Part packaging system and method

Abstract

A parts packaging system for packaging parts in an elongated bag includes a bag holding machine comprising a first bag holder mechanism, a second bag holder mechanism, and an air nozzle. The first bag holder mechanism is configured to hold a first end of the elongated bag. The first bag holder mechanism opens the first end of the elongated bag. The second bag holder mechanism is configured to hold a second end of the elongated bag. The second bag holder mechanism closes the second end of the elongated bag. An air nozzle is located near the first bag holder mechanism. The air nozzle is configured to inflate the elongated bag with an airflow directed to the first end of the elongated bag. The first bag holder mechanism holds the inflated elongated bag, leaving the first end open to receive parts in the open first end, while the air nozzle directs airflow into the elongated bag.

Description

Technical Field

[0001] This article generally deals with parts packaging systems and methods. Background Technology

[0002] Bagging and packaging irregularly shaped parts is difficult. For example, long parts with an aspect ratio or length-to-diameter ratio greater than 20:1 are difficult to fit into bags for packaging. Typically, due to the complexity of automated processes, bagging and packaging such irregularly shaped parts is a manual process.

[0003] There is still a need for automated parts packaging systems and methods for irregularly shaped parts. Summary of the Invention

[0004] In one embodiment, a parts packaging system is provided for packaging parts extending along a longitudinal axis in an elongated bag. The parts packaging system includes a bag holding machine comprising a first bag holder mechanism, a second bag holder mechanism, and an air nozzle. The first bag holder mechanism is configured to hold a first end of the elongated bag. The first bag holder mechanism opens the first end of the elongated bag. The second bag holder mechanism is configured to hold a second end of the elongated bag. The second bag holder mechanism closes the second end of the elongated bag. The air nozzle is proximate to the first bag holder mechanism. The air nozzle is configured to inflate the elongated bag with an airflow directed to the first end of the elongated bag. The first bag holder mechanism holds the inflated elongated bag, leaving the first end open to receive parts in the open first end, while the air nozzle directs airflow into the elongated bag.

[0005] In another embodiment, a parts packaging system is provided for packaging parts extending along a longitudinal axis in an elongated bag. The parts packaging system includes a bag holding machine comprising: a first bag holder mechanism configured to hold a first end of the elongated bag; a second bag holder mechanism configured to hold a second end of the elongated bag; and an air nozzle located near the first bag holder mechanism. The first bag holder mechanism is configured to open the first end of the elongated bag. The air nozzle is configured to inflate the elongated bag with an airflow directed to the first end of the elongated bag when the first bag holder mechanism opens the first end of the elongated bag. The parts packaging system also includes a parts loading machine having a parts holder mechanism configured to hold parts and move parts through the open first end into the inflated elongated bag.

[0006] In another embodiment, a method is provided for packaging parts in an elongated bag extending along a longitudinal axis. The method uses a first bag gripper mechanism to grasp a first end of the elongated bag and a second bag gripper mechanism to grasp a second end of the elongated bag. The method includes opening the first end of the elongated bag, inflating the elongated bag by blowing air into the first end of the elongated bag using an air nozzle, and grasping the parts using a parts gripper mechanism. The method includes loading the parts into the first end of the elongated bag and releasing the parts from the parts gripper mechanism to place the parts into the elongated bag. The method uses the parts gripper mechanism to grasp the elongated bag containing the parts and uses the parts gripper mechanism to move the elongated bag containing the parts to a packaging station. Attached Figure Description

[0007] Figure 1 This is a schematic diagram of a parts packaging system according to an exemplary embodiment.

[0008] Figure 2 This is a front perspective view of a part packaging system according to an exemplary embodiment.

[0009] Figure 3 This is a perspective view of a part packaging system according to an exemplary embodiment.

[0010] Figure 4 This is a perspective view of a part packaging system according to an exemplary embodiment.

