| 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 |
