JP6626411B2 - 食品の詰め込み装置 - Google Patents

食品の詰め込み装置 Download PDF

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Publication number
JP6626411B2
JP6626411B2 JP2016112777A JP2016112777A JP6626411B2 JP 6626411 B2 JP6626411 B2 JP 6626411B2 JP 2016112777 A JP2016112777 A JP 2016112777A JP 2016112777 A JP2016112777 A JP 2016112777A JP 6626411 B2 JP6626411 B2 JP 6626411B2
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JP
Japan
Prior art keywords
food
unit
foods
pair
support member
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2016112777A
Other languages
English (en)
Japanese (ja)
Other versions
JP2017218268A (ja
JP2017218268A5 (enExample
Inventor
康彦 橋本
康彦 橋本
省吾 長谷川
省吾 長谷川
賢二 坂東
賢二 坂東
圭一 田中
圭一 田中
浩 片渕
浩 片渕
和範 平田
和範 平田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kawasaki Motors Ltd
Original Assignee
Kawasaki Jukogyo KK
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to JP2016112777A priority Critical patent/JP6626411B2/ja
Application filed by Kawasaki Jukogyo KK filed Critical Kawasaki Jukogyo KK
Priority to KR1020187038044A priority patent/KR102137192B1/ko
Priority to CN201780033126.0A priority patent/CN109153513B/zh
Priority to US16/307,613 priority patent/US20190161289A1/en
Priority to EP17810193.7A priority patent/EP3466847A4/en
Priority to PCT/JP2017/020428 priority patent/WO2017213015A1/ja
Priority to TW106118474A priority patent/TWI630159B/zh
Publication of JP2017218268A publication Critical patent/JP2017218268A/ja
Publication of JP2017218268A5 publication Critical patent/JP2017218268A5/ja
Application granted granted Critical
Publication of JP6626411B2 publication Critical patent/JP6626411B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0045—Manipulators used in the food industry
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0084—Program-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087—Dual arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B25J9/043—Cylindrical coordinate type comprising an articulated arm double selective compliance articulated robot arms [SCARA]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/16—Feeding, e.g. conveying, single articles by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/16—Feeding, e.g. conveying, single articles by grippers
    • B65B35/18—Feeding, e.g. conveying, single articles by grippers by suction-operated grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/36—Arranging and feeding articles in groups by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/06—Packaging groups of articles, the groups being treated as single articles
    • B65B5/068—Packaging groups of articles, the groups being treated as single articles in trays
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/02—Devices for feeding articles or materials to conveyors
    • B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
    • B65G47/06—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines
    • B65G47/08—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines spacing or grouping the articles during feeding
    • B65G47/084—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines spacing or grouping the articles during feeding grouping articles in a predetermined 2-dimensional pattern
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B25/00—Packaging other articles presenting special problems
    • B65B25/16—Packaging bread or like bakery products, e.g. unsliced loaves
    • B65B25/18—Wrapping sliced bread
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/36—Arranging and feeding articles in groups by grippers
    • B65B35/38—Arranging and feeding articles in groups by grippers by suction-operated grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0202—Agricultural and processed food products
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/905—Control arrangements

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Food Science & Technology (AREA)
  • Manipulator (AREA)
  • Specific Conveyance Elements (AREA)
  • Container Filling Or Packaging Operations (AREA)
JP2016112777A 2016-06-06 2016-06-06 食品の詰め込み装置 Active JP6626411B2 (ja)

Priority Applications (7)

Application Number Priority Date Filing Date Title
JP2016112777A JP6626411B2 (ja) 2016-06-06 2016-06-06 食品の詰め込み装置
CN201780033126.0A CN109153513B (zh) 2016-06-06 2017-06-01 食品填装装置
US16/307,613 US20190161289A1 (en) 2016-06-06 2017-06-01 Food packing device
EP17810193.7A EP3466847A4 (en) 2016-06-06 2017-06-01 FOOD PACKING DEVICE
KR1020187038044A KR102137192B1 (ko) 2016-06-06 2017-06-01 식품의 투입 장치
PCT/JP2017/020428 WO2017213015A1 (ja) 2016-06-06 2017-06-01 食品の詰め込み装置
TW106118474A TWI630159B (zh) 2016-06-06 2017-06-05 Food filling device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2016112777A JP6626411B2 (ja) 2016-06-06 2016-06-06 食品の詰め込み装置

Publications (3)

Publication Number Publication Date
JP2017218268A JP2017218268A (ja) 2017-12-14
JP2017218268A5 JP2017218268A5 (enExample) 2018-06-28
JP6626411B2 true JP6626411B2 (ja) 2019-12-25

Family

ID=60578613

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2016112777A Active JP6626411B2 (ja) 2016-06-06 2016-06-06 食品の詰め込み装置

Country Status (7)

Country Link
US (1) US20190161289A1 (enExample)
EP (1) EP3466847A4 (enExample)
JP (1) JP6626411B2 (enExample)
KR (1) KR102137192B1 (enExample)
CN (1) CN109153513B (enExample)
TW (1) TWI630159B (enExample)
WO (1) WO2017213015A1 (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12543750B2 (en) 2021-04-16 2026-02-10 Nippon Career Industry Co., Ltd. Hand device, food dishing device using hand device, and food batch formation device

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6496285B2 (ja) * 2016-08-30 2019-04-03 川崎重工業株式会社 食品の保持装置
JP7158897B2 (ja) * 2018-06-01 2022-10-24 川崎重工業株式会社 蓋部材取付装置及びシステム
JP7063236B2 (ja) * 2018-10-31 2022-05-09 株式会社ダイフク 物品移載設備
JP7126437B2 (ja) * 2018-12-11 2022-08-26 川崎重工業株式会社 蓋部材取付装置
JP6836282B2 (ja) * 2019-06-03 2021-02-24 スキューズ株式会社 物品挟持方法、物品挟持装置及び物品移載装置
JP7101998B2 (ja) * 2019-07-03 2022-07-19 株式会社フジキカイ 物品移載装置
JP7345372B2 (ja) 2019-11-29 2023-09-15 川崎重工業株式会社 保持装置、制御方法、制御装置及びロボットシステム
JP7345373B2 (ja) * 2019-11-29 2023-09-15 川崎重工業株式会社 保持装置、制御方法、制御装置及びロボットシステム
IT202000018799A1 (it) * 2020-07-31 2022-01-31 Gd Spa Unità e metodo di trattenimento e movimentazione di almeno un componente e di almeno un contenitore ed apparato di produzione di articoli ad essi correlati
CN120397695B (zh) * 2025-04-22 2025-11-11 泰州市长盈金属制品有限公司 一种金属制品加工自动上料装置
JP7903021B1 (ja) 2025-05-21 2026-08-10 マツダエース株式会社 整列・箱詰システム

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12543750B2 (en) 2021-04-16 2026-02-10 Nippon Career Industry Co., Ltd. Hand device, food dishing device using hand device, and food batch formation device

Also Published As

Publication number Publication date
WO2017213015A1 (ja) 2017-12-14
JP2017218268A (ja) 2017-12-14
CN109153513A (zh) 2019-01-04
TW201803788A (zh) 2018-02-01
KR102137192B1 (ko) 2020-07-24
KR20190013985A (ko) 2019-02-11
EP3466847A1 (en) 2019-04-10
US20190161289A1 (en) 2019-05-30
CN109153513B (zh) 2020-07-17
TWI630159B (zh) 2018-07-21
EP3466847A4 (en) 2020-03-11

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