[0011] Figure 5 This is a flowchart illustrating a method for packaging parts in an elongated bag according to an exemplary embodiment. Detailed Implementation

[0012] Figure 1 This is a schematic diagram of a parts packaging system 100 according to an exemplary embodiment. In an exemplary embodiment, the parts packaging system 100 is used to package specially shaped parts 102 (e.g., oval or elongated parts) in an elongated bag 104 of appropriate size and shape. The parts 102 extend along a longitudinal axis 106. In various embodiments, the parts 102 may be generally cylindrical or tubular. The elongated bag 104 is similarly tubular to receive the elongated parts 102. In various embodiments, the aspect ratio of the parts 102 may be greater than 10:1. In various embodiments, the aspect ratio of the parts may be greater than 20:1, and in other various embodiments, the aspect ratio of the parts may be greater than 30:1. In an exemplary embodiment, the parts packaging system 100 is an automated system that uses machines to package the parts 102 into the elongated bag 104. For example, the parts packaging system 100 can load the parts 102 into the elongated bag 104 without human intervention.

[0013] In an exemplary embodiment, the parts packaging system 100 includes a bag dispensing machine 110, a bag holding machine 112, a parts loading machine 114, and a product packaging machine 116. In an alternative embodiment, the parts packaging system 100 may include additional machines for performing other processes. The bag dispensing machine 110 dispenses elongated bags 104. The bag holding machine 112 holds the elongated bags 104 during the packaging process. The parts loading machine 114 packages the parts 102 and the elongated bags 104 held by the bag holding machine 112. While the parts are packaged in elongated bags, the combined parts / bag products may be further processed at the product packaging machine 116. For example, the products may be loaded into boxes or placed at the product packaging machine 116. The products may be labeled at the product packaging machine 116.

[0014] Bag dispensing machine 110 maintains a supply 120 of elongated bags 104. In various embodiments, the supply of elongated bags 104 may be arranged in rolls, such as on a spool or reel. The elongated bags 104 are conveyed to a bag dispensing position 122, for example, along the top or side of a housing or holder for the supply 120 of elongated bags 104. In an exemplary embodiment, the elongated bags 104 may be continuous with each other. For example, the elongated bags 104 may be formed from a continuous plastic tube. In an exemplary embodiment, bag dispensing machine 110 includes a cutter 124 for separating the elongated bags 104 from the continuous supply 120. The cutter 124 cuts the elongated bags 104 into lengths. Optionally, bag dispensing machine 110 may be configured to dispense elongated bags 104 of different lengths to receive parts 102 of different lengths.

[0015] The bag holding machine 112 retrieves an elongated bag 104 from the bag dispensing machine 110 and moves the elongated bag 104 to a parts loading station. In an exemplary embodiment, the bag holding machine 112 includes a bag manipulator 130 and a bag gripper mechanism 132 mounted to the bag manipulator 130. The bag gripper mechanism 132 is configured to hold the end of the elongated bag 104. The bag manipulator 130 is movable in three-dimensional space to move the bag gripper mechanism 132. For example, the bag manipulator 130 moves the bag gripper mechanism 132 to pick up the elongated bag 104 and position the elongated bag 104 (e.g., relative to the parts loading machine 114) during the loading of parts 102 into the elongated bag 104. In an exemplary embodiment, the bag manipulator 130 is a multi-axis robot configured to move in three-dimensional space. In an exemplary embodiment, the bag gripper mechanism 132 includes one or more suction cups for holding the elongated bag 104. The bag gripper mechanism 132 can hold the elongated bag 104 by vacuum pressure. In various other embodiments, the bag holder mechanism 132 may include gripping fingers configured to clamp the elongated bag 104 to hold the elongated bag 104. Other types of gripper mechanisms may be used in alternative embodiments.

[0016] In an exemplary embodiment, the bag holding machine 112 includes a second bag gripper mechanism 134 configured to hold a second end of an elongated bag 104. The second bag gripper mechanism 134 is disposed at a parts loading station. In various embodiments, the second bag gripper mechanism 134 is mounted to a fixing device 136, which holds the second bag gripper mechanism 134 in a fixed position. In alternative embodiments, the second bag gripper mechanism 134 may be mounted to a second bag manipulator (not shown) for moving the second bag gripper mechanism 134 and in three-dimensional space, such as retrieving the second end of the elongated bag 104 and positioning the elongated bag 104 relative to the parts loading machine 114. The second bag gripper mechanism 134 may include a suction cup for holding the second end of the elongated bag 104. The second bag gripper mechanism 134 may hold the elongated bag 104 by vacuum pressure. In other various embodiments, the second bag gripper mechanism 134 may include gripping fingers configured to clamp the elongated bag 104. Other types of gripper mechanisms may be used in alternative embodiments.

