Bag-packing system

Patent metadata

Field	Value
Publication number	US-2016347487-A1
Application number	US-201515117655-A
Country	US
Kind code	A1
Filing date	Jan 30, 2015
Priority date	Feb 28, 2014
Publication date	Dec 1, 2016
Grant date	—

Abstract

A box-packing system having a first conveyor, a first robot that applies suction, holds, and transports a package, and a control device. The package includes soft packaging material, and is conveyed by the first conveyor. The control device operates the first robot to move the package to a box-packing preparation area. The first robot has a suction part applying suction the package from above, an arm that moves the suction part in a horizontal direction and a vertical direction, and a servomotor. The servomotor drives the arm so that the suction part can apply suction to the package at a predetermined vertical location. An acquisition part of the control device acquires thickness information of the package. The determination part determines the predetermined height location based the thickness information. The command generation part drives the servomotor in response to the predetermined height location determined by the determination part.

First claim

1 . A box-packing system comprising:
a conveyance apparatus; a robot configured to apply suction, hold, and transport an article packaged with a soft packaging material and conveyed by the conveyance apparatus; and a control device configured to control the robot to move the article to a box-packing preparation area, the robot having:
a suction part configured to apply suction to the article from above;
an arm configured to be able to move the suction part in a horizontal direction and a vertical direction; and
a drive part configured to drive the arm in order for the suction part to apply suction to the article at a predetermined vertical location,
the control device having:
an acquisition part configured to acquire thickness information of the article;
a determination part configured to determine the predetermined vertical location on the basis of the thickness information; and
a command generation part configured to generate a command configured to drive the drive part on the basis of the predetermined vertical location determined by the determination part.

2 . The box-packing system according to claim 1 , further comprising:
an evening part configured to flatly even and smooth out an upper surface of the article packaged with the soft packaging material, wherein the acquisition part configured to acquire the thickness information of the article evened by the evening part.

3 . The box-packing system according to claim 2 , wherein
the evening part has a seal check mechanism configured to inspect a bag produced of the soft packaging material for a sealing defect.

4 . The box-packing system according to claim 1 , wherein
the robot arranges the article in a box-pack placement in the box-packing preparation area.

5 . The box-packing system according to claim 1 , wherein
the command generation part generates: a first command configured to move the suction part to the predetermined height location to apply suction to the article with the suction part; and a second command configured to move the suction part in the horizontal direction to move the article to the box-packing preparation area in a state in which the article is held by suction by the suction part.

Assignees

• Ishida Seisakusho

Inventors

• Minamino Shizuo
• Watanabe Kousuke

Classifications

• B25J9/0093

  co-operating with conveyor means · CPC title

• B65B35/38

  by suction-operated grippers · CPC title

• B65B2220/18

  the primary packaging being bags the subsequent secondary packaging being rigid containers, e.g. cardboard box · CPC title

• B65B57/02

  responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages · CPC title

• B25J15/0616

  with vacuum · CPC title