NZ622563B2 - Fully automated bag preparing system for various types of bags - Google Patents
Fully automated bag preparing system for various types of bags Download PDFInfo
- Publication number
- NZ622563B2 NZ622563B2 NZ622563A NZ62256312A NZ622563B2 NZ 622563 B2 NZ622563 B2 NZ 622563B2 NZ 622563 A NZ622563 A NZ 622563A NZ 62256312 A NZ62256312 A NZ 62256312A NZ 622563 B2 NZ622563 B2 NZ 622563B2
- Authority
- NZ
- New Zealand
- Prior art keywords
- bag
- location
- pick
- parameter
- orientation
- Prior art date
Links
- 238000006073 displacement reaction Methods 0.000 claims abstract description 66
- 238000005259 measurement Methods 0.000 claims abstract description 26
- 238000001514 detection method Methods 0.000 claims description 5
- 238000004806 packaging method and process Methods 0.000 abstract description 19
- 238000011156 evaluation Methods 0.000 abstract description 14
- 238000009434 installation Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 5
- 238000002360 preparation method Methods 0.000 description 5
- 238000010276 construction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006011 modification reaction Methods 0.000 description 2
- -1 polyethylene Polymers 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 239000004698 Polyethylene (PE) Substances 0.000 description 1
- 239000004743 Polypropylene Substances 0.000 description 1
- 230000003466 anti-cipated Effects 0.000 description 1
- 229920000704 biodegradable plastic Polymers 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000003750 conditioning Effects 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 229920000573 polyethylene Polymers 0.000 description 1
- 229920001155 polypropylene Polymers 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
Classifications
-
- 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
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/44—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation from supply magazines
-
- 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
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/46—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers
- B65B43/465—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers for bags
-
- 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
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/02—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages
- B65B57/04—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages and operating to control, or to stop, the feed of such material, containers, or packages
Abstract
displacement device responsible for preparing the bag for its installation at a filling point (or second location) of packaging equipment. The displacement device grabs the bag from the pick-up location (or stack) (from which first position and orientation parameters have been previously measured), displaces the bag while measuring second position and orientation parameters of the bag, adjusting the operation and displacement of the displacement device for displacing and installing the bag on the filling point; at the same time, the measurement of the next bag first position and orientation parameters is done to adjust the operation and displacement of the displacement device for grabbing the next bag on the stack. Such a double location evaluation, which is concomitant on two different bags, allows savings in processing time. , displaces the bag while measuring second position and orientation parameters of the bag, adjusting the operation and displacement of the displacement device for displacing and installing the bag on the filling point; at the same time, the measurement of the next bag first position and orientation parameters is done to adjust the operation and displacement of the displacement device for grabbing the next bag on the stack. Such a double location evaluation, which is concomitant on two different bags, allows savings in processing time.
Description
FULLY AUTOMATED BAG PREPARING SYSTEM FOR VARIOUS TYPES OF BAGS
FIELD OF THE INVENTION
The present invention relates to equipment for packaging bulk products in the food,
pet food, feed, seed and chemical industries to name a few. More particularly, the
present invention relates to a system which is responsible for preparing the bag for
its installation at the filling point of packaging equipment.
BACKGROUND OF THE INVENTION
In the packaging industry, over the last few years, there has been an important
evolution of the types of materials (such as polyethylene, polypropylene,
biodegradable plastic, recycled plastic, paper, etc...) and types of construction (such
as inner liner, woven, special printing, coating, etc...) to name a few, used to make
bags. This has led to a wide range of bags that are more or less flexible and more or
less porous, which must be declined in an extensive variation of bag sizes to fit the
different industries and ever-growing market requirements. Furthermore, over the
last decade, globalization of bag suppliers into the packaging market, introduced
bags of a great variability of quality. This gave rise to high quality bags, but also low
quality bags (such as bags stuck together, damaged, poorly stacked and varying in
dimensions for a given size). Overall, the evolution of the context resulted in
considerable variability of bags.
Paradoxically, in conjunction with the arrival on the market of this wide variety of
empty bags, expectations in terms of finished filled bags quality (namely in terms of
appearance) are constantly increasing along with the desire to have single automatic
equipment to process most types of bags as possible, ideally all types.
