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1. 发明申请

WO2022194701A1 A GRIPPER DEVICE CONFIGURED TO BE ATTACHED TO A ROBOTIC DEVICE AND TO PICK UP A FOOD PRODUCT FROM A PICK UP AREA AND TO RELEASE IT FROM A RELEASING LOCATION TO A RECEIVING LOCATION 审中-公开
公开(公告)号：WO2022194701A1
公开(公告)日：2022-09-22
申请号：PCT/EP2022/056325
申请日：2022-03-11
申请人： MAREL A/S
发明人： DALGAARD, Jens Kongensholm
IPC分类号： B25J11/00 , B25J15/00
摘要： Picking up a food product from a pick up area and release it from a releasing location to a receiving location using a gripper device having a first jaw (101, 201) and a second jaw (102,202), each having a leading edge (104, 105), the jaws being configured to be moved by a moving mechanism (103) relative to each other from a gripping position to an open position where there is a suitable opening between the leading edges so that the food product (209) may be controllably released from the gripper device (100), and vice versa, by moving the gripper device to a gripping position and picking up the food product, followed by moving the gripper device to the releasing location and releasing the food product at the releasing location to the receiving location by means of moving the first jaw (101, 201) relative to the second jaw from the gripping position to the open position such that one side (208) of the food product (209) is un-supported from the first jaw (101,102) while an other side (207) of the food product (209) is temporarily resting on the second jaw (102,202) so as to cause a tilting of the food product around a longitudinal axis (205) of the food product (209) when releasing the food product to the receiving location.

2. 发明申请

WO2022254030A1 A GRIPPER AND A METHOD OF USING A ROBOT WITH THE GRIPPER 审中-公开
公开(公告)号：WO2022254030A1
公开(公告)日：2022-12-08
申请号：PCT/EP2022/065240
申请日：2022-06-03
申请人： MAREL A/S
发明人： DALGAARD, Jens Kongensholm
IPC分类号： B25J11/00 , B25J15/00 , B25J15/02
摘要： A gripper (1) for gripping an item (2), particularly a plate shaped item. The gripper (1) comprises a base (4), and a first jaw member (5) and a second jaw member (6) movable to grip the item. To ensure release of the item from the jaw members and thereby precise delivery of the item, the gripper comprises a guard structure forming contact surfaces located such that inner surfaces of the other jaw member moves between positions on opposite sides of the contact surface when the item is gripped and released.

3. 发明公开

EP4098411A1 A GRIPPER AND A METHOD OF USING A ROBOT WITH THE GRIPPER 审中-实审
公开(公告)号：EP4098411A1
公开(公告)日：2022-12-07
申请号：EP21177791.7
申请日：2021-06-04
申请人： Marel A/S
发明人： DALGAARD, Jens Kongensholm
IPC分类号： B25J11/00 , B25J15/00 , B25J15/02
摘要： A gripper (1) for gripping an item (2), particularly a plate shaped item. The gripper (1) comprises a base (4), and a first jaw member (5) and a second jaw member (6) movable to grip the item. To ensure release of the item from the jaw members and thereby precise delivery of the item, the gripper comprises a guard structure forming contact surfaces located such that inner surfaces of the other jaw member moves between positions on opposite sides of the contact surface when the item is gripped and released.

4. 发明公开

EP4035849A1 GRIPPER 无效
公开(公告)号：EP4035849A1
公开(公告)日：2022-08-03
申请号：EP21154228.7
申请日：2021-01-29
申请人： Marel A/S
发明人： DALGAARD, Jens Kongensholm
IPC分类号： B25J15/02 , B25J15/00 , B25J11/00
摘要： A gripper (10) for picking up and re-positioning an item (2), comprising: a base (4), a first jaw member (5), and a second jaw member (6) which can grip the item. To stabilize the position of the item when gripped by the jaw members, the gripper comprises a pinching assembly with a first pinching structure (11) and a second pinching structure (12) movable relative to each other to pinch the item between inward surfaces of the pinching structures.

