claim 2 , each food ingredient having an associated color.4. The system of claim 3 , wherein each container comprises a delivery chute that is structured and arranged to deliver the food ingredient contained in the tube.5. The system of claim 1 , wherein at least one of ...

Method and Apparatus for Wireless Network-Based Control of a Robotic Machine

A harvesting system has a climbing unit with a body driven by traction wheels, a control unit, an articulated arm with a cutting implement at an extremity, a video camera focused on the cutting implement, and a computerized portable control station having a display and a user interface with inputs operable to control driving the traction wheels of the climbing unit, the articulation of the articulated arm, and the cutting implement. Video streamed in real time from the video camera is displayed on the display screen, and a user viewing the video display operates the inputs to position the cutting implement to cut a stem of a fruit or nut in the tree.

A ROBOTIC ICE CREAM DELIVERY SYSTEM

A self-serve kiosk system comprising a controller interfacing an order configuration interface and a scoop subsystem comprising a robotic arm having a scoop mechanism at a distal end thereof. The scoop mechanism has a coplanar rim about the interior and the controller controls the robotic arm in a particular manner to position the scoop mechanism in relation to an ice cream container in accordance with an order received via the order configuration interface, to lower the scoop mechanism into the ice cream container and to stroke until the coplanar rim hits flat against an opposing inner side wall surface of the container thereby entrapping a fixed volume of ice cream between the opposing inner side wall surface and the interior of the scoop so that a fixed volume of ice cream can be extracted from the ice cream container for dispensing. 1. A self-serve kiosk system comprising a controller interfacing an order configuration interface and a scoop subsystem comprising a robotic arm having a scoop mechanism at a distal end thereof , the scoop mechanism comprising a scoop defining an interior volume , the scoop comprising a coplanar rim around the interior volume and wherein , in use , the controller is configured for controlling the robotic arm to position the scoop mechanism in relation to an ice cream container in accordance with an order received via the order configuration interface , to lower the scoop mechanism into the ice cream container , to stroke the scoop across the ice cream container until such time that the coplanar rim hits flat against an opposing inner side wall surface of the container thereby entrapping a fixed volume of ice cream between the inner side wall surface and the interior of the scoop , to raise the scoop to wipe the coplanar rim up the opposing inner side wall surface to withdraw the fixed volume of ice cream from the ice cream container and to position the scoop with respect to a receptacle to deposit the fixed volume of ice cream ...

Loading system for bone-in limb meat

A loading system for bone-in limb meat according to an embodiment is a loading system for loading a bone-in limb meat to a processing portion, the loading system includes: an image capturing portion for capturing an image of the bone-in limb meat before being loaded to the processing portion; an image processing portion capable of acquiring orientation information of the bone-in thigh meat from the image of the bone-in limb meat captured by the image capturing portion; an openable/closable pair of clamp pieces for holding the bone-in limb meat; an arm supporting the pair of clamp pieces, and capable of controlling a position and orientation of the pair of clamp pieces; and a control portion controlling, based on the orientation information acquired by the image processing portion, an operation of the arm and thereby holding the bone-in limb meat, and loading the bone-in limb meat to the processing portion.

Tool coupler, tool changer, tool mounter, and tool change system having the same

A tool system including a housing fastened to a tool, the housing being formed of a non-magnetic material, a magnet module embedded in the housing, a pair of mounting grooves in the housing and located below the magnet module, a changer body provided on a manipulator, the changer body being formed a non-magnetic material, a metal bar mounted on the changer body, a pair of terminals provided at both ends of the metal bar, the pair of terminals being formed of magnetic material, the pair of terminals facing the magnet module, a fixing bar outside the housing, the fixing bar being formed of a magnetic material, and a pair of mounting pins extending vertically from both ends of the fixing bar, the pair of mounting pins being formed of magnetic materials, and the pair of mounting pins are inserted into the pair of mounting grooves is provided.

APPARATUS FOR PROCESSING AND GRADING FOOD ARTICLES AND RELATED METHODS

This disclosure concerns methods for processing and grading food articles including x-raying the food articles a first time and taking a 3D image of the food articles. 1. A system for grading a food article that has been cut into portions , the system comprising:a first conveyor;at least one spray-removal robot;a first receiving conveyor and a second receiving conveyor, defining a space therebetween;at least one spray-removal robot; anda third receiving conveyor,wherein the spray-removal robot comprises at least one valve with a nozzle, wherein the valve ejects fluid through the nozzle to impact a food article being moved on the first conveyor toward the third receiving conveyor, such that at least one portion of the food article is moved by the impact through the space between the first receiving conveyor and the second receiving conveyor, and such that at least one portion of the food article is moved by the motion of the first receiving conveyor and the second receiving conveyor to the third receiving conveyor.2. The system for grading a food article that has been cut into portions of claim 1 , wherein the spray-removal robot comprises a plurality of valves with nozzles.3. The system for grading a food article that has been cut into portions of claim 2 , wherein each of the plurality of valves with nozzles is independently controllable.4. The system for grading a food article that has been cut into portions of any of - claim 2 , the system comprising a plurality of the spray-removal robots.5. The system for grading a food article that has been cut into portions of any of - claim 2 , wherein the first receiving conveyor and the second receiving conveyor are movable in a direction substantially perpendicular to the movement of the first conveyor.6. The system for grading a food article that has been cut into portions of claim 5 , wherein the movement of the first receiving conveyor and the movement of the second receiving conveyor are independently controllable.7. ...

PLANT FOR PRODUCING A FOODSTUFF

In an plant for producing foodstuff, in particular a chocolate article, in at least one mould () which can be tempered in at least one processing station () before and/or after the foodstuff is filled in, wherein the mould () being taken over in or at the processing station () by a robot () and being deposited for tempering, individual, separate trays () for the moulds () are provided in the processing station (). 1138913894. Plant for producing foodstuff , in particular a chocolate article , in at least one mould () which can be tempered in at least one processing station ( , , ) before and/or after the foodstuff is filled in , wherein the mould () being taken over in or at the processing station ( , , ) by a robot () and being deposited for tempering , wherein ,{'b': 3', '8', '9', '5', '1', '6', '6', '3', '12', '5', '6', '6', '3', '5, 'in the processing station (, , ) individual, separate trays () for the moulds () are provided on a wall (-.), wherein slots () for dispensing a tempering medium are located below and/or above the trays () in the wall (-.), and wherein a tempering medium is guided in the trays ().'}251. Plant according to claim 1 , wherein the trays () only come into punctual or linear contact with the moulds ().35. Plant according to claim 1 , wherein the trays () are U-shaped.45. Plant according to claim 1 , wherein the trays () are tubular.511-. (canceled)12. Plant according to claim 1 , wherein the foodstuff is a chocolate article.13. Plant according to claim 2 , wherein the foodstuff is a chocolate article. The invention relates to an plant for producing foodstuff, in particular a chocolate article, in at least one mould which can be tempered in at least one processing station before and/or after the foodstuff is filled in, wherein the mould is taken over in or at the processing station by a robot and is deposited for tempering.Plants of the above mentioned type are known and available on the market in various forms and designs. They are used to ...

