A method and an apparatus of supplying a bag are provided in which position information on a bag width in a direction parallel to a conveyance path at a part in a neighborhood of a bag opening of a conveyed bag and position information on a center of the bag width are obtained, an intermittent conveyance distance of a conveyance unit is adjusted based on the position information on the center of the bag width so that the center of the bag width of the bag stopping at a takeoff position is placed on a reference plane, and an interval of the pair of holding members positioned at the takeoff position is adjusted based on the position information on the bag width.

An apparatus for packaging containers of devices for pharmaceutical use includes a robotic arm movable from a gripping position, in which it picks up a container previously sealed by at least one protective sheet, to a release position in which it inserts the container into a bag through a suitable opening provided on a side of the bag; wherein the robotic arm is connected to at least one position control camera configured to read coordinates of a midpoint of the opening with respect to a lying plane on which the bag lies and/or an angle of rotation of the bag with respect to an axis perpendicular to the lying plane, so as to ensure the correct positioning and release of the container inside the bag.

An apparatus for packaging containers of devices for pharmaceutical use includes a robotic arm movable from a gripping position, in which it picks up a container previously sealed by at least one protective sheet, to a release position in which it inserts the container into a bag through a suitable opening provided on a side of the bag; wherein the robotic arm is connected to at least one position control camera configured to read coordinates of a midpoint of the opening with respect to a lying plane on which the bag lies and/or an angle of rotation of the bag with respect to an axis perpendicular to the lying plane, so as to ensure the correct positioning and release of the container inside the bag.

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 (110) switches between a first positional relationship in which a container (50) obstructs discharge of articles gripped by a first gripping unit (15A) but does not obstruct discharge of articles by a second gripping unit (15B) and a second positional relationship in which the container (50) obstructs discharge of articles gripped by the second gripping unit (15B) but does not obstruct discharge of articles gripped by the first gripping unit (15A), 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 (15).

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 (110) switches between a first positional relationship in which a container (50) obstructs discharge of articles gripped by a first gripping unit (15A) but does not obstruct discharge of articles by a second gripping unit (15B) and a second positional relationship in which the container (50) obstructs discharge of articles gripped by the second gripping unit (15B) but does not obstruct discharge of articles gripped by the first gripping unit (15A), 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 (15).

A system for assembling and filling two groups of electronic cigarettes, includes first and second working stations for assembly/inspection operations on a first group of electronic cigarettes and disposed upstream and downstream of a first conveying path, respectively. Third and fourth working stations perform assembly/inspection operations on a second group of electronic cigarettes and are disposed upstream and downstream of a second conveying path, respectively. A single filling station receives the first group at a first loading zone and the second group at a second loading zone to fill the first group and the second group with a filling product; and releases the first group of filled electronic cigarettes at a first unloading zone and the second group of filled electronic cigarettes at a second unloading zone towards the second working station and towards the fourth working station, respectively.

Using an acoustic signal to monitor a transfer of a puck that is holding and centering a container as it is being transferred from a first to a second transport-element includes using a sensor to capture an acoustic signal generated by the transfer. This acoustic signal indicates that the puck has been received at a treatment station associated with said second transport-element.

Using an acoustic signal to monitor a transfer of a puck that is holding and centering a container as it is being transferred from a first to a second transport-element includes using a sensor to capture an acoustic signal generated by the transfer. This acoustic signal indicates that the puck has been received at a treatment station associated with said second transport-element.

A boxing device includes a second suction unit that applies force to an inner wall surface of a box. The boxing device also includes a boxing device main body part capable of housing an object-to-be-housed in the interior of the box that has been positioned by being moved by the second suction unit applying force to the inner wall surface of the box.

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.