Of course, automated packaging equipment is constructed to be as efficient as
possible in a given application. For the sake of cost optimization, it is common for
producers to try to stretch the scope of their equipment, leading often to bags with
defaults or rejected bags (during the packaging or later in the process), mostly
coming from bags that have not been well prepared before the filling step. Such a
miss preparation may result in improperly filled bags as well as improperly sealed
(non-hermetic) bags which can cause quality problems in terms of hygiene,
preservation and contamination, as well as in terms of appearance of the filled
finished bags, ultimately resulting in producers’ or customers’ dissatisfaction.
It is important to remember that there are four major steps involved in packaging
equipment used to bag bulk products: 1) preparing, 2) filling, 3) sealing and 4)
evacuating the bag. The present invention mainly relates to the preparing step,
which is responsible for executing the following basic actions:
• Grabbing,
• Conditioning,
• Unstacking,
• Opening,
• Transporting, and
• Installing the bag on the filling point.
Some of these actions can be switchable or combined from one equipment to
another, along with an optional action, forming the bag, which is only necessary in
some applications (for example with equipment using film rolls).
Initially, packaging of products intended for the food, pet food, feed, seed and
chemical industries, to name a few, was done manually. Later, the automation of
packaging equipment began in order to reduce health and safety issues as well as
costs related to labor, while accelerating the packaging process and making it more
consistent, providing a better quality as much as possible.
Progressively, the automation of packaging equipment was applied to all four steps
of packaging. Initially, it has been done through systems with limited degrees of
freedom implying displacement of a bag from an initial point to a final point, including
the accomplishment of different actions, according to pre-defined, invariable and
back and forth movements usually realized by dedicated devices. As used herein,
the term “degrees of freedom” is related to the robot (or displacement device)
movements associated to its rotation axes which result in flexibility. Refer to Figure
1A for better understanding of the different principles involved.
Later, in order to gain flexibility of movements, the automation of packaging
equipment has gone to systems with more degrees of freedom. These systems
started to automate different packaging steps, as seen in patent application
which describes a system automating the closing step, or
US 61/382.279 which describes a system automating the filling step.
Considering the complexity of preparing bags which can vary in type of material,
type of construction, size and quality, the automation of the preparing step has
become a challenge. In fact, the use of 3 to 4 degrees of freedom systems (in the
preparing step) operate in limited applications since they can hardly efficiently
handle porous, flexible, poorly stacked and/or bag of varying dimensions (for a given
size).
Later, in order to handle a greater range of bags, the automation of the preparing
step started to be done using systems with 5 to 6 degrees of freedom. In existing
baggers, mostly open-mouth baggers, the preparing step including the
accomplishment of specific required actions, usually implies the displacement of an
empty bag from an initial point to a final point (filling point), integrating one (or many)
location evaluation of the bag allowing a correction of the bag location or location of
the gripping device taking the bag which are equivalent since both types of
correction result in a correction preceding a defined movement. In fact, the goal is to
correct the location of the bag in order to move it in a known (and defined) location
and displace it according to pre-defined, invariable and back and forth movements
realized most of the time by various dedicated devices. These dedicated devices
grab the bag in a defined location and transfer it to another dedicated device (in a
defined location). Since location evaluation is very complex to achieve on a stack of
bags, there is a need to combine it with an upstream dedicated unstacker to bring
only one bag in a known (and defined) location. Despite the fact that such system is
more tolerant to variations in dimensions (for a given size), these 5 to 6 degrees of
freedom systems do not provide improvements concerning efficient handling of
porous and flexible bags. To achieve an efficient handling, such equipment would
require the addition of new devices in terms of unstacking and location evaluation.
This would prevent, for example, softer bags from deforming and make the system
more effective with a large variety of stacked bags. Consequently, it would make this
machine much too expensive and complex.
By analysing the prior art, one can notice that in the field of automation of packaging
equipment, it has been difficult to find an effective way to automate the preparing
step in order to deal with large variety of bags including more porous, flexible, poorly
stacked and/or bags varying in dimensions (for a given size); while being able to
provide a finished filled bag fulfilling an expected quality at high speed.
Therefore, there are presently needs for a simple, fully automated and rapid
automated system (with 5 to 6 degrees of freedom) for better preparing bags by
exploiting deeper all the existing degrees of freedom in order to process different
types of bags and providing finished filled bags of expected quality and less rejected
bags.
The reference to any prior art in the specification is not, and should not be taken as,
an acknowledgement or any form of suggestion that the prior art forms part of the
common general knowledge in any country.