Pizza Transfer Tool

A pizza transfer tool incorporating a vertical shaft; an upper member mounted to the vertical shaft for upward and downward motions; a lower member mounted to the vertical shaft for upward and downward motions; a circumferential array of upper pivot arms having proximal ends pivotally mounted to the upper member; a circumferential array of lower pivot arms having proximal ends pivotally mounted to the lower member; a circumferential array of linking members having inner ends and outer ends, wherein each outer end is pivotally mounted to a distal end of one of the upper pivot arms, and wherein each inner end is pivotally mounted to a distal end of one of the lower pivot arms; and a circumferential array of spatulas attached to the linking member's inner ends. 1. A pizza transfer tool comprising:(a) a vertical shaft aligned with a vertical axis;(b) an upper member mounted to the vertical shaft for alternative upward and downward motions along the vertical axis;(c) a lower member mounted to the vertical shaft for alternative upward and downward motions along the vertical axis;(d) a plurality of upper arms, each upper arm among the plurality of upper arms having a proximal end pivotally mounted to the upper member;(e) a plurality of lower arms, each lower arm among the plurality of lower arms having a proximal end pivotally mounted to the lower member;(f) a plurality of linking members, each linking member among the plurality of linking members having a radially outer end and having a radially inner end, wherein the radially outer end of said each linking member is pivotally mounted to a distal end of one of the upper arms, and wherein the radially inner end of said each linking member is pivotally mounted to a distal end of one of the lower pivot arms; and(g) a plurality of spatulas, each spatula among the plurality of spatulas being fixedly attached to the radially inner end of one of the linking members.2. The pizza transfer tool of wherein the upper member comprises ...

DETECTOR SYSTEM, SENSOR AND DAIRY ANIMAL TREATMENT DEVICE

Sensor system with a sensor device having a through-flow cell for liquid, a detector device for measuring a property of the liquid in the through-flow cell and for generating an associated detector signal, a sensor control for analyzing the detector signal, wherein the sensor control detects a liquid transition between two different liquids in the through-flow cell when a change (per unit time) in the detector signal is greater than a threshold value. In the case of such a liquid transition detection, the sensor control generates an alarm signal. Liquid transition detection is carried out by optical, temperature and/or conductivity sensors. 1. A dairy animal treatment device , comprising:a teat detection device for detecting the teats of a dairy animal;a teat treatment device for carrying out a teat-related operation on the teat;a robot arm with a control device configured to operatively bring the teat treatment device to at least one of the teats by means of the teat detection device;at least one liquid line; and a through-flow cell in communication with the liquid line,', 'a detector device for measuring a property of liquid in the through-flow cell and generating an associated detector signal, and, 'a sensor system, the sensor system further comprising'}a sensor control to analyze the detector signal,wherein the sensor control detects a liquid transition between two different liquids in the through-flow cell upon detecting at least one of (1) a change in the detector signal per unit time, (2) a change in the detector signal greater than a predetermined change threshold value, and (3) a change in the detector signal greater than a predetermined threshold value,wherein the change in the detector signal comprises at least one peak or trough in the detector signal, and wherein the peak or the trough has at least a predetermined magnitude.2. The dairy animal treatment device according to claim 1 , wherein the liquid line comprises a teat treatment liquid supply line ...

ROBOT, SYSTEM, AND METHOD WITH CONFIGURABLE SERVICE CONTENTS

A robot with configurable service contents is disclosed, whereby at least one editing interface to edit service content of the robot is provided, for a user to test and input instructions to the robot which can then utilize and act upon such instructions in carrying out tasks. A method with configurable service contents in the robot is also provided. 1. A robot with configurable service contents comprising:a processor; provide at least one editing interface to edit service content of the robot;', 'store the service content; and', 'control the robot to execute the service content., 'a non-transitory storage medium coupled to the processor and configured to store a plurality of instructions, which cause the processor to control the robot to2. The robot with configurable service contents as recited in claim 1 , wherein the editing interface comprises a display editing interface claim 1 , a conversation editing interface claim 1 , a positioning and navigation editing interface claim 1 , and a motion control interface claim 1 , the display content editing interface is configure to edit display content of the robot claim 1 , the conversation editing interface is configured to edit conversation content of the robot claim 1 , the positioning and navigation editing interface is configured to edit positioning and navigation content of the robot claim 1 , the motion control interface is configured to edit motion control content of the robot.3. The robot with configurable service contents as recited in claim 1 , wherein a target service content can be edited by the display editing interface claim 1 , the conversation editing interface claim 1 , the positioning and navigation editing interface claim 1 , and the motion control interface claim 1 , wherein the target service comprises meal delivery service content.4. The robot with configurable service contents as recited in claim 1 , wherein the editing interface comprises an identification interface claim 1 , the identification ...

ROBOT FOR HANDLING GOODS IN TRANSIT AND CLEANING DEVICE THEREFOR AND OPERATING METHOD FOR OPERATING A ROBOT

A robot for handling goods in transit having a movable fork unit with a load-bearing fork and a fork base relative to which the load-bearing fork can be translationally moved. The robot is provided with a cleaning device having a cleaning chamber which can be insulated from the surroundings, completely accommodates the load-bearing fork and at least partly accommodates the fork base. The cleaning device has an inlet opening for at least partial introduction of the fork unit into the cleaning chamber and an inflow opening for a cleaning agent, which opening leads to the cleaning chamber. The robot may be used for handling food items and beverages. 1. A robot for handling goods in transit , in particular for combining goods in transit to form a common delivery batch on a pallet , comprising at least one movable fork unit havingat least one load-bearing fork;at least one fork base, relative to which the at leastone load-bearing fork can be moved translationally, anda cleaning device designed with a cleaning chamber which can be isolated from the surroundings, and which is designed to completely accommodate the load-bearing fork and at least partly accommodate the fork base, the cleaning device having an access opening for the at least partial introduction of the fork unit into the cleaning chamber, and at least one inflow opening for cleaning liquid, which opens into the cleaning chamber.2. The robot as claimed in claim 1 , wherein the cleaning device has at least one closing element for closing the access opening claim 1 , which is movable between an open position and a closed position by a motor claim 1 , wherein claim 1 , in the closed position claim 1 , the at least one closing element isolates the cleaning chamber from the surroundings together with the fork base.3. The robot as claimed in claim 1 , wherein the fork base has a housing with at least one inlet opening claim 1 , through which cleaning liquid from outside can reach an interior of the fork base claim 1 ...

