Title:
FOOD PRODUCT PACKAGING SYSTEM, FOOD PRODUCT PACKAGING DEVICE, AND FOOD PRODUCT PACKAGING METHOD
Document Type and Number:
WIPO Patent Application WO/2019/167700
Kind Code:
A1
Abstract:
A food product packaging system 1 comprises: a food product packaging device 4 including a hand body 40, a plurality of finger parts 60A, 60B, a grip motor 80 for bringing the plurality of finger parts 60A, 60B close to each other or separating the finger parts 60A, 60B from each other, and a robot arm 10 for changing the position and the orientation of the hand body 40; and a robot controller 200 for controlling the food product packaging device 4. The robot controller 200 includes: a picking control unit 214 for causing the plurality of finger parts 60A, 60B to be arranged at such positions as to be capable of gripping a food product W1 which is to be packaged, and causing the plurality of finger parts 60A, 60B to come close to each other until the food product W1 is gripped therebetween; a placement control unit 215 for causing the plurality of finger parts 60A, 60B having gripped the food product W1 therebetween to advance into a box B1 so as to dispose the food product W1 in the box B1, and causing the plurality of finger parts 60A, 60B to separate from each other; and a gripping force control unit 216 for controlling the force of the grip motor 80.
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Inventors:
WATANABE SHOTA (JP)
YAMAGUCHI GO (JP)
HAMAZAWA MOTOHIRO (JP)
YAMAGUCHI GO (JP)
HAMAZAWA MOTOHIRO (JP)
Application Number:
PCT/JP2019/005896
Publication Date:
September 06, 2019
Filing Date:
February 18, 2019
Export Citation:
Assignee:
YASKAWA ELECTRIC CORP (JP)
International Classes:
B25J13/00; B25J15/08; B65B5/08; B65B25/04; B65B35/16; B65G47/30
Foreign References:
| JPH0965838A | 1997-03-11 | |||
| JPH08323678A | 1996-12-10 | |||
| JPS6374115U | 1988-05-18 | |||
| JPH01170209U | 1989-12-01 | |||
| JP2015166122A | 2015-09-24 | |||
| JPS5048650A | 1975-04-30 | |||
| JP2016060004A | 2016-04-25 | |||
| JP2003165617A | 2003-06-10 | |||
| JPS6042387U | 1985-03-25 | |||
| JPH03125468U | 1991-12-18 | |||
| JP2003128002A | 2003-05-08 | |||
| JPH0663291U | 1994-09-06 | |||
| JPS5036361Y1 | 1975-10-23 |
Attorney, Agent or Firm:
HASEGAWA Yoshiki et al. (JP)
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