US 12,419,467 B2
End of arm tool for robotic cooking system
Janis Poruks, Riga (LV); and Konstantins Korcjomkins, Riga (LV)
Assigned to Sia Roboeatz, Riga (LV)
Appl. No. 17/765,991
Filed by ROBOEATZ, SIA, Riga (LV)
PCT Filed Sep. 29, 2020, PCT No. PCT/LV2020/050005
§ 371(c)(1), (2) Date Apr. 1, 2022,
PCT Pub. No. WO2021/066638, PCT Pub. Date Apr. 8, 2021.
Claims priority of application No. P-19-52 (LV), filed on Oct. 3, 2019.
Prior Publication US 2022/0369676 A1, Nov. 24, 2022
Int. Cl. A23L 5/00 (2016.01); A47J 27/00 (2006.01); A47J 44/00 (2006.01); B25J 11/00 (2006.01); B25J 15/04 (2006.01)
CPC A47J 44/00 (2013.01) [A23L 5/00 (2016.08); A47J 27/004 (2013.01); B25J 11/0045 (2013.01); B25J 15/04 (2013.01)] 9 Claims
OG exemplary drawing
 
1. An end of arm tool for a robotic cooking system, the end of arm tool comprising:
a rotary actuator, a flexible coupling having an engaging part, a linear actuator, and a gripper operably connected with the linear actuator and designed to releasably grip an object; the flexible coupling is operably connected with the rotary actuator and the engaging part of the flexible coupling is adapted to be releasably engaged with an engagement means of a plurality of containers for holding a supply of an ingredient, so that at the engaged position the rotation of the flexible coupling causes rotation of the engagement means of the plurality of containers; wherein the flexible coupling is designed to compensate misalignment and/or ensure easy entering of the engaging part of the flexible coupling to the engagement means of the plurality of containers; wherein the gripper comprising two rods, directly or indirectly associated with load cells, adapted to provide a representation of a load on the gripper; each rod is further provided with a ledge having one or more recesses, designed to accommodate the object gripped by the gripper; the rods are further provided with heads, designed to be engaged with cavities on the object; and
wherein the engaging part of the flexible coupling is provided with cogs or equivalent means to facilitate engagement with respective engaging surfaces of the engagement means of the plurality of containers, wherein the engaging part of the flexible coupling has a tip, which is substantially of truncated cone shape, or of truncated pyramid shape, where an angle between an imaginary longitudinal axis of symmetry of the flexible coupling and a slant surface of the tip is from 30 to 60 degrees.