Voice Modification To Robot Motion Plans

In an embodiment, a method during execution of a motion plan by a robotic arm includes determining a voice command from speech of a user said during the execution of the motion plan, determining a modification of the motion plan based on the voice command from the speech of the user, and executing the modification of the motion plan by the robotic arm.

Adaptor for Food-Safe, Bin-Compatible, Washable, Tool-Changer Utensils

Robots, including robot arms, can interface with other modules to affect the world surrounding the robot. However, designing modules from scratch when human analogues exist is not efficient. In an embodiment, a mechanical tool, converted from human use, to be used by robots includes a monolithic adaptor having two interface components. The two interface components include a first interface component cabal be of mating with an actuated mechanism on the robot side, the second interface capable of clamping to an existing utensil. In such a way, utensils that are intended for humans can be adapted for robots and robotic arms.

Food-Safe, Washable Interface For Exchanging Tools

A problem with current food service robots is making the robots safe to work around food. A solution provided by the present disclosure is a food-safe tool switcher and corresponding tool. The tool switcher can mate with a variety of tools, which can be molded or 3D printed out of food-safe materials into a single-part, instead of constructed modularly. This provides for easier cleaning. 1. A system comprising:an actuating rod;at least one ball bearing;a housing having a first port to receive the actuating rod, and having a second port within the first port to receive the at least one ball bearing, the first port and second port of the housing configured to allow motion of the actuating rod in a direction through the first port perpendicular to the at least one ball bearing in the second port, a distal end of the second port further having a hole with a constriction on the outer circumference of the housing, the constriction configured to allow a portion of the ball bearing to extend out of the second port while holding the remaining portion of the ball bearing within the second port;a utensil mating bracket having a reception port configured to receive the housing, the reception port having at least one locking member along an outer portion of the reception port, such that when the portion of the at least one ball bearing extends out of the second port, the locking member interfaces with the portion of the at least one ball bearing such that the housing is locked within the utensil mating bracket.2. The system of claim 1 , further comprising:a compression spring within the housing, the compression spring coupled with the actuating rod.3. The system of claim 1 , wherein the actuating rod is configured to extend through the housing such that it forces the at least one ball bearing through the second port such that the portion of the ball bearing extends out of the second port.4. The system of claim 1 , wherein the first port and second port have consistent diameters ...

Food-Safe, Washable, Thermally-Conductive Robot Cover

In an embodiment, a cover for an automated robot includes elastic sheets that are adhered to each other in a geometry. The geometry is configured to allow the elastic sheets to expand and contract while the automated robot moves within its range of motion. The elastic sheets are attached to the automated robot by elasticity of the elastic sheets. A first group of the elastic sheets forms an elastic collar configured to grip the automated robot at a distal end and a proximal end of the cover. A person of ordinary skill in the art can recognize that nonbreakably means that during operation of the robot, the elastic sheets hold their elasticity and integrity without breaking. 1. A cover for an automated robot , the cover comprising:a plurality of elastic sheets that are adhered to each other in a geometry, the geometry configured to allow the plurality of elastic sheets to expand and contract while the automated robot moves within its range of motion;wherein the plurality of elastic sheets is attached to the automated robot by elasticity of the elastic sheets;wherein a first group of the elastic sheets forms an elastic collar configured to grip the automated robot at a distal end and a proximal end of the cover.2. The cover of claim 1 , wherein the geometry is configured to durably stretch and durably contract the plurality of elastic sheets for the range of motion of the robot.3. The cover of claim 1 , further comprising:malleable media, placed between the robot and the plurality of elastic sheets, such that the malleable media expands the cover from a surface of the robot and lessens constriction of elastic material onto the surface of the robot.4. The cover of claim 1 , wherein the elastic sheets are inflated to expand the cover from a surface of the robot to lessen constriction of the elastic sheets onto the robot surface.5. The cover of claim 1 , wherein the automated robot has up to seven degrees of freedom.6. The cover of claim 1 , wherein the geometry is ...

ARRANGEMENT AND METHOD FOR AUTOMATICALLY REMOVING A STRIP CONSISTING OF DARK MEAT FROM A FISH FILLET

An arrangement for automatically removing a strip of dark meat from a fish fillet has a conveying unit for transporting the fish fillet from an inlet to an outlet area in a transport direction along a transport path. Starting from the inlet area, successively along the transport path, are provided: a first means for detecting dark meat; a first cutting apparatus for removing a middle partial strip of dark meat; a means for opening up the fillet such that cut surfaces of a ventral-side partial and of a dorsal-side partial strip of dark meat point upwards; a cutting unit for removing the partial strips, the cutting unit comprising second and third cutting apparatuses for removing the ventral and dorsal-side partial strips. A control device is connected to the detecting means and the cutting apparatuses, and all cuts are based on information from the detecting means. A corresponding method is provided. 125-. (canceled)26. An arrangement , designed and configured for automatically removing a strip consisting of dark meat from a fish fillet , comprising:a conveying unit for transporting the fish fillet to be processed from an inlet area of the fish fillet into the arrangement to an outlet area of the fish fillet out of the arrangement in a transport direction along a transport path; and a first means for detecting dark meat in the fish fillet to be processed;', 'a first cutting apparatus for removing a middle, central partial strip of dark meat from the fish fillet;', 'a means for opening up the fish fillet freed from the middle partial strip in such a manner that the cut surfaces of a ventral-side partial strip of dark meat still attached to the fish fillet and of a dorsal-side partial strip of dark meat still attached to the fish fillet, which are produced by the first cutting apparatus, point upwards away from the conveying unit;', 'a cutting unit for removing the ventral-side and the dorsal-side partial strips of dark meat from the fish fillet, the cutting unit ...

Food Orientor

A method of automatically orienting symmetric and asymmetric food items, such as apples for example, is provided. Individual items of food are manipulated by a programmable manipulator within the view of one or more depth imaging cameras. Digital three dimensional characterizations of the surface of the food items are generated by the depth imaging camera or cameras and are utilized by a computer connected to the depth imaging camera or cameras to locate the stem and blossom of each food item. Asymmetric food items, such as apples with dropped shoulders as well as symmetric food items can be properly oriented and processed automatically. 1. A method of orienting food items for processing , comprising:imaging a food item,creating a digital three dimensional characterization of the surface of said food item,utilizing said digital three dimensional characterization of the surface of said food item to locate a stem and a blossom in three-dimensional space, and rotating said food item about a first axis until said stem and said blossom lie in a pre-determined first plane; and', 'rotating said food item about a second axis until said stem and said blossom lie along a pre-determined line., 'orienting said food item to a proper orientation by2. The method of claim 1 , wherein said food item is an apple having a stem indent in which said stem is located and a blossom indent in which said blossom is located and wherein a principal axis of curvature algorithm is utilized to locate said stem indent and said blossom indent.3. The method of claim 1 , wherein said digital three dimensional characterization is a three dimensional model of the surface of said food item claim 1 , wherein a plurality of three dimensional models of properly oriented food items is stored in a digital library claim 1 , and wherein an iterative closest point algorithm is utilized to compare said generated three dimensional model with said stored three dimensional models of properly oriented food items and ...