SUMMARY OF THE INVENTION
It is an object of the invention to provide a bag preparing system which will overcome
or ameliorate problems with such systems at present, or which will at least provide a
useful choice.
The present invention addresses at least one of the above-mentioned needs.
According to the present invention, there is provided a bag preparing system for
processing in packaging equipment including:
-a displacement device for displacing a bag while continuously holding the bag
between a pick-up location and a second location, the displacement device
comprising a gripper for gripping the bag during displacement thereof;
-a first measurement system for measuring, at the pick-up location, a pick-up
position parameter indicative of the pick-up location, and for generating a first
signal indicative of the pick-up position parameter;
-a second measurement system for measuring, at an intermediate location
between the pick-up location and the second location while the bag is held by
the displacement device, at least one of an intermediate position parameter and
an intermediate orientation parameter indicative of an intermediate position and
an intermediate orientation of the bag, respectively, and for generating a second
signal indicative of said at least one of the intermediate position and orientation
parameters; and
-a controller for controlling operation and displacement of the displacement device,
said controller adjusting the operation and the displacement of the displacement
device for gripping the bag at the pick-up location based on the first signal, and for
displacing the bag towards the second location based on the second signal.
Preferably, the displacement device is a 5 or 6 degrees of freedom system.
Preferably, according to a first preferred embodiment, the displacement device is a
robot.
Preferably, according to another preferred embodiment, the displacement device is a
dedicated 5 or 6 degrees of freedom system.
Preferably, the present invention provides a displacement device which is
responsible for preparing the bag for its installation at a filling point (or second
location) of packaging equipment. The displacement device grabs the bag from the
pick-up location (or stack) (from which first position and orientation parameters have
been previously measured), displaces the bag while measuring second position and
orientation parameters of the bag, adjusting the operation and displacement of the
displacement device for displacing and installing the bag on the filling point; at the
same time, the measurement of the next bag first position and orientation
parameters is done to adjust the operation and displacement of the displacement
device for grabbing the next bag on the stack. Such a double location evaluation,
which is concomitant on two different bags, allows savings in processing time.
According to a second aspect of the invention there is provided a bag preparing
system comprising:
− a single displacement device for displacing a bag between a pick-up location
and a second location, the displacement device comprising a gripper for gripping the
bag during displacement thereof;
− a first measurement system for measuring, at the pick-up location, a pick-up
position parameter indicative of the pick-up location, and for generating a first signal
indicative of the pick-up position parameter;
− a second measurement system for measuring, at an intermediate location
between the pick-up location and the second location, at least one of an intermediate
position parameter and an intermediate orientation parameter indicative of an
intermediate position and an intermediate orientation of the bag, respectively, and for
generating a second signal indicative of said at least one of the intermediate position
and the orientation parameters; and
− a controller for controlling operation and displacement of the displacement
device, said controller adjusting the operation and the displacement of the
displacement device for gripping the bag at the pick-up location based on the first
signal, and for displacing the bag towards the second location based on the second
signal.
According to a third aspect of the invention there is provided a bag preparing method
comprising:
− measuring, at a pick-up location of a current bag, a pick-up position
parameter indicative of said pick-up location of said current bag;
− generating a first signal indicative of the pick-up position parameter;
− gripping the current bag at the pick-up location based on the first signal; and
− displacing the current bag from the pick-up location to a second location while
continuously holding the current bag during said displacing, said displacing
comprising:
- measuring, at an intermediate location between the pick-up location and the
second location while the current bag is held by the displacement device, at least
one of an intermediate position parameter and an intermediate orientation parameter
indicative of an intermediate position and an intermediate orientation of the current
bag, respectively;
- generating a second signal indicative of said at least one of the intermediate
position parameter and the intermediate orientation parameter; and
- adjusting said displacing of the current bag toward the second location based
on the second signal.
BRIEF DESCRIPTION OF THE DRAWINGS
These and other objects and advantages of the invention will become apparent upon
reading the detailed description, provided merely by way of non-limitative examples,
and upon referring to the drawings in which:
Figure 1A is a schematic representation of a conventional prior art bag preparing
system, showing the movements performing the preparation actions according to the
degrees of freedom as well as position and orientation measurements, and
displacement device adjustment functions.
Figure 1B is a schematic representation of a bag preparing system according to an
embodiment of the invention showing the movements performing the preparation
actions according to the degrees of freedom, as well as position and orientation
measurements, and displacement device adjustment functions.