[0017] Parts loading machine 114 retrieves part 102 and loads it into elongated bag 104 at a parts loading station. In an exemplary embodiment, parts loading machine 114 includes parts manipulator 140 and parts gripper mechanism 142 mounted to parts manipulator 140. Part gripper mechanism 142 can pick up part 102 from its end or from its middle. Part manipulator 140 can move in three-dimensional space to move parts gripper mechanism 142. For example, parts manipulator 140 moves parts gripper mechanism 142 to pick up part 102 at parts retrieval position 144, moves part 102 relative to elongated bag 104 to loading position, and loads part 102 into elongated bag 104. Optionally, multiple parts 102 can be stored at parts retrieval position 144 or transported to parts retrieval position 144 via a conveyor. In an exemplary embodiment, parts manipulator 140 is a multi-axis robot configured to move in three-dimensional space. In an exemplary embodiment, the part holder mechanism 142 may include gripping fingers or jaws configured to clamp the part 102 to hold the elongated part 102. In various other embodiments, the part holder mechanism 142 includes one or more suction cups for holding the part 102. The part holder mechanism 142 may hold the part 102 by vacuum pressure. Other types of gripper mechanisms may be used in alternative embodiments.

[0018] Product packaging machine 116 includes a bin, box, or other container 150 for receiving products (e.g., elongated bag 104, into which part 102 is loaded). Part loading machine 114 transports the product to container 150. In alternative embodiments, a separate product manipulator may be provided to retrieve the product and move it to product packaging machine 116. For example, a separate product manipulator with a product gripper mechanism may retrieve the product after part 102 has been loaded into elongated bag 104. In various embodiments, product packaging machine 116 may include a sealing tracer for sealing a first and / or second end of elongated bag 104 to enclose part 102 within elongated bag 104. In various embodiments, product packaging machine 116 may include labeling means, for applying shipping labels or other suitable labels to the product or container 150.

[0019] In an exemplary embodiment, a parts packaging system 100 uses an automated process to load elongated parts 102 into elongated bags 104. Various machines retrieve them and place them in the elongated bags 104 to load the elongated parts 102 into the elongated bags 104 and package the product for further processing or transportation. The loading and movement of the parts 102, elongated bags 104, and finished products are all performed automatically by machines without human intervention.

[0020] Figure 2 This is a front perspective view of a part of a parts packaging system 100 according to an exemplary embodiment. Figure 2 A portion of a bag dispensing machine 110 and a bag holding machine 112 is shown. A bag gripper mechanism 132 is moved to a bag dispensing position 122 via a bag manipulator 130 to pick up an elongated bag 104. The bag manipulator 130 is configured to move the bag gripper mechanism 132 away from the bag dispensing machine 110, for example, to load a part 102 into the elongated bag 104.

[0021] The bag dispensing machine 110 includes a housing 160 that holds a supply 120 of elongated bags 104. In the illustrated embodiment, the supply 120 is held within the housing 160. The elongated bags 104 are dispensed through an opening 162 in a top 164 of the housing 160. The elongated bags 104 extend across the top 164 to a bag dispensing position 122.

[0022] In an exemplary embodiment, the bag dispensing machine 110 includes a platform at a bag dispensing position 122. The platform 166 includes a slot 168 that allows a bag holding machine 112 to receive elongated bags 104 from above and below. For example, a bag gripper mechanism 132 may extend into the slot 168 to engage with the elongated bag 104. The bag gripper mechanism 132 may clamp a first end 170 of the elongated bag 104. A second end 172 of the elongated bag 104 may be absent from the bag dispensing machine 110 to allow the elongated bag 104 to move away from the bag dispensing machine 110, for example, to a parts loading station. A cutter 124 is positioned near the bag dispensing position 122 to separate individual elongated bags 104 from the supply 120.