DATA PROCESSING DEVICE AND DATA PROCESSING METHOD

There is provided a data processing device and a data processing method capable of customizing a dish made by a cooking robot according to a preference of a person who eats the dish. The data processing device () according to one aspect of the present technology generates recipe data including a data set used when a cooking robot () performs a cooking operation, the data set linking cooking operation data in which information regarding an ingredient of a dish and information regarding an operation of a cook in a cooking process using the ingredient are described, and cook biological data indicating a biological reaction of the cook measured in conjunction with progress of the cooking process. The present technology can be applied to a computer that controls cooking in a cooking robot. 1. A data processing device comprisinga generation unit that generates recipe data including a data set used when a cooking robot performs a cooking operation, the data set linking cooking operation data in which information regarding an ingredient of a dish and information regarding an operation of a cook in a cooking process using the ingredient are described, and cook biological data indicating a biological reaction of the cook measured in conjunction with progress of the cooking process.2. The data processing device according to claim 1 , whereinthe cook biological data is linked to a tasting process that is a process in which the cook performs tasting.3. The data processing device according to claim 1 , whereinthe cook biological data is linked with sensation data indicating a sensation of the cook measured in conjunction with the progress of the cooking process.4. The data processing device according to claim 2 , whereinthe generation unit is linked to the tasting process in a case where it is determined that content of the cook biological data satisfies a predetermined condition.5. The data processing device according to claim 1 , whereinthe cook biological data includes ...

Cooking robot, cooking robot control device, and control method

There is provided a cooking robot, a cooking robot control device, and a control method that enable a cooking robot to customize a dish prepared according to a preference of an eater. The cooking robot (1) according to one aspect of the present technology controls a cooking operation performed by a cooking arm (321), using recipe data including a data set in which cooking operation data and cook biological data are linked, the cooking operation data describing information regarding an ingredient of a dish and information regarding an operation of a cook in a cooking process using the ingredient, and the cook biological data indicating a biological reaction of the cook measured in conjunction with a progress of the cooking process. The present technology can be applied to a cooking robot that operates an arm to cook.

FLEXIBLE AUTOMATIC FOOD PROCESSING AND CLIENT ORDERS EXECUTION MACHINE

The present technology is to be used in used in pizzerias and other food restaurants to fully substitute manual labor in food processing. The present technology utilizes a modular principle for flexibility. It allows tuning the machine to (1) different dishes like pizza, chicken wings or hamburgers (2) different sizes and shapes of the room and (3) different orders capacity. The machine utilizes autonomous driving robots with autopilot for food logistics between ingredient stations and for the refilling of the stations with ingredients. Autonomous autopilot robot allows to precisely position the food to cook, e.g. pizza, with the ingredient station for precisely topping or other food processing. Precise interposition allows deep food customization by a client with the possibility of making drawings on food using ingredients. The matrix modular structure of the machine allows parallel orders execution. It is extremely beneficial in peak hours. 1. An automated pizza system , comprising:a food processing machine with autonomous robots that move on a bed independently and simultaneously and transfer processing food between ingredients stations;a refilling system for a food processing machine that includes autonomous robots;said autonomous robots move on said bed independently and simultaneously and transfer ingredients from a storage place or cooler, to ingredient stations and dispensers;said food processing machine further includes ingredients toppings process executed by rotational and linear movements of the autonomous robot those are related and synchronized to the feed of ingredients of the dispenser;wherein said food processing machine further includes modular matrix frame with a bidirectional array of the interchangeable dispensers that allows parallel orders processing; andsaid food processing machine which allows food customization by a client with text and draws, wherein said text and draws are transformed on top of the food using sauces or other ingredients ...

FOOD PRODUCT HANDLING DEVICE, SYSTEM, AND RELATED METHODS

A food product handling device is provided. The food product handling device can include a movable loading head having a plurality of rails and a vacuum system operatively associated with the head. In addition, a plurality of suction devices carried by the head and configured to pick up and transport a food product as the head is moved can be provided. A plurality of mounting blocks can be slidably coupled to the rails where at least one suction device is coupled to each mounting block. An actuating device can be operatively associated with the mounting blocks such that each mounting block is configured to slide between a first position and a second position. 1. A food product handling device , comprising:a movable loading head having a plurality of rails;a vacuum system operatively associated with said head;a plurality of suction devices carried by said head and configured to pick up and transport a food product as said head is moved, wherein each suction device is coupled to said vacuum system;a plurality of mounting blocks slidably coupled to said rails, wherein at least one suction device is coupled to each mounting block; andan actuating device operatively associated with the mounting blocks such that each mounting block is configured to slide between a first position and a second position.2. The device of claim 1 , wherein said vacuum system comprisesa plurality of vacuum generators disposed on said head; anda vacuum port coupled to each mounting block.3. The device of claim 2 , wherein each of the vacuum generators is operatively coupled with one suction device.4. The device of claim 3 , wherein a venturi tube is coupled between each vacuum generator and each vacuum port.5. The device of claim 1 , wherein each of the plurality of suction devices comprises an elastic body.6. The device of claim 5 , wherein each elastic body comprises a bellow structure.7. The device of claim 1 , wherein the plurality of suction devices are made of silicone.8. The device of ...

Handheld tool for leveling uncoordinated motion

A handheld tool includes a handle for holding by a user, an attachment arm extending from the handle that is configured to connect to a user-assistive device, a first inertial measurement unit (“IMU”) mounted to the attachment arm to acquire measurements of one or more of a motion or an orientation of the user-assistive device and to generate feedback data indicative of the measurements, an actuator assembly coupled to manipulate the user-assistive device via the attachment arm in at least two orthogonal dimensions, and a motion control system coupled to receive the feedback data from the first IMU and coupled to provide commands to the actuator assembly to provide auto-leveling of the user-assistive device to a frame of reference while the user manipulates the handheld tool.

