Transferring system and method of operating the same
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorKazunori HIRATA
Life of this patent
Estimating the term…
Abstract
A transferring system includes a robot including a first arm having a pair of first holding parts and a second arm having a pair of second holding parts, a packing bag feeding device, and a control device. A suction part is provided to the inner surface of the first holding part. The control device operates the packing bag feeding device to feed a packing bag while opening its opening, then operates the first arm so that the inner surfaces of the pair of first holding parts contact the outer surface of the packing bag, the suction part sucks the outer surface, and a distance between the inner surfaces of the pair of first holding parts becomes larger than a length of food.
Claims13
A transferring system configured to hold and transfer food, comprising:
- a robot including:
- a first arm having a pair of first holding parts, each formed in a plate shape, the first holding parts being disposed so that inner surfaces thereof oppose to each other, and configured to be changeable of a distance between the inner surfaces;
- and
- a second arm having a pair of second holding parts, each formed in a plate shape, and the second holding parts being disposed so that inner surfaces thereof oppose to each other,
- a packing bag feeding device configured to feed each of stacked packing bags one by one, while opening an opening of the packing bag;
- and
- a control device,
- wherein a suction part is provided to the inner surface of the first holding part,
- wherein the control device operates the packing bag feeding device to feed the packing bag while opening the opening of the packing bag, then operates the first arm so that the inner surfaces of the pair of first holding parts contact the outer surface of the packing bag, the suction part sucks the outer surface of the packing bag, and a distance between the inner surfaces of the pair of first holding parts becomes larger than a length of the food.
A method of operating a transferring system configured to hold and transfer food, the transferring system comprising:
- a robot including:
- a first arm having a pair of first holding parts, each formed in a plate shape, and the first holding parts being disposed so that inner surfaces thereof oppose to each other, and configured to be changeable of a distance between the inner surfaces;
- and
- a second arm having a pair of second holding parts, each formed in a plate shape, and the second holding parts being disposed so that inner surfaces thereof oppose to each other, and
- a packing bag feeding device configured to feed each of stacked packing bags one by one, while opening an opening of the packing bag,
- wherein a suction part is provided to the inner surface of the first holding part,
- the method comprising the steps of:
- (A) operating the packing bag feeding device to feed the packing bag while opening the opening of the packing bag;
- and
- (B) operating the first arm so that the inner surfaces of the pair of first holding parts contact the outer surface of the packing bag, the suction part sucks the outer surface of the packing bag, and a distance between the inner surfaces of the pair of first holding parts becomes larger than a length of the food, after (A).
Dependencies are inferred from the claim text.