[0023] Figure 3 This is a perspective view of a portion of a parts packaging system 100 according to an exemplary embodiment. Figure 3 A portion of a bag-holding machine 112 holding an elongated bag 104 and a portion of a parts-loading machine 114 holding a part 102 are shown. The part 102 is shown as being partially loaded into the elongated bag 104.

[0024] The bag manipulator 130 includes an arm 200, such as a robotic arm movable in three-dimensional space. For example, the arm 200 may move back and forth (e.g., in direction 180), laterally (e.g., in direction 182), up and down (e.g., in direction 184), or rotate (e.g., in direction 186). A bag gripper mechanism 132 is mounted to the end of the arm 200. The arm 200 moves the bag gripper mechanism 132 from a bag pickup station to a parts loading station. In an exemplary embodiment, the bag manipulator 130 positions the bag gripper mechanism 132 in a straight line (e.g., vertically above) with a second bag gripper mechanism 134 held by a fixing device 136. A second end 172 of an elongated bag 104 is positioned at the second bag gripper mechanism 134.

[0025] A bag holder mechanism 132 holds a first end 170 of an elongated bag 104. In an exemplary embodiment, the bag holder mechanism 132 includes a first end actuator 210 and a second end actuator 212. The first end actuator 210 and the second end actuator 212 are opposite to each other across a bag holding space 214. The first end actuator 210 and the second end actuator 212 hold opposite sides 174, 176 of the first end 170 of the elongated bag 104. In an exemplary embodiment, the first end actuator 210 and the second end actuator 212 hold the elongated bag 104 using vacuum pressure. For example, the first end actuator 210 includes a first suction cup 216, and the second end actuator 212 includes a second suction cup 218. The suction cups 216, 218 engage the sides 174, 176 of the elongated bag 104. In an exemplary embodiment, the first end actuator 210 and the second end actuator 212 are movable relative to each other. For example, end actuators 210 and 212 can move toward each other to a closed position and away from each other to an open position. In an exemplary embodiment, end actuators 210 and 212 can move to a partially open position (e.g., Figure 3 (As shown) to receive part 102 by opening the first end 170 of the elongated bag 104. In the closed position, end actuators 210, 212 can clamp the elongated bag 104 between them to hold the first end 170 in the closed position. End actuators 210, 212 move to the partially open position to open the first end 170 of the elongated bag 104 by a sufficient amount to receive part 102. In an exemplary embodiment, end actuators 210, 212 are released from the elongated bag 104 when they move to the fully open position. In various embodiments, vacuum pressure can be released to release end actuators 210, 212 from the elongated bag 104.

[0026] In alternative embodiments, other types of clamping mechanisms may be used. For example, the first end actuator 210 and the second end actuator 212 may include clamping fingers or grippers. The clamping fingers may close to clamp the sides 174, 176 of the elongated bag 104 to hold the first end 170 of the elongated bag 104. The clamping fingers may open to release the elongated bag 104 from the end actuators 210, 212. In alternative embodiments, other types of clamping mechanisms may be used.

[0027] In an exemplary embodiment, the bag holding machine 112 includes air nozzles 220 located near the bag gripper mechanism 132. The air nozzles 220 are configured to inflate the elongated bag 104 with airflow directed into a first end 170. In the illustrated embodiment, a pair of air nozzles 220 are respectively disposed and positioned near the first end actuator 210 and the second end actuator 212. In alternative embodiments, more or fewer air nozzles 220 may be provided. The air nozzles 220 are positioned near the first end 170 of the elongated bag 104 (e.g., directly above). The air nozzles 220 are angled to directly direct airflow into the open first end 170. The air nozzles 220 inflate the elongated bag 104 to allow parts 102 to be loaded quickly and easily into the elongated bag 104. Air nozzle 220 inflates elongated bag 104 so that the internal space of elongated bag 104 is too large relative to the size of part 102, in order to prevent damage to elongated bag 104 and allow part 102 to be loaded into elongated bag 104 without obstruction.