DEVICE FOR GRIPPING CONTAINERS

Device for gripping containers, comprising clamps () adapted to clamp a container (), and a centring cone () adapted to receive a cap () of the container (). The centring cone () has a longitudinal axis (A) and comprises an inlet mouth (), for entrance of said cap (), and an inner lateral surface (). Said inner lateral surface () comprises a first, substantially cylindrical portion () and a second portion () comprised between the first portion () and the inlet mouth () and diverging outwards in the direction from the first portion () to the inlet mouth (). The centring cone () is a component separate from and independent of the clamps (). 18205232051023111112131210121058. A device for gripping containers , comprising clamps () adapted to clamp a container () , and a centring cone () adapted to receive a cap () of the container () , said centring cone () having a longitudinal axis (A) and comprising an inlet mouth () , for entrance of said cap () , and an inner lateral surface () , said inner lateral surface () comprising a first , substantially cylindrical portion () and a second portion () comprised between the first portion () and the inlet mouth () and diverging outwards in the direction from the first portion () to the inlet mouth () , wherein the centring cone () is a component separate from and independent of the clamps ().21211514262320. The device according to claim 1 , wherein the first portion () of the inner lateral surface () of the centring cone () has a knurled region () so as to be able to match with a knurled region () of the cap () of the container ().351. The device according to claim 1 , wherein the centring cone () is rotatably mounted in the gripping device ().452320. The device according to claim 3 , wherein the centring cone () can be integrally connected to a measuring unit for measuring the torque for removing the cap () from the container ().552320. The device according to claim 1 , wherein the centring cone () is made of a substantially ...

FOOD HOLDING APPARATUS AND METHOD OF OPERATING SAME

A food holding apparatus includes: a base portion; a holding portion at the base portion and configured to hold a side portion of the food; a placing portion at the base portion, the food being placed on the placing portion; and a control portion configured to control a movement of the holding portion and a movement of the placing portion. With the side portion of the food held by the holding portion, the control portion controls at least one of the movement of the holding portion relative to the base portion and the movement of the placing portion relative to the base portion to place the food on the placing portion. 1. A food holding apparatus configured to hold a food ,the food holding apparatus comprising:a base portion;a holding portion provided at the base portion and configured to hold a side portion of the food;a placing portion provided at the base portion, the food being placed on the placing portion; anda control portion configured to control a movement of the holding portion and a movement of the placing portion, whereinwith the side portion of the food held by the holding portion, the control portion controls at least one of the movement of the holding portion relative to the base portion and the movement of the placing portion relative to the base portion to place the food on the placing portion.2. The food holding apparatus according to claim 1 , wherein:the holding portion is configured to be movable in a direction toward the base portion and a direction opposite to the direction toward the base portion;the control portion makes the holding portion hold the side portion of the food arranged at a predetermined position; andwith the side portion of the food held by the holding portion, the control portion makes the holding portion move in the direction toward the base portion to place the food on the placing portion.3. The food holding apparatus according to claim 1 , wherein:the placing portion is configured to be movable in a direction toward the ...

GRIPPING DEVICE WITH NEEDLES FOR DEFORMABLE FOOD PRODUCT

A gripping device for at least one deformable food product has at least one perforated plate defining at least one receiving surface for the deformable food product, and for each receiving surface, a pair of needles associated with the receiving surface. Each needle of the pair is able to be moved between a retracted position, in which the needle does not pass through the receiving surface, and a deployed position, in which the needle passes through the receiving surface. A facility has the gripped device for producing deformable food products, and a method for moving a deformable food product uses the gripping device. 116.-. (canceled)17. A gripping device for at least one deformable food product , comprising:at least one perforated plate defining at least one receiving surface for the deformable food product, andfor the or each receiving surface, a pair of needles associated with said receiving surface, each needle of said pair being able to be moved between a retracted position, in which the needle does not pass through the receiving surface, and a deployed position, in which the needle passes through the receiving surface.18. The gripping device according to claim 17 , wherein the receiving surface is convex.19. The gripping device according to claim 17 , comprising a blowing system able to blow gas through the or each receiving surface.20. The gripping device according to claim 19 , wherein the or each perforated plate has claim 19 , for the or each receiving surface defined by said perforated plate claim 19 , at least two through orifices each emerging in said receiving surface claim 19 , each needle of the pair associated with this receiving surface extending claim 19 , when it is in the deployed position claim 19 , through a respective through orifice among said through orifices.21. The gripping device according to claim 20 , wherein the blowing system is able to blow air through said through orifices.22. The gripping device according to claim 20 , wherein ...

SYSTEM AND METHOD FOR TREATING LIVESTOCK

A system for treating livestock may include a ramp for containing dairy livestock and one or more mobile units configured to travel on the ramp, below the dairy livestock, and milk the dairy livestock. A mobile unit may be adapted to travel to a predefined location within a stall, and attach a milking equipment unit to the dairy livestock in the stall. A plurality of mobile units and a central management unit may be configured to dynamically cause at least some of the plurality of mobile units to each perform a portion of a treatment or task. 1. A system for milking dairy livestock having at least one teat , fore legs and hind legs , the system comprising:a main milk line;an annular rotary driven milking platform comprising a plurality of milking stalls and configured to translate both the dairy livestock and the mobile unit, wherein each one of at least two of said plurality of milking stalls is coupled to a teat cup holder;teat cups positioned in said teat cup holders and connected to the main milk line; position itself at least partially at a location between the fore legs and hind legs of the dairy livestock;', 'remove at least one teat cup from at least one teat cup holder; and', 'attach said at least one teat cup to said dairy livestock teat, such that said dairy livestock is milked and the milk flows directly from the at least one teat cup to the main milk line., 'a mobile unit comprising an arm comprising a gripping unit, wherein the mobile unit is configured to'}2. The system according to claim 1 , wherein the mobile unit is adapted to determine its location and the location of the teat cup claim 1 , teat cup holder and the teat.3. The system according to claim 1 , comprising a plurality of mobile units.4. The system according to claim 1 , comprising a plurality of mobile units wherein a first mobile unit is adapted to attach at least one teat cup to the dairy livestock and a second mobile unit is adapted to attach at least one other teat cup to the dairy ...

Breakaway End-Effectors for Food and Beverage Preparation Robots

Provided is a robot, including: a controller; a plurality of actuators mechanically coupled to an end-effector mount; a first set of end-effectors magnetically coupled to the end-effector mount; and a sensor adjacent an interface between at least some of the first set of end effectors and the end-effector mount, wherein: the end effectors are magnetically coupled to the end-effector mount with magnetic couplings that decouple in response to less than 200 Newtons of force being applied to distal portions of respective end effectors in a direction opposing movement of respective end effectors driven by at least some of the actuators, and the sensor is configured to output a signal indicative of a given end effector decoupling and indicate which end effector in the first decoupled. 1. A device , comprising:a controller;an end-effector mount, comprising a shaft, configured to be controlled by the controller;a first primary member comprising a magnet, placed on the shaft of the actuator;a first secondary member comprising at least one magnetically attractable material, wherein the first secondary member is magnetically coupled to the first primary member; anda barrier comprising a non-ferrous, non-magnetic sheet having a top side and a bottom side, wherein the first primary member configured to be situated below a bottom side of the barrier and the first secondary member configured to be situated on a top side of the barrier.2. The device of claim 1 , wherein the end-effector mount comprises:a first actuator configured to lift the first primary member toward the bottom side of the barrier to magnetically couple the first primary member with the first secondary member and lower the first primary member to magnetically decouple the first primary member from the first secondary member.3. The device of claim 2 , wherein:the end-effector mount comprises a second actuator configured to move the first primary member in a plane parallel to the barrier;the first secondary member, ...

