US 11,912,449 B2
Article gripping system
Hiroshi Okano, Ritto (JP); Shuichi Maeda, Ritto (JP); Yuki Furukawa, Ritto (JP); Masaaki Hojo, Ritto (JP); Akihito Suzuki, Ritto (JP); and Kousuke Watanabe, Ritto (JP)
Assigned to ISHIDA CO., LTD., Kyoto (JP)
Appl. No. 17/791,506
Filed by ISHIDA CO., LTD., Kyoto (JP)
PCT Filed Mar. 16, 2021, PCT No. PCT/JP2021/010571
§ 371(c)(1), (2) Date Jul. 7, 2022,
PCT Pub. No. WO2021/187470, PCT Pub. Date Sep. 23, 2021.
Claims priority of application No. 2020-049144 (JP), filed on Mar. 19, 2020.
Prior Publication US 2023/0140538 A1, May 4, 2023
Int. Cl. B65B 35/16 (2006.01); B25J 15/00 (2006.01); B65B 43/59 (2006.01); B65G 47/90 (2006.01)
CPC B65B 35/16 (2013.01) [B25J 15/0028 (2013.01); B25J 15/0052 (2013.01); B65B 43/59 (2013.01); B65G 47/901 (2013.01)] 15 Claims
OG exemplary drawing
 
1. An article gripping system that grips and discharges articles from an article group stored in a container, the article gripping system comprising:
a plurality of gripping units that grip the articles;
a weigher that measures a weight value of the articles;
a drive unit that moves at least one of the container and the gripping units relative to the other; and
a control unit that controls the drive unit to move at least one of the container and the gripping units to thereby switch a positional relationship between the container and one of the gripping units between a first positional relationship in which the container obstructs discharge of the articles gripped by the one of the gripping units and a second positional relationship in which the container does not obstruct discharge of the articles gripped by the one of the gripping units, wherein
when the one of the gripping units grips the articles in the state of the first positional relationship, in a case the controller decides to return the articles gripped by the gripping unit to the container without discharging the articles based on the weight value, the controller causes the gripping unit to return the articles gripped by the gripping unit to the container without changing the first positional relationship, and further in a case the controller decides to discharge the articles gripped by the gripping unit to downstream based on the weight value, the controller changes the positional relationship to the second position relationship from the first positional relationship.