[0028] The second bag holder mechanism 134 holds the second end 172 of the elongated bag 104. For example, the bag manipulator 130 positions the bag holder mechanism 132 at a predetermined distance to be in line with (e.g., above) the second bag holder mechanism 134 to position the second end 172 of the elongated bag 104 at the second bag holder mechanism 134. In an exemplary embodiment, the second bag holder mechanism 134 includes a first end actuator 230 and a second end actuator 232. The first end actuator 230 and the second end actuator 232 are opposite to each other across the bag holding space 234. The first end actuator 230 and the second end actuator 232 hold opposite sides 174, 176 of the second end 172 of the elongated bag 104. In an exemplary embodiment, the first end actuator 230 and the second end actuator 232 hold the elongated bag 104 using vacuum pressure. For example, the first end actuator 230 includes a first suction cup 236, and the second end actuator 232 includes a second suction cup 238. Suction cups 236 and 238 engage the sides 174 and 176 of the elongated bag 104. In an exemplary embodiment, the first end actuator 230 and the second end actuator 232 are movable relative to each other. For example, the end actuators 230 and 232 can be moved toward each other to a closed position (e.g., Figure 3(As shown) and move away from each other to the open position. In the closed position, end actuators 230, 232 can clamp the elongated bag 104 between them to hold the second end 172 in the closed position. End actuators 230, 232 hold the second end 172 in the closed position to allow the air nozzle 222 to inflate the elongated bag 104. End actuators 230, 232 hold the second end 172 in the closed position to prevent the part 102 from falling out of the elongated bag 104 when it is loaded into the elongated bag 104. In an exemplary embodiment, end actuators 230, 232 are released from the elongated bag 104 when they move to the open position. In various embodiments, vacuum pressure can be released to release end actuators 230, 232 from the elongated bag 104.

[0029] In alternative embodiments, other types of clamping mechanisms may be used. For example, the first end actuator 230 and the second end actuator 232 may include clamping fingers or grippers. The clamping fingers may close to clamp the sides 174, 176 of the elongated bag 104 to hold the second end 172 of the elongated bag 104. The clamping fingers may open to release the elongated bag 104 from the end actuators 230, 232. In alternative embodiments, other types of clamping mechanisms may be used.

[0030] The part manipulator 140 includes an arm 300, such as a robotic arm movable in three-dimensional space. For example, the arm 300 may move forward and backward (e.g., in direction 190), laterally (e.g., in direction 192), up and down (e.g., in direction 194), or rotate (e.g., in direction 196). A part gripper mechanism 142 is mounted to the end of the arm 300. The arm 300 moves the part gripper mechanism 142 from a part pick-up station to a part loading station. In an exemplary embodiment, the part manipulator 140 positions the part gripper mechanism 142 directly in line with (e.g., vertically above) the bag gripper mechanism 132 to position the part 102 directly in line with (e.g., vertically above) the open first end 170 of the elongated bag 104.

[0031] A part holder mechanism 142 holds part 102, for example, at the middle of part 102. In an exemplary embodiment, the part holder mechanism 142 includes a first end actuator 310 and a second end actuator 312. The first end actuator 310 and the second end actuator 312 are opposite each other across a part holding space 314. In an exemplary embodiment, the first end actuator 310 and the second end actuator 312 hold part 102 using a compressive force. For example, part 102 can be clamped between the first end actuator 310 and the second end actuator 312. Alternatively, the first end actuator 310 and the second end actuator 312 can hold part 102 by vacuum pressure, for example, using a suction cup. In an exemplary embodiment, the first end actuator 310 and the second end actuator 312 can move relative to each other. For example, the end actuators 310, 312 can move toward each other to a closed position and away from each other to an open position. In the closed position ( Figure 3 End actuators 310 and 312 can clamp part 102 between them to move and manipulate the position of part 102. End actuators 310 and 312 move to the open position to release part 102 into elongated bag 104.

[0032] In an exemplary embodiment, during packaging, the parts gripper mechanism 142 moves the parts 102 toward the elongated bag 104 to at least partially load the parts 102 into the elongated bag 104. For example, before releasing the parts 102, the parts gripper mechanism 142 may load approximately 30%-50% of the parts 102 into the elongated bag 104. When the parts gripper mechanism 142 releases the parts 102, the parts 102 are placed into the elongated bag 104, for example, to a closed second end 172. Alternatively, the first end 170 may be closed after the parts have been fully loaded into the elongated bag 104, for example, by means of end actuators 210, 212 of the bag gripper mechanism 132.