Robot with handling unit

The disclosure relates to a robot for picking up a food product from a support and for shifting it to a desired location, said robot comprising at least one robot arm with a handling unit for picking up the food product, and the food product being displaceable by moving the handling unit by means of the robot arm. The robot arm and the handling unit have provided between them a sensor, in particular a force sensor, with the aid of which the force acting between the robot arm and the handling unit can be detected in at least one direction. The invention additionally relates to a method of operating a robot for shifting a food product.

ROBOT-BASED WAITER OPERATION BASED ON MONITORING OF CUSTOMER CONSUMPTION ACTIVITY

A robot service providing system includes a table monitoring terminal associated with one of a plurality of tables in a venue, a central control terminal, and a movable waiter robot. The central control terminal includes a communication interface, a display, an operation panel, and a controller. The controller is configured to control the display to display a screen including an image including a consumable item captured by a camera of the table monitoring terminal based on image data received by the communication interface, and control the communication interface to transmit a service instruction in response to a user operation on the operation panel. The movable waiter robot is configured to move to said one of the tables based on the service instruction. 1. A robot service providing system comprising: a camera;', 'a first communication interface; and', 'a first controller configured to control the first communication interface to transmit image data of an image of said one of the tables captured by the camera;, 'a table monitoring terminal associated with one of a plurality of tables in a venue and includinga movable waiter robot; and a second communication interface communicable with the first communication interface;', 'a display;', 'an operation panel; and', control the display to display a first screen including an image based on the image data received by the second communication interface;', 'control the second communication interface to transmit a service instruction in response to a user operation on the operation panel, the service instruction causing the movable waiter robot to move to said one the tables and return a current location of the movable waiter robot; and', 'control the display to display a second screen indicating the current location of the movable waiter robot and a type of a service being provided by the movable waiter robot., 'a second controller configured to], 'a central control terminal including2. The robot service providing system ...

Mass-Controlled Viscous Material Deposition System, Apparatus and Method

A system and/or method comprising providing a robotic control structure having a support structure, said support structure being adapted and configured to be selectively positionable along a prescribed path by said robotic control structure; providing a viscous material deposition system adapted and configured to control deposition of a viscous material from said viscous material deposition system; providing a load sensor associated with said robotic control structure adapted and configured to determine a load of said viscous material supported by said support structure; and positioning said support structure along said prescribed path, wherein said positioning is controlled at least in part based upon said load. 1. An apparatus comprising:a robotic control structure having a support structure, said support structure being adapted and configured to be selectively positionable along a prescribed path by said robotic control structure;a viscous material deposition system adapted and configured to control deposition of a viscous material from said viscous material deposition system; anda load sensor associated with said robotic control structure adapted and configured to determine a load of said viscous material supported by said support structure;wherein a position of said support structure along said prescribed path is controlled at least in part based upon said load.2. The apparatus of wherein said load is an instantaneous load.3. The apparatus of claim 2 , wherein said position is an instantaneous position.4. The apparatus of claim 3 , wherein said load a mass.5. The apparatus of claim 1 , wherein said position is an instantaneous position.6. The apparatus of claim 5 , wherein said load is a mass.7. The apparatus of claim 1 , wherein a first load is associated with a first position of said support structure on said prescribed path.8. The apparatus of claim 7 , wherein said first load is associated with an initial weighpoint.9. The apparatus of claim 7 , wherein a ...

FOOD HOLDING APPARATUS AND METHOD FOR OPERATING THE SAME

A food holding apparatus is a food holding apparatus configured to hold or release an ingredient. The food holding apparatus includes a base portion, a pair of arms drivably attached to the base portion, a pair of distal end portions respectively provided to distal ends of the pair of arms, and a control device configured to control an operation of the pair of arms. The control device is configured to control the operation of the pair of arms such that the pair of distal end portions hold the ingredient in an inner side between the distal end portions in a state of facing each other, and the pair of distal end portions release the ingredient held in the inner side between the distal end portions in a state of being separated from each other. 1. A food holding apparatus configured to hold or release an ingredient , the food holding apparatus comprising:a base portion;a pair of arms drivably attached to the base portion;a pair of distal end portions respectively provided to distal ends of the pair of arms; anda control device configured to control an operation of the pair of arms, whereinthe control device is configured to control the operation of the pair of arms such that the pair of distal end portions hold the ingredient in an inner side between the pair of distal end portions in a state of facing each other, and the pair of distal end portions release the ingredient held in the inner side between the pair of distal end portions in a state of being separated from each other.2. The food holding apparatus according to claim 1 , whereinthe pair of distal end portions include recesses,the recesses form a hollow portion in a state of facing each other, andthe ingredient is held in an inner side of the hollow portion.3. The food holding apparatus according to claim 2 , whereineach recess is formed in a hemispherical shape, andthe hollow portion is formed in a spherical shape.4. The food holding apparatus according to claim 1 , whereinthe pair of distal end portions are ...

A GRIPPER DEVICE AND A METHOD FOR PICKING UP AND RE-POSITIONING AN ITEM CARRIED BY A SUPPORT SURFACE

This invention relates to a pick and place gripper device and a method for picking up and re-positioning an item carried by a support surface. The gripper device includes a base, at least one jaw pivotally mounted to the base having at least one leading edge, at least one belt of flexible material being wrapped around at least the leading edge of the at least one jaw such that it is sandwiched between the at least one jaw and the item when the at least one jaw penetrates below the item and as the at least one jaw moves below the item there is substantially no relative sliding movement between the sandwiched portion of the at least one belt and the item, wherein the leading edge of the at least one jaw, when coming into contact with the support surface, is configured to adjust to the support surface when penetrating between the item and the support surface. 116.-. (canceled)17. A pick and place gripper device for picking up and re-positioning an item carried by a support surface , comprising: at least one jaw pivotally mounted to the base having at least one leading edge,', 'at least one belt of flexible material being wrapped around at least the leading edge of the at least one jaw such that at least part of the at least one belt becomes sandwiched between the at least one jaw and the item when the at least one jaw penetrates below the item, where the at least one belt is arranged such that when the at least one jaw moves below the item there is substantially no relative sliding movement between the sandwiched part of the at least one belt and the item,, 'a base,'}wherein the at least one leading edge of the at least one jaw, when coming into contact with the support surface, is configured to adjust to the support surface when penetrating between the item and the support surface.18. The pick and place gripper device according to claim 17 , wherein the at least one jaw comprises a first part and a second part interconnected together claim 17 , the first part ...

