Patent ID: 11912449
Assignee: ISHIDA CO., LTD.
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 0:
1. An article gripping system that grips and discharges articles from an article group stored in a container, the article gripping system comprising:
a plurality of gripping units that grip the articles;
a weigher that measures a weight value of the articles;
a drive unit that moves at least one of the container and the gripping units relative to the other; and
a control unit that controls the drive unit to move at least one of the container and the gripping units to thereby switch a positional relationship between the container and one of the gripping units between a first positional relationship in which the container obstructs discharge of the articles gripped by the one of the gripping units and a second positional relationship in which the container does not obstruct discharge of the articles gripped by the one of the gripping units, wherein
when the one of the gripping units grips the articles in the state of the first positional relationship, in a case the controller decides to return the articles gripped by the gripping unit to the container without discharging the articles based on the weight value, the controller causes the gripping unit to return the articles gripped by the gripping unit to the container without changing the first positional relationship, and further in a case the controller decides to discharge the articles gripped by the gripping unit to downstream based on the weight value, the controller changes the positional relationship to the second position relationship from the first positional relationship.