A combination weighing device includes a conveying unit configured to convey articles, a controller configured to perform combination weighing of the articles, and an interface configured to receive an input of information from an operator. The controller has a first operation mode including a first control parameter that defines a conveying operation of the conveying unit and is automatically set in the device, and a second operation mode including a second control parameter that defines the conveying operation of the conveying unit and is set based on the information input from the interface, and when the interface receives an input of the information during an operation of the conveying unit in the first operation mode, the controller makes a transition from the first operation mode to the second operation mode, and controls the operation of the conveying unit using the second control parameter.

An article supplying apparatus includes a retention unit configured to retain an article, a robot hand configured to insert the article retained in the retention unit into a container, and a control unit configured to control operation of the robot hand. The robot hand has a holding portion for holding the article. The control unit executes holding control in which the article is held by the holding portion; and stand-by insertion control in which after the holding portion is temporarily disposed at a stand-by position different from a position immediately above an article insertion port in the container and set on a movement path from a start position of the holding through the holding control to the position immediately thereabove, the holding portion is moved to the position immediately thereabove, and the article is inserted into the container via the article insertion port.

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 (100), when at least one of an operation state of grippers (30) and weighing results from weighing units (40) fulfills any condition from among “a weight value of articles (A) weighed by the weighing units (40) not being a preset target weight value,” “an operating distance in an operation in which the articles (A) are held by gripping members (32) being greater than a prescribed range,” and “the operating distance in the operation in which the articles (A) are held by the gripping members (32) being less than the prescribed range,” the articles (A) gripped by the grippers (30) are returned to an article group accommodation container (52) by a control unit (70) without said articles (A) being discharged to a discharge chute. As a result, a situation where the grippers (30) operate while still holding “articles for which the weight value is not the target weight value” is avoided.

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 (100), when at least one of an operation state of grippers (30) and weighing results from weighing units (40) fulfills any condition from among “a weight value of articles (A) weighed by the weighing units (40) not being a preset target weight value,” “an operating distance in an operation in which the articles (A) are held by gripping members (32) being greater than a prescribed range,” and “the operating distance in the operation in which the articles (A) are held by the gripping members (32) being less than the prescribed range,” the articles (A) gripped by the grippers (30) are returned to an article group accommodation container (52) by a control unit (70) without said articles (A) being discharged to a discharge chute. As a result, a situation where the grippers (30) operate while still holding “articles for which the weight value is not the target weight value” is avoided.

One or more load cells measure the weight of items at a fixture. Weight changes occur as items are picked from or placed to the fixture and may be used to determine when the item was picked or placed, quantity and so forth. Individual weights for a type of item may vary. A set of data comprising weight changes associated with interactions involving a single one of a particular type of item is gathered. These may be weight changes due to picks, places, or both. A model, such as a probability distribution, may be created that relates a particular weight of that type of item to a probability. The model may then be used to process other weight changes and attempt to determine what type of item was involved in an interaction.

One or more load cells measure the weight of items at a fixture. Weight changes occur as items are picked from or placed to the fixture and may be used to determine when the item was picked or placed, quantity and so forth. Individual weights for a type of item may vary. A set of data comprising weight changes associated with interactions involving a single one of a particular type of item is gathered. These may be weight changes due to picks, places, or both. A model, such as a probability distribution, may be created that relates a particular weight of that type of item to a probability. The model may then be used to process other weight changes and attempt to determine what type of item was involved in an interaction.

A hopper attachment structure is provided that allows a hopper to be removably attached to a driving unit. The hopper has an outlet in a body thereof and a gate driven to open and close by the driving unit. The outlet of the hopper is allowed to open and close with the gate. The driving unit has an engaging protrusion and a support protrusion. The hopper further has an attachment bracket extending from the body. The attachment bracket has a hook portion engageable with the engaging protrusion and also has a contact portion allowed to contact the support protrusion. The hopper is attachable to the driving unit by having the hook portion of the attachment bracket engaged with the engaging protrusion of the driving unit and by further having the contact portion of the attachment bracket supportably contact the support protrusion of the driving unit.

A hopper attachment structure is provided that allows a hopper to be removably attached to a driving unit. The hopper has an outlet in a body thereof and a gate driven to open and close by the driving unit. The outlet of the hopper is allowed to open and close with the gate. The driving unit has an engaging protrusion and a support protrusion. The hopper further has an attachment bracket extending from the body. The attachment bracket has a hook portion engageable with the engaging protrusion and also has a contact portion allowed to contact the support protrusion. The hopper is attachable to the driving unit by having the hook portion of the attachment bracket engaged with the engaging protrusion of the driving unit and by further having the contact portion of the attachment bracket supportably contact the support protrusion of the driving unit.

A method of generating batches of food items, includes transferring food items to a weight determination means where the weight of the food items are obtained for single food items and/or food items in groups, and generating a plurality of batches based on the obtained weight of the single food items and/or food items in groups. The step of generating batches is controlled such that the weight of batches is within a pre-defined weight range, and such that the distribution of the batches within the weight range is pre-defined.

A method of generating batches of food items, includes transferring food items to a weight determination means where the weight of the food items are obtained for single food items and/or food items in groups, and generating a plurality of batches based on the obtained weight of the single food items and/or food items in groups. The step of generating batches is controlled such that the weight of batches is within a pre-defined weight range, and such that the distribution of the batches within the weight range is pre-defined.