COOKING ARM, MEASURING METHOD, AND ATTACHMENT FOR COOKING ARM

The present technique relates to a cooking arm, a measuring method, and an attachment for a cooking arm, which makes it possible to easily measure an aroma of an ingredient serving as a target of cooking. The cooking arm according to an aspect of the present technique causes a suction unit to suck an aroma of an ingredient serving as a target of a cooking operation performed by the cooking arm, and causes an aroma sensor to measure the aroma sucked by the suction unit in accordance with the cooking operation. The present technique can be applied to a system kitchen having a robot function. 1. A cooking arm comprising:a suction unit configured to suck an aroma of an ingredient serving as a target of a cooking operation performed by the cooking arm; andan aroma sensor configured to measure the aroma sucked by the suction unit in accordance with the cooking operation.2. The cooking arm according to claim 1 , wherein the cooking operation is performed in accordance with recipe data in which information on a cooking process is described.3. The cooking arm according to claim 2 , wherein the recipe data is data in which aroma information indicating the aroma measured with progress of cooking by a cook and cooking operation information indicating the cooking operation to be performed by the cooking arm are linked.4. The cooking arm according to claim 3 , wherein the cooking operation is executed such that the aroma measured by the aroma sensor comes closer to the aroma represented by the aroma information included in the recipe data.5. The cooking arm according to claim 4 , wherein the cooking operation is executed such that a difference between the aroma measured by the aroma sensor and the aroma represented by the aroma information included in the recipe data is equal to or less than a threshold.6. The cooking arm according to claim 2 , further comprising a control unit configured to control operations of the suction unit and the aroma sensor in accordance with the recipe ...

AUTOMATED FOOD PREPARATION AND PACKAGING SYSTEMS, METHODS, AND APPARATUS

The automated assembly and manufacture of a submarine sandwich includes a number of robots that are used to slice, open, and add inputs to a roll of bread. The inputs may be sliced and portioned at individual stations and then the inputs can be delivered to the bread or the bread can be conveyed to the inputs. In either sense, the selected inputs are added to the bread, based on the type of sandwich to be assembled. The assembled sandwich is then conveyed to a packaging station, where the sandwich is packaged, labeled, and prepared for shipment. 1. An automated submarine sandwich assembly method , the method comprising:slicing, with an automated slicer, a piece of bread into a top portion and a bottom portion;moving the top portion and the bottom portion of the bread via an automated conveyor;adding, with an automated picker robot, one or more inputs to the top or bottom portion of the bread, wherein the one or more inputs comprise sandwich components to create an assembled sandwich;moving the assembled sandwich, via the automated conveyor, to an automated packaging system; andpackaging, via the automated packaging system, the assembled sandwich.2. The automated method of claim 1 , further comprising placing the top portion of the bread on the bottom portion and one or more inputs to assemble the assembled sandwich before moving the assembled sandwich to the automated packaging system.3. The automated method of claim 2 , wherein the step of placing the top portion of the bread on the bottom portion and one or more inputs comprises using an automated picker robot to pick the top portion of the bread and to place it on the bottom portion and one or more inputs.4. The automated method of claim 1 , further comprising sensing claim 1 , with one or more sensors claim 1 , a quality control of the assembled sandwich before moving the assembled sandwich to the automated packaging system.5. The automated method of claim 4 , further comprising redirecting a rejected assembled ...

METHOD AND SYSTEM FOR MANAGING DAIRY ANIMALS

A living area includes a lying and eating area and a milking area. The living area is connected to a separation area by a selection device. A subgroup of dairy animals to be separated is determined together with a desired end time at which the dairy animals to be separated should be present in the separation area. For each individual dairy animal from the subgroup to be separated, an individual separation period is determined separately which runs from the individually determined start time until the end time. A dairy animal which walks to the selection device is guided by the selection device to the separation area if the dairy animal belongs to the subgroup of dairy animals to be separated and if said dairy animal is present at the selection device during the individual separation period determined for said dairy animal. The activity of each dairy animal in the group of dairy animals is observed by an observation system while the dairy animal is in the lying and eating area. The individual separation period of each individual dairy animal from the subgroup to be separated depends on the activity of said dairy animal observed by the observation system. 1. A method for managing a group of dairy animals in a system for keeping dairy animals , wherein the system comprises:a living area such as a stable which comprises a lying and eating area and a milking area, wherein the milking area is provided with a milking station for automatic milking of a dairy animal;a selection device;a separation area which is separate from the living area and is connected to the living area by means of the selection device;wherein the method comprises the steps of:determining a subgroup of dairy animals to be separated from the group of dairy animals;determining an end time at which it is desired that the one or more dairy animals of the subgroup to be separated is/are present in the separation area;determining separately an individual separation period for each individual dairy animal ...

METHOD AND SYSTEM OF PROVIDING SERVICE BY CONTROLLING ROBOT IN SERVICE AREA, AND ROBOT IMPLEMENTING THEREOF

The present disclosure relates to a method for providing service by controlling robots within a service area and a robot implementing the method, and according to an embodiment of the present disclosure, a system of providing service by controlling robots within the service area include a control server configured to receive customer information on customer seated at a table within the service area and ordered menu item information from a guide robot or a table robot disposed in the service area and transmit, to a cooking robot, the received information and cooking instruction information generated based on a situation of a plurality of orders placed within the service area and a plurality of robots. 1. A system of providing service by controlling robots within a service area , comprising:a control server configured to receive customer information on customer seated at a table within the service area and ordered menu item information from a guide robot or a table robot disposed in the service area and transmit, to a cooking robot, the received information and cooking instruction information generated based on situations of a plurality of orders placed within the service area;a guide robot configured to move within the service area and guide the customer to a specific table;a serving robot configured to move food completed by the cooking robot to a table from which the order was received; anda table robot disposed on the table and configured to receive ordered menu item information and output information on a situation in which the cooking robot cooks or the food delivered by the serving robot as voice information or visual information.2. The system of providing the service by controlling the robots within the service area ,wherein the guide robot is configured to approach to the customer entering the service area to confirm reservation or guide the customer to the table andwherein the table robot is configured to receive the customer information provided by the ...