5. 发明授权

EP3178742B1 A PICK AND PLACE GRIPPER DEVICE FOR PICKING UP AND RE-POSITIONING A DEFORMABLE FOOD ITEM AND A METHOD OF DOING THE SAME 有权
公开(公告)号：EP3178742B1
公开(公告)日：2019-04-17
申请号：EP15198410.1
申请日：2015-12-08
申请人： Marel A/S
发明人： PEDERSEN, Bjørn Heide , HUNDTOFTE, Niels , DALGAARD, Jens Kongensholm
IPC分类号： B65B25/00 , B65B35/16 , B65G47/90 , B65B5/10

6. 发明公开

EP3178742A1 A PICK AND PLACE GRIPPER DEVICE FOR PICKING UP AND RE-POSITIONING A DEFORMABLE FOOD ITEM AND A METHOD OF DOING THE SAME 有权
标题翻译：射击和ABSETZGREIFERVORRICHTUNG用于接收及其调整地实现可变形食品项目和方法
公开(公告)号：EP3178742A1
公开(公告)日：2017-06-14
申请号：EP15198410.1
申请日：2015-12-08
申请人： Marel A/S
发明人： PEDERSEN, Bjørn Heide , HUNDTOFTE, Niels , DALGAARD, Jens Kongensholm
IPC分类号： B65B25/00 , B65B35/16 , B65G47/90 , B65B5/10
CPC分类号： B65B35/16 , A22C17/0093 , A22C25/08 , B65B5/105 , B65B25/00 , B65G47/90 , B65G2201/0202
摘要： This invention relates to a pick and place gripper device for picking up and re-positioning a deformable food item carried by a support surface. A pair of jaws is provided configured to move by a first moving means from an open position to a closed position, and vice versa, where the jaws are designed such that in the closed position the jaws define a cavity for shaping and carrying the deformable food item where the cavity comprises a side wall and a bottom. The pick and place gripper device further includes a frame structure arranged between the jaws comprising an outer frame and a top frame where the outer frame essentially follows the shape of the side wall of the cavity, wherein after picking up the deformable food item by the jaws, the frame structure is configured to move downwards by a second moving means towards the deformable food item such that the outer frame moves between the side wall and the deformable food item and supplies a pressure onto the deformable food item causing the deformable food item to be at least partly compressed into the frame structure where it is retained in a compact pre-shaped form,
wherein when releasing the deformable food item from the jaws are moved from the closed position to the open position while the frame structure preserves the deformable food item in the compact pre-shaped form, wherein the frame structure subsequently moves down to a stop position causing a releasing of the deformable food item in the compact pre-shaped form at the re-positioning position.
摘要翻译：本发明涉及一种拾取和放置夹持装置用于拾取并重新定位由支撑表面承载的可变形的食品项目。一对夹爪，提供配置成通过第一移动来移动从打开位置到闭合位置，反之亦然，其中，夹爪被设计成在闭合位置的夹爪限定空腔用于成形和运送所述可变形食物搜索那样的手段其中所述腔包括一个侧壁和一个底部的项目。拾取和放置夹持器装置还包括夹爪，其包括外框架，并且其中所述外框架基本上遵循腔体的侧壁的形状的顶部帧的之间布置在框架结构中，通过夹爪拾取变形食品项目之后worin 中，帧结构被配置成由第二移动向下移动装置朝向检测所做的侧壁和所述可变形的食品项目之间的外框架移动所述可变形的食品项目，并提供一个压力施加到所述可变形食物引起变形食品项目是至少部分地压缩成在那里保持在紧凑的预成型形式的帧结构，worin当释放从钳口可变形食品从关闭位置到打开位置的移动，而帧结构保留在所述可变形的食品项目紧凑的预成形的形状，worin帧结构随后向下移动到停止位置，从而引起释放的可变形的食物它 EM在紧凑预成型形式在重新定位的位置。

