US 12,005,566 B2
On-demand robotic food assembly equipment, and related systems and methods
Joshua Gouled Goldberg, San Carlos, CA (US); Vaibhav Goel, San Carlos, CA (US); Alexander John Garden, San Carlos, CA (US); and Robert Eugene Switek, San Carlos, CA (US)
Assigned to Congruens Group, LLC, San Carlos, CA (US)
Appl. No. 16/756,105
Filed by Congruens Group, LLC, San Carlos, CA (US)
PCT Filed Oct. 16, 2018, PCT No. PCT/US2018/056144
§ 371(c)(1), (2) Date Apr. 14, 2020,
PCT Pub. No. WO2019/079345, PCT Pub. Date Apr. 25, 2019.
Claims priority of provisional application 62/623,540, filed on Jan. 29, 2018.
Claims priority of provisional application 62/574,088, filed on Oct. 18, 2017.
Prior Publication US 2020/0238534 A1, Jul. 30, 2020
Int. Cl. G06F 17/00 (2019.01); A21C 9/08 (2006.01); A47J 44/00 (2006.01); B25J 5/00 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); B25J 11/00 (2006.01); B25J 15/00 (2006.01); B25J 15/02 (2006.01); B25J 17/02 (2006.01); B25J 19/02 (2006.01)
CPC B25J 11/0045 (2013.01) [A21C 9/08 (2013.01); A47J 44/00 (2013.01); B25J 5/00 (2013.01); B25J 9/0093 (2013.01); B25J 9/1612 (2013.01); B25J 15/0014 (2013.01); B25J 15/02 (2013.01); B25J 17/0241 (2013.01); B25J 19/02 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A system for use in an on-demand food preparation, the system comprising:
at least one robotic appendage having a proximate end and a distal end, the robotic appendage moveably coupled to a base at the proximate end of the robotic appendage and selectively moveable to position the distal end of the robotic appendage with respect to the base;
an end of arm tool carried by the at least one robotic appendage at least proximate the distal end of the at least one robotic appendage;
a first actuator, the first actuator operable to selectively translate the end of arm tool between a retracted position and an extended position, in the retracted position the end of arm tool spaced relatively toward the distal end of the at least one robotic appendage and in the extended position the end of arm tool spaced relatively away from the distal end of the at least one robotic appendage with respect to the retracted position,
wherein the end of arm tool comprises a peel that has an upper surface, a lower surface opposed across a thickness of the peel from the upper surface, the peel including a leading edge that extends across at least a portion of a width of the peel, and a training edge that extends across at least a portion of the width of the peel, the training edge opposed across a length of the peel from the leading edge; and
a push bar that extends substantially perpendicularly to the upper surface of the peel and across at least a portion of the upper surface of the peel, parallel to at least one of the leading edge or the trailing edge, the push bar being located proximate the trailing edge of the peel.