DISH PERCEPTION, PLANNING AND CONTROL FOR ROBOTS

A system and method for perceiving a dish, planning its handling, and controlling its motion, comprising: capturing at least one image of a region disposed to comprise said dish using at least one camera; classifying said image using a dish detection model to determine the presence of a dish; classifying said image using a dish identification model to determine the type of said dish; estimating the position and orientation of said dish using a dish localization model; picking up, holding, or dropping off said dish securely using said type, position, and orientation of said dish with a robotic arm, whereby said dish is detected, identified, and localized to securely move it from one location to another. 2. The system of claim 1 , wherein said processor estimates the type claim 1 , position claim 1 , and orientation of a plurality of dishes.3. The system of claim 1 , wherein said dish is an article that makes contact with a food or a drink while preparing claim 1 , serving claim 1 , consuming claim 1 , or storing of the food or the drink.4. The system of claim 1 , wherein said dish is inside a cabinet.5. The system of claim 4 , wherein at least one camera is mounted on the ceiling of said cabinet.6. The system of claim 4 , wherein at least one camera is mounted outside said cabinet such that said dish is visible in said image through a substantially transparent window or an opening of said cabinet.7. The system of claim 1 , wherein said robotic arm positions and orients an end effector based on said type claim 1 , position claim 1 , and orientation of said dish.8. The system of claim 7 , wherein said end effector comprises at least two movable fingers or a vacuum suction cup to grip said dish.9. The system of claim 1 , wherein at least one camera captures an image at a different wavelength than at least one other camera.10. The system of claim 1 , further comprising a light source for illuminating said region disposed to comprise said dish.11. The system of claim 10 , ...

MODULAR ROBOTIC FOOD PREPARATION SYSTEM AND RELATED METHODS

A modular robotic kitchen system is conveniently adaptable to perform a wide range of cooking applications. The modular robotic kitchen system can include a plurality of discrete modular units organized in a small footprint such that multiple types of cooking applications can be performed without a need to replace the modular units. Exemplary modular units include an ingredient module, robotic arm module, assembly and packaging module, and warming module. Optionally a transport unit or sled moves the modules into position. The modular kitchen system includes a central processor operable to carry out different cooking applications upon downloading software corresponding to the specific cooking application and without retooling the existing modules. Related methods are also described. 1. A modular robotic kitchen system for preparing food items in combination with at least on kitchen appliance in a commercial or restaurant kitchen , the modular robotic kitchen system comprising:a main kitchen module, the main kitchen module comprising a cart, a first robotic arm arranged on the cart, and a shielded workspace;at least one sub kitchen module, wherein each of said at least one sub kitchen module comprises a cart and a shielded workspace, and wherein each sub kitchen module being arranged within reach of the robotic arm and selected from the group consisting of an ingredient unit, assembly unit, packaging unit, and pick-up unit; anda central processor operable to compute and provide directions to the first robotic arm to prepare a food item using any one or more of the sub kitchen modules in combination with the kitchen appliance.2. The modular robotic kitchen system of claim 1 , wherein the at least one sub kitchen module comprises the ingredient unit located adjacent the main module claim 1 , and the ingredient unit adapted for holding multiple food items in separate areas accessible by the robotic arm claim 1 , wherein at least one separate area is temperature ...

Housing and joint mechanism

A housing includes: a housing body that contains at least one electromechanical or mechanical component, the housing body including a front plate and a pair of side plates, the plates being connected to a bottom plate in such a manner that the housing body includes an opening; a cover for closing the opening; and a gasket interposed between an edge portion of the housing body and an edge portion of the cover to tightly close an inside of the housing body. An edge portion of each of the side plates has a curved shape.

TRAY ASSEMBLY

A tray assembly is provided. The tray assembly includes a first tray configured to be mounted to a robot; and a second tray provided above the first tray and configured to be rotatably coupled to the first tray. The second tray includes at least one first rolling member provided on a lower surface of the second tray, which faces the first tray, and an elastic member having at least one end which is fixedly connected to the lower surface. When the second tray is rotated relative to the first tray, the second tray is configured to be returned to its original position by virtue of a restoring force of the elastic member of the second tray. 1. A tray assembly , comprising:a first tray configured to be mounted to a robot; anda second tray provided above the first tray and configured to be rotatably coupled to the first tray,wherein the second tray comprises at least one first rolling member provided on a lower surface of the second tray, which faces the first tray, and an elastic member having at least one end which is fixedly connected to the lower surface, andwherein when the second tray is rotated relative to the first tray, the second tray is configured to be returned to its original position by virtue of a restoring force of the elastic member of the second tray.2. The tray assembly of claim 1 , wherein the first tray comprises an elastic member mounting portion formed on an upper surface of the first tray claim 1 , which faces the second tray claim 1 , to protrude toward the second tray claim 1 , andwherein the elastic member of the second tray is mounted to the elastic member mounting portion of the first tray, so that the restoring force is applied to the second tray when the second tray is rotated relative to the first tray.3. The tray assembly of claim 2 , wherein the elastic member of the second tray comprises a plurality of tension springs claim 2 , and the plurality of tension springs are mounted to the elastic member mounting portion so as to enclose the ...

Draft handler system

The invention relates to a draft handler. The draft handler has a tool stem adapter for coupling to a robotic arm, and has a spatula for lifting a draft product and an elastomeric band for gripping the draft product. The robotic arm moves the draft handler to pick up the draft product in a first orientation from a first conveyor assembly, and to place the draft product on a second conveyor assembly, optionally in a second orientation.

HANDHELD TOOL FOR LEVELING UNCOORDINATED MOTION

A handheld tool includes a handle for holding by a user, an attachment arm extending from the handle that is configured to connect to a user-assistive device, a first inertial measurement unit (“IMU”) mounted to the attachment arm to acquire measurements of one or more of a motion or an orientation of the user-assistive device and to generate feedback data indicative of the measurements, an actuator assembly coupled to manipulate the user-assistive device via the attachment arm in at least two orthogonal dimensions, and a motion control system coupled to receive the feedback data from the first IMU and coupled to provide commands to the actuator assembly to provide auto-leveling of the user-assistive device to a frame of reference while the user manipulates the handheld tool. 1. At least one machine-accessible storage medium that provides instructions that , when executed by a handheld tool , will cause the handheld tool to perform operations comprising:measuring at least one of a motion or an orientation of a user-assistive device mounted to a distal end of the handheld tool with an inertial measurement unit (“IMU”);outputing feedback data from the IMU based upon the measuring;monitoring the feedback data in real-time with a motion control system at least partially disposed within a handle of the handheld tool; andcontrolling an actuator assembly with the motion control system, wherein the actuator assembly is coupled to manipulate the user-assistive device in at least two orthogonal dimensions to provide auto-leveling of the user-assistive device to a frame of reference while a user manipulates the handheld tool.2. The at least one machine-accessible storage medium of claim 1 , wherein the at least two orthogonal dimensions comprise two rotational axes including a pitch axis and a roll axis.3. The at least one machine-accessible storage medium of claim 2 , wherein controlling the actuator assembly with the motion control system to provide auto-leveling comprises: ...