Figure 2 is a perspective view of the Cartesian coordinate system and the present
invention work plan according to a preferred embodiment of the present invention.
Figure 3 is a perspective view of the system according to a preferred embodiment of
the present invention, showing the gripper.
DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS
To ease comprehension of the Cartesian axes system and the work plan of the
present invention, refer to Figure 2.
The present invention provides a 5 to 6 degrees of freedom displacement device
which may be a robot or a dedicated device, coupled to a gripper, including a
controller responsible for the location evaluation and correction functions; to perform
the preparing step in a packaging system. Such a system implies displacement of an
empty bag from an initial point (or pick-up location, that is preferably on top of the
bag stack) to a filling point (second location), including the accomplishment of all bag
preparing actions, based on variable and continuous movements (ideally realized by
a single displacing device) specifically defined or adjusted according to the
measured bag location. More specifically, such a system provides a displacement
device which grabs the bag (which z position and p orientation has been previously
evaluated), displaces the bag while measuring the x and y positions and r
orientation, adjusts the transferring and installing movements of the bag to the filling
point; at the same time, the evaluation of the next bag z position and p orientation is
done to adjust the movement responsible for grabbing this bag on the stack. Such a
double location evaluation, which is concomitant on two different bags, allows
savings in processing time.
As used herein, the term “location” is intended to incorporate the notion of position
and orientation.
As used herein, the terms “measurement”, “measured” or “to measure” are intended
to include a notion of detection, calculation or evaluation of a location or any other
known way of determining a location of the bag.
As used herein, the terms “adjustment”, “adjusted” or “to adjust” in association with
movements are intended to encompass not only adjustments but also any
improvement, modification or correction of the movement of the device that may be
performed during its operation.
The present invention comprises measurement systems for measuring position and
orientation parameters and for generating a signal indicative of the measured
position and orientation parameters, each of them allowing adjustments in the
operation and displacement of the displacing device according to the previous
evaluated location (or based on the signal indicative thereof). A first evaluation of the
bag z position is made by a first bag stack thickness detection mechanism 20 to
detect the bag stack thickness and adjust the grabbing movement in order to take a
single bag 1 on the bag stack. In order to deal with other applications such as porous
bags or miss-stacked bags, another bag stack thickness detection mechanism 21, to
detect a different positioning of one corner of the bag stack to the other, may be
added to evaluate the location of the bag in relation to the p orientation (rotation
about y axis). This evaluation of the bag, before grabbing it, but while the previous
bag is being displaced, is effective and saves time. A second evaluation is made to
adjust the operation and displacement of the displacement device for displacing and
installing of the bag at the filling point. The location of the bag-gripper ensemble in
relation to the x and y position and r orientation (which is a rotation about z axis) is
measured, thus allowing determining (often calculating): the location of the gripper,
the location of the bag relative to the previously determined location of the gripper
and the bag location relative to the filling point. Detection mechanisms 22 (such as
camera or sensors combination) are used preferably to track the contour of the bag
as a positional reference. In other applications, in cases where quality (namely of
impression) allow such a practice, recurring benchmarks (for example printing
marks, notch, logo, etc...) may be used to detect the bag. This evaluation of the bag
(x and y position and r orientation) is done while the bag 1 is being transported
towards the filling point 3 rather than before its grabbing, which speeds up the
process.
Preferably, the present invention performs two anticipated corrections adjusting the
operation and displacement of the displacement device according to the previously
detected bag location in order to optimize the sequence of the system. The first
adjustment is made to achieve a precise and corrected grabbing movement of the
bag on the stack and result in a better separation of a single bag from the stack. The
second adjustment is made to achieve a precise and corrected location of the bag at
the filling point and result in very few rejected bags. In the worst cases, which is
when the movement correction is too important to be carried out effectively; it is
possible to reject the bag at this point.
The present invention is designed to make better use of all degrees of freedom of
the system by making continuous movements realized ideally by a single
displacement device (instead of back and forth movements realized most of the time
by various dedicated devices) to execute all the actions for preparing a bag. Instead
of adding a dedicated device (for example a dedicated unstacker) and duplicate the
degrees of freedom of the others dedicated devices, the unexploited degrees of
freedom of the system will be used. Moreover, the fact that continuous movements
executing the preparing actions are carried out ideally by a single displacement
device, resulting in no (or few) bag transfer(s) from a device to another, thereby
implying a better quality of finished bag.
