Ishida Co. Limited

Shuichi Maeda

Masaaki Hojo

Yujiro Obayashi

Kousuke Watanabe

Akihito Suzuki

Hiroshi Okano

Yuki Furukawa

It is an object of the present invention to provide a weighing device in which dropping of articles from gripping means and reductions in weighing precision are suppressed. In a weighing device (), when at least one of an operation state of grippers () and weighing results from weighing units () fulfills any condition from among 'a weight value of articles (A) weighed by the weighing units () not being a preset target weight value,' “an operating distance in an operation in which the articles (A) are held by gripping members () being greater than a prescribed range,” and “the operating distance in the operation in which the articles (A) are held by the gripping members () being less than the prescribed range,” the articles (A) gripped by the grippers () are returned to an article group accommodation container () by a control unit () without said articles (A) being discharged to a discharge chute. As a result, a situation where the grippers () operate while still holding “articles for which the weight value is not the target weight value” is avoided.

Weighing device

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 discharge system includes a placement unit in which the article group is placed, plural grippers, a movable member, a robot that moves the movable member, weight acquisition units, and a control unit. The plural grippers grip some articles with gripping member. The plural grippers are attached to the movable member. The weight acquisition units acquire weight values of the articles that each of the grippers grips. The control unit moves the movable member, brings the plural grippers closer to the placement unit, causes the plural grippers to grip some of the articles of the article group placed in the placement unit, and, based on the result of a combination calculation using the weight values of the articles that each of the grippers grips and which the weight acquisition units have acquired, causes predetermined grippers among the plural grippers to release the articles and thereby discharge the articles.

Article discharge system

An article transfer device includes: a robot hand transferring an article gripped by a gripping unit; and a control unit controlling operation of the robot hand so as to insert the gripping unit into an article region where the article is disposed, grip the article, and transfer the gripped article to a transfer destination. The control unit controls the operation of the robot hand such that the gripping unit is closed and a predetermined amount of the article is gripped after opening-closing operation for opening the gripping unit after temporarily closing the gripping unit is executed at least once.

Article transfer device

An article gripping device causes a gripping member to grip an article, and subsequently discharge the article by releasing the gripping of the article by the gripping member. The article gripping device is provided with a gripping member driving mechanism to drive the gripping member, and a controller to control the gripping member driving mechanism. The controller has, as control modes for the gripping member driving mechanism, a first control mode and a second control mode that is separate from the first control mode. In the first control mode, the controller controls the gripping member driving mechanism to cause the gripping member to execute a first operation of gripping the article and subsequently releasing the gripping of the article. In the second control mode, the controller controls the gripping member driving mechanism to cause the gripping member to execute a second operation of removing matter adhering to the gripping member.

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Ritto, Japan

Shuichi Maeda