7. 发明公开

EP4368354A1 A SUCTION GRIPPER FOR MOVING FOOD ITEMS 审中-公开
公开(公告)号：EP4368354A1
公开(公告)日：2024-05-15
申请号：EP22206482.6
申请日：2022-11-09
申请人： Marel A/S
发明人： DALGAARD, Jens Kongensholm
IPC分类号： B25J15/06
CPC分类号： B25J15/0675
摘要： A suction gripper (1) comprising:
- a tube element (2) comprising an internal sidewall defining an internal conduit (3) extending from a suction inlet (5) to an exhaust outlet (6), and
- a supply conduit extending between a supply port and a first ejector nozzle (8) arranged to eject air into the conduit,
wherein the internal conduit defines a suction section (10) extending from the suction inlet to an intermediate position (9), and an exhaust section (11) extending from the intermediate position to the exhaust outlet (6). To enable easy manufacturing, to facilitate manufacturing of at least the tube element in one piece and to facilitate easy cleaning, the suction section and the exhaust section share a continuously extending centre line (12) extending through the intermediate position.

8. 发明公开

EP4098410A1 A GRIPPER AND A METHOD OF USING A ROBOT WITH THE GRIPPER 无效
公开(公告)号：EP4098410A1
公开(公告)日：2022-12-07
申请号：EP21177788.3
申请日：2021-06-04
申请人： Marel A/S
发明人： DALGAARD, Jens Kongensholm
IPC分类号： B25J11/00 , B25J15/00 , B25J15/02
摘要： A gripper (1) for gripping an item (2), particularly a plate shaped item. The gripper (1) comprises a base (4), and a first jaw member (5) and a second jaw member (6) movable to grip the item. To ensure precise gripping, particularly relative to plate shaped items, the gripper comprises a scraper attached to each jaw member and capable of scraping along the support surface where the item is lifted from.

9. 发明公开

EP3260400A1 A VACUUM SYSTEM ADAPTED TO BE USED AS A VACUUM SOURCE FOR AT LEAST ONE GRIPPER DEVICE 审中-公开
标题翻译：一个真空系统适合用作至少一个抓取装置的真空源
公开(公告)号：EP3260400A1
公开(公告)日：2017-12-27
申请号：EP17177633.9
申请日：2017-06-23
申请人： Marel A/S
发明人： DALGAARD, Jens Kongensholm
IPC分类号： B65G47/91 , B25J15/06 , B25J11/00
CPC分类号： B25J15/0616 , B25J11/0045 , B25J15/0658 , B65G47/91
摘要： This invention relates to a vacuum system adapted to be used as a vacuum source for at least one gripper device for picking up a food item at a first position and releasing it at a second position, comprising a first housing comprising a first aperture (102) and a second aperture, a first piston head arranged within the first housing, a force source device, a piston rod extending through the first aperture, the piston rod having a first end connected to the first piston head and a second end connected to the force source device, wherein the second aperture is configured to connect to the at least one gripper device, the force source device being configured to operate a back and forth movement of the piston head within the first housing and thus to operate the pressure at the second aperture and thus at the at least one gripper device when picking up and releasing the food item.
摘要翻译：本发明涉及一种真空系统，其适于用作至少一个夹具装置的真空源，用于在第一位置拾取食物并在第二位置释放食物，包括第一外壳和第二外壳，第一外壳包括第一孔（102）以及第二孔，布置在所述第一壳体内的第一活塞头，力源装置，延伸穿过所述第一孔的活塞杆，所述活塞杆具有连接到所述第一活塞头的第一端和连接到所述力的第二端，其中所述第二孔被构造成连接至所述至少一个夹持装置，所述力源装置构造成操作所述活塞头在所述第一壳体内的往复运动，并因此操作所述第二孔口处的压力并因此在拾取和释放食物时在至少一个夹具装置上。

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