[0033] Figure 4 This is a perspective view of a portion of a parts packaging system 100 according to an exemplary embodiment. Figure 4 A parts loading machine 114 is shown holding a product (e.g., part 102 within a long bag 104). Part 102 is shown fully loaded into the long bag 104, forming a product 108 ready to be moved to a product packaging machine 116.

[0034] After the parts holder mechanism 142 releases the parts 102 and places the parts 102 into the elongated bag 104, the parts holder mechanism 142 is free to move relative to the parts 102 and the elongated bag 104. In an exemplary embodiment, the parts holder mechanism 142 moves to grip the product 108 (the elongated bag containing the parts) and then moves the product 108 to the product packaging machine 116. The parts holder mechanism 142 moves to the middle of the product 108 and operates to grip the product 108. For example, the first end actuator 310 and the second end actuator 312 close around the product 108 to securely hold the product 108. While the product is held by the parts holder mechanism 142, the first bag holder mechanism 132 and the second bag holder mechanism 134 can be released from the elongated bag 104. For example, the end actuators 210, 212 can be opened to release the first end 170, and the end actuators 230, 232 can be opened to release the second end 172. Then, the product can be moved to the product packaging machine 116.

[0035] Figure 5 This is a flowchart illustrating a method for packaging parts in elongated bags according to an exemplary embodiment. In various alternative embodiments, individual steps may be omitted, and the order of steps may be changed. This method can be used by a controller of the parts packaging system to control various components, devices, and machines of the parts packaging system to load elongated parts into elongated bags. This method is provided to automate the parts packaging system, thereby loading parts into elongated bags without human intervention.

[0036] At 500, the method includes positioning a first bag gripper mechanism (BGM1) at a bag holder machine. BGM1 is movable in three-dimensional space. For example, BGM1 may be located at the end of a manipulator or robot that is movable in three-dimensional space. At 502, the method includes gripping a first end of an elongated bag with BGM1. BGM1 may include a suction cup or gripping finger for gripping the end of the elongated bag. At 504, the method includes cutting the elongated bag from a bag supply. For example, the bag holder machine may include a cutter for cutting a continuous bag supply to a predetermined length.

[0037] At 506, the method includes moving an elongated bag to a parts loading station. The elongated bag is moved by a BGM1. For example, a manipulator can move the BGM1 from a bag holder machine to the parts loading station. At 508, the method includes gripping a second end of the elongated bag with a second bag gripper mechanism (BGM2). In an exemplary embodiment, the BGM2 holds the elongated bag closed at the second end. For example, a first end actuator and a second end actuator of the BGM2 can clamp the second end of the elongated bag to close the second end. In an exemplary embodiment, the BGM1 moves the elongated bag to align the second end of the bag with the BGM2. In an alternative embodiment, the BGM2 can move in three-dimensional space to grip the second end of the elongated bag.

[0038] At 510, the method includes opening a first end of the bag using a BGM1. For example, the BGM1 may include a first end actuator and a second end actuator that hold a first side and a second side of the bag. The end actuators are movable relative to each other to open the first end of the bag. At 512, the method includes inflating the bag using an air nozzle. The air nozzle may be coupled to the BGM1 and positioned to direct airflow into the first end of the elongated bag. The bag is inflated to receive a part. The second end is then closed, allowing the bag to inflate easily.

[0039] At 514, the method includes gripping a part using a part gripper mechanism (PGM). In an exemplary embodiment, the PGM includes a first end actuator and a second end actuator configured to grip or clamp the part, for example, near the center of the part. The PGM can move in three-dimensional space to pick up the part and move the part relative to an elongated bag. For example, the PGM can be positioned at the end of a manipulator or robotic arm that can move in three-dimensional space. At 516, the method includes loading the part into the open first end of the bag. For example, the PGM can move toward BGM1 to load the part at least partially into the elongated bag. Inflating the elongated bag allows the part to be easily loaded into the elongated bag and prevents damage to the elongated bag. At 518, the method includes releasing the part from the PGM. For example, the first and second end actuators of the PGM can open to release the part. When the part is released, the part is placed into the elongated bag, for example, to the closed second end of the elongated bag. After the part is released, the PGM can move freely relative to the part.