As shown in Figure 2, the axes x,y,z (position x, y, z) represent the three-
dimensional location in the Cartesian coordinate system. The rotations w,p,r
(orientations w,p,r) describes a rotation about a given axes in the Cartesian
coordinate system. The bag is displaced (a) while measuring the x and y positions
and r orientation, allowing adjustment of the transferring and installing movements of
the bag (b) to the filling point. Measurement of the next bag z position (and optional
p orientation) allowing adjustment of the movement responsible for grabbing the bag
(c) on the stack.
As shown in Figure 1A, the systems described in the prior art displace the bag 1
from an initial point 2 (pick-up location) to a filling point 3 (second location), including
the accomplishment of all bag preparation actions, integrating a location
measurement of the bag allowing an adjustment of the bag location (before grabbing
it), according to pre-defined, invariable and back and forth movements 4 usually
performed by dedicated systems.
As shown in Figure 1B, the present invention displaces the bag 1 from an initial point
2 to a final point 3, including the accomplishment of all bag preparation actions,
integrating a first location measurement 5 to detect the bag stack thickness and
adjust the grabbing movement in order to take a single bag as is (no matter its
location) on the bag stack 6 while a second location measurement 7 is made on the
previous bag to adjust the operation and displacement of the displacement device
for displacing and installing the bag at the filling point. The corrections are carried
out by variable and continuous movements 8 (ideally realized by a single displacing
device).
As shown in Figure 3, the present invention provides a gripper where vacuum cups
are used to grab the bag on the stack, spacers 12 are used to keep the bag open
while displacement and bag clamps 14 are used to manipulate and maintain a
selected configuration of the bag during its displacement.
Although preferred embodiments of the present invention have been described in
detail herein and illustrated in the accompanying drawings, it is to be understood that
the invention is not limited to these precise embodiments and that various changes
and modifications may be effected therein without departing from the scope of the
present invention.
Unless the context clearly requires otherwise, throughout the description and the
claims, the words “comprise”, comprising”, and the like, are to be construed in an
inclusive sense as opposed to an exclusive or exhaustive sense, that is to say, in the
sense of “including, but not limited to”.
Claims (16)
1. A bag preparing system comprising: -a displacement device for displacing a bag while continuously holding the bag between a pick-up location and a second location, the displacement device 5 comprising a gripper for gripping the bag during displacement thereof; -a first measurement system for measuring, at the pick-up location, a pick-up position parameter indicative of the pick-up location, and for generating a first signal indicative of the pick-up position parameter; -a second measurement system for measuring, at an intermediate location between 10 the pick-up location and the second location while the bag is held by the displacement device, at least one of an intermediate position parameter and an intermediate orientation parameter indicative of an intermediate position and an intermediate orientation of the bag, respectively, and for generating a second signal indicative of said at least one of the intermediate position and orientation 15 parameters; and -a controller for controlling operation and displacement of the displacement device, said controller adjusting the operation and the displacement of the displacement device for gripping the bag at the pick-up location based on the first signal, and for displacing the bag towards the second location based on the second signal.
2. The bag preparing system according to claim 1, wherein the first measurement system further measures a pick-up orientation parameter indicative of a pick-up orientation of the bag and the first signal generated by the first measurement system is further indicative of the pick-up orientation parameter.
3 The bag preparing system according to claim 1 or 2, wherein the second location is a filling point of the bag.
4. The bag preparing system according to any one of claims 1 to 3, wherein the pick- 30 up location of the bag is on top of a bag stack, and wherein the first measurement system is configured to detect a thickness of the bag stack as the pick-up location parameter.
5. The bag preparing system according to claim 4, wherein the controller is 5 configured to adjust, based on the detected thickness of the bag stack, a gripping movement of the displacement device for gripping the bag on the bag stack.
6. The bag preparing system according to any one of claims 1 to 5, wherein the first measurement system is configured to measure the pick-up location of a next bag 10 while the second measurement system measures the at least one of the intermediate position parameter and the intermediate orientation parameter of the bag and the displacement device displaces the bag between the pick-up location and the second location. 15
7. The bag preparing system according to any one of claims 1 to 6, wherein the second measurement system comprises a detection mechanism for tracking a contour of the bag as a positional reference.
