Ishida Co. Limited

Akihito Suzuki

Makoto Nakatani

Satoshi Konishi

Shuichi Maeda

Kousuke Watanabe

Masaaki Hojo

Hiroshi Okano

Shizuo Minamino

Yuki Furukawa

To provide an article gripping system that reduces the installation area of the apparatus and further shortens the amount of time from when it grips to when it feeds articles. An article gripping system () switches between a first positional relationship in which a container () obstructs discharge of articles gripped by a first gripping unit (A) but does not obstruct discharge of articles by a second gripping unit (B) and a second positional relationship in which the container () obstructs discharge of articles gripped by the second gripping unit (B) but does not obstruct discharge of articles gripped by the first gripping unit (A), so the gripping units do not move while they are holding the articles, and the articles can be prevented from falling out of the gripping units ().

Article gripping system

An article transfer device is configured to transfer a plurality of articles from a placement component to a container. The placement component includes a placement surface on which the plural articles are placed. The article transfer device includes a placement component drive unit that relatively moves the container and the placement component and a control unit that controls the operation of the placement component drive unit. The control unit controls the operation of the placement component drive unit so that, when the articles on the placement component are above the container, the placement component is pulled out from between the container and the articles.

Article transfer device

A mass measurement device comprises a force sensor, a hose, a base part, an article-holding part, and a computation unit. The force sensor has a fixed end and a free end, and outputs a sensing signal in accordance with the magnitude of a force in a sensitivity direction. The hose is configured to pass suctioned air through it. The fixed end is fixed to the base part. The article-holding part is fixed to the free end, one end of the hose is connected to the article-holding part, and the article-holding part holds an article by air suction. The computation unit computes the mass of the article based on the sensing signal.

Mass measurement device

A mass measurement device measures the mass of an article, even when the article is being moved. A mass measurement device includes a robot hand, a robot arm, a force sensor, an acceleration sensor, and a control unit. The robot hand holds an article (Q). The robot arm moves the robot hand. The force sensor is provided between the robot hand and the robot arm and measures force acting on the article (Q) during movement. The acceleration sensor measures acceleration acting on the article (Q) during the movement. The control unit runs and controls the robot hand and the robot arm, and calculates the mass of the article (Q) on the basis of the force and acceleration acting on the article (Q) during the movement.

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Ritto, Japan

Akihito Suzuki