[0040] At 520, the method includes using a PGM to grasp an elongated bag containing parts. For example, the PGM moves from a first end of the elongated bag to the middle of the bag. A first and second end actuator of the PGM closes around the bag and parts to grasp the bag and parts together. At 522, the method includes releasing the elongated bag from its first and second ends. For example, end actuators of BGM1 and BGM2 can open to release the first and second ends of the elongated bag. At 524, the method includes moving the bag containing parts to a packaging station. The PGM is used to move the bag and parts together from a parts loading station to the packaging station. At 526, the method includes releasing a product (e.g., an elongated bag containing parts) at the packaging station. The product is released by opening the first and second end actuators of the PGM. The product can be released into a bin or box for further processing or packaging. For example, the first and second ends of the elongated bag can be closed or sealed at the packaging station. The elongated bag or box receiving the product can be labeled at the packaging station. Other processing steps can be performed at the packaging station.

[0041] This method uses automated or computer-controlled machines or devices to load elongated parts into elongated bags. It automates parts packaging systems to load parts into elongated bags without human intervention. This method allows for rapid, repeatable, and consistent loading and packaging of parts into bags. The various steps of this method can be performed simultaneously to accelerate the loading process.

[0042] It should be understood that the above description is intended to be illustrative and not restrictive. For example, the above embodiments (and / or aspects thereof) can be used in combination with each other. Furthermore, many modifications can be made to adapt particular situations or materials to the teachings of the invention without departing from its scope. The dimensions, material types, orientations of various parts, and quantities and positions of various parts described herein are intended to define parameters of certain embodiments and are by no means restrictive, but merely exemplary embodiments. Many other embodiments and modifications within the spirit and scope of the claims will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of the invention should be determined by reference to the appended claims and the full scope of their equivalents. In the appended claims, the terms “comprising” and “wherein” are used as plain English equivalents of the corresponding terms “including” and “therein.” Furthermore, in the appended claims, the terms “first,” “second,” and “third,” etc., are used merely as labels and are not intended to impose numerical requirements on their objects. Furthermore, the limitations of the appended claims are not drafted in means-plus-function format and are not intended to be based on 35 U.SC §112(f), unless and until such a claim limitation explicitly uses the phrase “means for…” followed by a statement of function, without any further structure.

Claims

1. A parts packaging system for packaging parts that extend along a longitudinal axis in an elongated bag, the parts packaging system comprising: A bag holding machine, comprising a first bag gripper mechanism, a second bag gripper mechanism, and an air nozzle; The first bag holder mechanism is configured to hold a first end of the elongated bag, and the first bag holder mechanism opens the first end of the elongated bag; The second bag holder mechanism is configured to hold the second end of the elongated bag, and the second bag holder mechanism closes the second end of the elongated bag; and The air nozzle is located near the first bag holder mechanism and is configured to inflate the elongated bag with an airflow directed to the first end of the elongated bag. The first bag holder mechanism holds the inflated elongated bag open at the first end to receive the part in the open first end, while the air nozzle directs the airflow into the elongated bag.

2. The parts packaging system of claim 1, wherein the bag holding machine includes a bag manipulator, the first bag gripper mechanism being mounted to the bag manipulator, the bag manipulator being movable in three-dimensional space to move the first bag gripper mechanism relative to the second bag gripper mechanism.

3. The parts packaging system of claim 1, wherein the first bag holder mechanism includes a first end actuator and a second end actuator opposite to each other across a bag holding space, the first end actuator and the second end actuator holding opposite sides of the first end of the elongated bag in the bag holding space.

4. The parts packaging system of claim 3, wherein at least one of the first end actuator and the second end actuator is movable relative to the other of the first end actuator and the second end actuator to open the first end of the elongated bag.

5. The parts packaging system of claim 3, wherein the first end actuator includes a suction cup and the second end actuator includes a suction cup to hold the elongated bag.

6. The parts packaging system of claim 3, wherein the first end actuator uses vacuum pressure to hold the elongated bag and the second end actuator uses vacuum pressure to hold the elongated bag.