8. The bag preparing system according to any one of claims 1 to 7, wherein at least 20 one of the first and second measurement systems is configured to detect recurring benchmarks on the bag.
9. The bag preparing system according to any one of claims 1 to 8, wherein the second measurement system is configured to determine a location of the gripper, a 25 location of the bag relative to a previously determined location of the gripper, and a location of the bag relative to the second location.
10. The bag preparing system according to any one of claims 1 to 9, wherein the second measurement system measures the at least one of the intermediate position 30 parameter and the intermediate orientation parameter of the bag while the displacement device displaces the bag between the pick-up location and the second location.
11. A bag preparing method comprising: 5 − measuring, at a pick-up location of a current bag, a pick-up position parameter indicative of said pick-up location of said current bag; − generating a first signal indicative of the pick-up position parameter; − gripping the current bag at the pick-up location based on the first signal; and − displacing the current bag from the pick-up location to a second location while 10 continuously holding the current bag during said displacing, said displacing comprising: o measuring, at an intermediate location between the pick-up location and the second location while the current bag is held by the displacement device, at least one of an intermediate position 15 parameter and an intermediate orientation parameter indicative of an intermediate position and an intermediate orientation of the current bag, respectively; o generating a second signal indicative of said at least one of the intermediate position parameter and the intermediate orientation 20 parameter; and o adjusting said displacing of the current bag toward the second location based on the second signal.
12. The bag preparing method according to claim 11, further comprising measuring, 25 at a pick-up location of a next bag, a pick-up position parameter indicative of said pick-up location of said next bag while performing said displacing of the current bag.
13. The bag preparing method according to claim 11 or 12, further comprising measuring, at the pick-up location of the current bag, a pick-up orientation parameter indicative of a pick-up orientation of the current bag, the first signal being further indicative of the pick-up orientation parameter.
14. The bag preparing method according to any one of claims 11 to 13, wherein the 5 second location is a filling point of the bag.
15. The bag preparing method according to any one of claims 11 to 14, wherein the pick-up location of the current bag is on top of a bag stack, and wherein said measuring of the pick-up position parameter further comprises detecting a thickness 10 of the bag stack as the pick-up location parameter.
16. The bag preparing method according to claim 15, wherein said gripping of the current bag further comprises gripping the current bag on the bag stack based on the detected thickness of the bag stack.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201161538338P | 2011-09-23 | 2011-09-23 | |
US61/538,338 | 2011-09-23 | ||
PCT/CA2012/050669 WO2013040717A1 (en) | 2011-09-23 | 2012-09-24 | Fully automated bag preparing system for various types of bags |
Publications (2)
Publication Number | Publication Date |
---|---|
NZ622563A NZ622563A (en) | 2015-12-24 |
NZ622563B2 true NZ622563B2 (en) | 2016-03-30 |
Family
ID=
Similar Documents
Publication | Publication Date | Title |
---|---|---|
AU2012313280B2 (en) | Fully automated bag preparing system for various types of bags | |
KR102048330B1 (en) | A device for feeding items to a sorting machine and sorting machine | |
JP6426672B2 (en) | Work sorting system and method | |
CA2867204C (en) | Apparatus and method for packing bulk material into a container | |
JP5324238B2 (en) | Bag opening method and apparatus in bagging and packaging | |
JP6625436B2 (en) | Bag abnormality detection device and bag abnormality detection method | |
US10532841B2 (en) | Method and apparatus of supplying a bag | |
CN112141695B (en) | Article transport manipulator | |
JP6444807B2 (en) | Detection method for detecting a holding state by a gripper device, a detection device, and a bagging and packaging machine | |
US9809333B2 (en) | Box-packing system | |
RU2301149C2 (en) | System and the method of placement of the devices for opening the packets | |
JP6847539B2 (en) | Supply method and equipment for bags filled with solids | |
NZ622563B2 (en) | Fully automated bag preparing system for various types of bags | |
US20080184669A1 (en) | Packaging Machine for Inserting an Article to be Packaged Into a Package | |
TW201836791A (en) | Conveyance system and operation method therefor | |
JP7386140B2 (en) | Bag feeding device and bag feeding method | |
US11542106B2 (en) | Method for automatically transferring spouted pouches and automatic pouch transferring assembly | |
CN111572936B (en) | Intelligent sealing and labeling device and method | |
JPH02239029A (en) | Method for detecting position on surface of packed box | |
JP2006341862A (en) | Bag supply apparatus |