Method for automatically transferring spouted pouches and automatic pouch transferring assembly

Patent metadata

Field	Value
Publication number	US-11542106-B2
Application number	US-202016825002-A
Country	US
Kind code	B2
Filing date	Mar 20, 2020
Priority date	Mar 21, 2019
Publication date	Jan 3, 2023
Grant date	Jan 3, 2023

Abstract

A method for automatically transferring spouted pouches provides a simple, efficient approach for automatically loading spouted pouches from a container to a belt conveyor. And, an automatic pouch transferring assembly is also provided.

First claim

What is claimed is:

1. A method for automatically transferring pouches comprising:
(a) providing a plurality of pouches that are arranged into multiple stacks and placed inside a container, a robotic system comprising an imaging unit, a robotic arm and a control, and a receiving system,
wherein each of said plurality of pouches comprises a spout,
wherein said plurality of pouches comprises at least one pouch with a spout that is visible to said imaging unit;
(b) scanning an image of said plurality of pouches by using said imaging unit of said robotic system;
(c) detecting at least one feature of said visible spout in said scanned image to determine a location of said visible spout by using said control of said robotic system; and
(d) gripping at least one stack including said at least one pouch according to said determined location of said visible spout and transferring said at least one stack from said container to said receiving system by using said robotic arm
wherein each pouch within said plurality of pouches has a top edge, a bottom edge that is opposite to the top edge, a first side edge and a second side edge that is opposite to the first side edge, and
wherein said plurality of pouches are arranged in (a) so that:
i) any two adjacent pouches in the same stack partially overlap with each other;
ii) the top edges of pouches in the same stack are substantially parallel to each other, and the bottom edges of pouches in the same stack are substantially parallel to each other;
iii) the first side edges of the same stack are substantially parallel to each other, and the second side edges of the same stack are substantially parallel to each other; and
iv) centroids of spouts in the same stack are spaced apart at substantially equal distance from each other and form a substantially straight line; and

wherein said multiple stacks are arranged in (a) so that spouts of pouches in only one stack within any two adjacent stacks are visible to said imaging unit, and spouts of pouches in the other stack within said any two adjacent stacks are not visible to said imaging unit; and
wherein the number of stacks provided in (a) is an even number; or
wherein the number of stacks provided in (a) is an odd number and the multiple stacks comprises a first stack and a last stack that are both visible to said imaging unit.

2. The method according to claim 1 , wherein said at least one feature comprises at least two contour lines.

3. The method according to claim 1 , wherein said multiple stacks are arranged in (a) so that spouts of pouches in each stack are visible to said imaging unit.

4. The method according to claim 1 , wherein said receiving system comprises a rotating table with a first end and a second, opposite end, a vacuum suction device comprising a vacuum pump and a sponge attached thereto, and a conveyor that is connectable to the first or second end of said rotating table, wherein two stacks are gripped by said robotic arm and transferred to said rotating table in (d), followed by:
(e) connecting the first end of said rotating table to said conveyor and transferring one of said two stacks from said rotating table to said conveyor by using said vacuum suction device;
(f) rotating said rotating table to connect the second, opposite end of said rotating table to said conveyor; and
(g) transferring the other of said two stacks from said rotating table to said conveyor by using said vacuum suction device.

5. The method according to claim 4 , wherein:
each of said plurality of pouches has a Pouch Length within the range of from 50 mm to 1000 mm; and/or
each stack has a Stack Length within the range of from 60 mm to 2000 mm; and/or
each stack comprises from 3 to 20 pouches;
and/or Non-overlapping Area Percentage between any two adjacent pouches in each stack is within the range of from 3% to 50%; and/or said vacuum suction device has a Suction Height within the range of from 5 mm to 400 mm; and/or the ratio of Suction Height to Pouch Length is within the range of from 0.1 to 0.4.

6. The method according to claim 1 , wherein said robotic system is a collaborative robotic system, wherein said collaborative robotic system has a footprint of from 1 cm to 100 cm, and/or a reach radius of from 30 cm to 1000 cm, and/or a payload of from 3 kg to 100 kg.

7. The automatic pouch transferring assembly of claim 1 , wherein said at least two contour lines are selected from the group consisting of a straight line, a curved line, a bent line and any combinations thereof.

8. The automatic pouch transferring assembly of claim 1 , wherein said at least two contour lines include one curved line having a curvature of more than 0 and another curved line having a curvature of less than 0.

9. The automatic pouch transferring assembly of claim 1 , wherein said at least two contour lines include one curved line that is a part of a top border of the visible spout in the image and another curved line that is a part of a bottom border of the visible spout in the image.

Assignees

• Procter & Gamble

Inventors

• Xia Peiliu
• Fan fuzhou

Classifications

• B25J9/1612

  characterised by the hand, wrist, grip control · CPC title

• B65G47/91 Primary

  incorporating pneumatic, e.g. suction, grippers · CPC title

• B65D33/001 Primary

  Blocks, stacks or like assemblies of bags · CPC title

• G05B2219/39102

  Manipulator cooperating with conveyor · CPC title

• B65B43/16

  by grippers · CPC title