# US 11,053,041 B2 · Device and method for packing a cushioning element in a carton > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,053,041 B2 - Document ID: US11053041B2 - Status: Granted - Kind: B2 - Application number: 16/304,671 - Filed: 2017-05-24 - Published: 2020-10-15 - Granted: 2021-07-06 - Earliest claimed: 2016-05-27 - Assignees: GP System - Applicants: Gp System - Inventors: Jacky Peterlini - Web page: https://patentgrep.com/patent/US11053041B2 ## CPC - B65B 55/20: Embedding contents in shock-absorbing media, e.g. plastic foam, granular material - B25J 9/0093: {co-operating with conveyor means} - B25J 9/023: {Cartesian coordinate type} - B25J 15/0052: {multiple gripper units or multiple end effectors} - B25J 15/0253: {comprising parallel grippers} - B65B 35/16: by grippers - B65B 43/52: using roller-ways or endless conveyors - B65B 63/02: for compressing or compacting articles or materials prior to wrapping or insertion in containers or receptacles - B65B: MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING (bundling and pressing devices for cigars A24C1/44; devices for tensioning and securing binders adapted to be supported by the article or articles to be bound B25B25/00; applying closure members to bottles, jars or similar containers B67B1/00-B67B6/00; concurrent cleaning, filling and closing of bottles B67C7/00; emptying bottles, jars, cans, casks, barrels or similar containers B67C9/00) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract An automatic packing device (1) for cushioning element (s) (2) in a carton (C) is mounted along a conveyor (4) directed along a longitudinal axis (Y, Y′). The packing device (1) includes a robotic cell (3) associated with a cushioning element storage zone (2), the robotic cell (3) including at least one gripping device fo a cushioning element (2). The storage zone includes at least one magazine (18) with at least one cassette (8) movable along a transverse axis (X, X′) from a loading position to an unloading position. ## Claims ### Claim 1 An automatic packing device (1) for packing of cushioning element(s) (2) in a carton (C), said automatic packing device being configured to be mounted along a conveyor (4), said packing device (1) comprising: a robotic cell (3), and a storage zone, said robotic cell (3) comprising at least one means of gripping a cushioning element (2) in form of tubes of crinkled paper, said at least one means of gripping comprising a gripper (6) comprising two jaws (7) movable along a longitudinal axis compressing the cushioning element (2) when gripped, wherein the storage zone comprises at least one magazine (18) comprising at least one cassette (8) receiving cushioning elements (2) from at least one cushioning element distributor (D1, D2) configured to deliver cushioning elements (2) of different materials, shapes and structures, wherein the magazine is movable from a loading position corresponding to a position facing the at least one cushioning element distributor (D1, D2) to an unloading position where the cassette (8) is located below the at least one means of gripping a cushioning element (2), the robotic cell (3) is associated computationally by an automaton to the magazine (18) , wherein the automaton determines, as a function of acquired dimensions of the carton (C), a number and type of cushioning elements (2) to be introduced. ### Claim 2 (depends on 1) The packing device (1) according to claim 1, wherein the robotic cell (3) is contiguous to the at least one magazine (18). ### Claim 3 (depends on 1) The packing device (1) according to claim 1, wherein the robotic cell (3) comprises a frame including uprights, said conveyor (4) being intended to pass right through the said uprights. ### Claim 4 (depends on 1) The packing device (1) according to claim 1, wherein the at least one cassette (8) is removable. ### Claim 5 (depends on 1) The packing device (1) according to claim 1, wherein the at least one means of gripping is movable along a vertical axis. ### Claim 6 (depends on 1) The packing device (1) according to claim 1, wherein the at least one means of gripping is associated with a means of vertical release (14) of a cushioning element (2). ### Claim 7 (depends on 1) The packing device (1) according to claim 1, wherein the at least one means of gripping is carried by two plates (17) movable along vertical axes (Z, Z′). ### Claim 8 A method of inserting at least one cushioning element (2) into a carton (C) by a packing device (1), said method comprising the steps of: acquisition by an automaton of a length, width and height of the carton (C); determination by the automaton of a number and type of cushioning elements (2) comprising tubes of crinkled paper to be introduced into the loaded carton (C), providing said at least one cushioning element in a cassette (8) from a cushioning element distributor (D1, D2), movement of the cassette (8) to an unloading position under a means of gripping a cushioning element (2), movement downward of the means of gripping a cushioning element (2) to substantially a bottom of the cassette (8); loading and compressing of the cushioning element (2) in the means of gripping, movement upward of the means of gripping loaded with a cushioning element (2), movement of the cassette (8) from which the cushioning element (2) has been unloaded from the unloading position to a position awaiting loading, movement downward of the means of gripping loaded with the cushioning element (2), release of the cushioning element (2), and movement upward of the means of gripping of the cushioning element (2) to a loading position.