7. The parts packaging system of claim 1, wherein the bag holding machine includes a fixing device that holds the second bag gripper mechanism in a fixed position, the bag holding machine including a bag manipulator that holds the first bag gripper mechanism, the bag manipulator being movable relative to the fixing device to position a second end of the elongated bag at the second bag gripper mechanism.

8. The parts packaging system of claim 1, further comprising a parts loading machine having a parts gripper mechanism configured to hold the parts and move the parts into the expanded elongated bag through the open first end.

9. The parts packaging system of claim 8, wherein the parts gripper mechanism is configured to release the parts into the elongated bag, and the parts gripper mechanism is configured to grip the elongated bag containing the parts.

10. The parts packaging system of claim 8, wherein the parts loading machine includes a parts manipulator, the parts clamping mechanism being mounted to the parts manipulator, the parts manipulator moving the parts clamping mechanism to move the parts relative to the elongated bag.

11. The parts packaging system of claim 8, wherein the parts clamping mechanism includes a first jaw element and a second jaw element, which are movable relative to each other to clamp and release the parts.

12. The parts packaging system of claim 1, further comprising a bag dispensing machine having a supply of elongated bags, the bag dispensing machine having a cutter configured to cut the elongated bags from the supply of elongated bags, the first bag holder mechanism being configured to move the elongated bags cut from the supply of elongated bags away from the bag dispensing machine.

13. A parts packaging system for packaging parts that extend along a longitudinal axis in an elongated bag, the parts packaging system comprising: A bag holding machine includes: a first bag gripper mechanism configured to hold a first end of an elongated bag; a second bag gripper mechanism configured to hold a second end of the elongated bag, the second bag gripper mechanism closing the second end of the elongated bag; and an air nozzle located near the first bag gripper mechanism, the first bag gripper mechanism configured to open the first end of the elongated bag, the air nozzle configured to inflate the elongated bag with an airflow directed into the first end of the elongated bag when the first bag gripper mechanism opens the first end of the elongated bag; and A parts loading machine having a parts gripper mechanism configured to hold the parts and move them into the expanded elongated bag through an open first end.

14. The parts packaging system of claim 13, wherein the bag holding machine includes a bag manipulator, the first bag gripper mechanism being mounted to the bag manipulator, the bag manipulator being movable in three-dimensional space to move the first bag gripper mechanism relative to the second bag gripper mechanism.

15. The parts packaging system of claim 13, wherein the first bag holder mechanism includes a first end actuator and a second end actuator opposite to each other across a bag holding space, the first end actuator and the second end actuator holding opposite sides of a first end of the elongated bag in the bag holding space.

16. The parts packaging system of claim 13, wherein the parts gripper mechanism is configured to release the parts into the elongated bag, and the parts gripper mechanism is configured to grip the elongated bag containing the parts.

17. The parts packaging system of claim 13, wherein the parts loading machine includes a parts manipulator, the parts clamping mechanism being mounted to the parts manipulator, the parts manipulator moving the parts clamping mechanism to move the parts relative to the elongated bag.

18. A method for packaging parts in an elongated bag extending along a longitudinal axis, the method comprising: The first end of the elongated bag is gripped using the first bag gripper mechanism; The second bag gripper mechanism is used to grasp the second end of the long bag, and the second bag gripper mechanism closes the second end of the long bag; Open the first end of the elongated bag; The elongated bag is inflated by blowing air into the first end of the bag using an air nozzle; The part is gripped using a part holder mechanism; The parts are loaded into the first end of the elongated bag; Release the part from the part holder mechanism to place the part into the elongated bag; as well as The part gripper mechanism is used to grasp the elongated bag containing the part; as well as The long bag containing the parts is moved to the packaging station using the parts clamping mechanism.

19. The method of claim 18, further comprising, after gripping the elongated bag containing the part using the part gripper mechanism, releasing a first end of the elongated bag from the first bag gripper mechanism, wherein moving the elongated bag containing the part includes moving the elongated bag containing the part away from the first bag gripper mechanism.

20. The method of claim 18, wherein gripping the first end of the elongated bag using the first bag gripper mechanism comprises gripping the first end of the elongated bag between a first end actuator and a second end actuator, and wherein opening the first end of the elongated bag comprises moving the first end actuator away from the second end actuator to open the first end of the elongated bag.

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