System and method of opening a bag

Abstract

A system includes a housing, a seal bar that moves laterally with respect to the housing, first and second grippers on the seal bar, third and a fourth grippers on the housing, and a controller. The first and second grippers are in fixed positions on the seal bar. The third and fourth grippers move transversely along the housing. The controller controls movements of the seal bar and the third and fourth grippers. The controller determines a perimeter of the opening of the bag while the opening is in a first shape. The controller controls lateral movements of the seal bar and transverse movements of the third and fourth grippers so that the opening of the bag transitions from the first shape to a second shape, and the perimeter of the opening of the bag is maintained substantially constant during the transition from the first shape to the second shape.

Description

Attorney Docket No. P46158-WOSYSTEM AND METHOD OF OPENING A BAGSPECIFICATIONBACKGROUND

[0001] The present disclosure is in the technical field of bag opening machines. More particularly, the present disclosure is directed to bag opening machines that maintain the perimeter of the opening of the bag substantially constant while changing the shape of the opening of the bag.

[0002] U.S. Pat. No. 3,254,828, issued Jun. 7, 1966, to Hershey Lemer under the title Flexible Container Strips is directed to so called bags on a roll (here the AutoBag patent). U.S. Pat. No. 3,254,828 is incorporated herein by reference in its entirety. This patent discloses a web of bags interconnected by lines of weakness, preferably in the form of perforations, with each of the bags being open on one face. In use the bags are sequentially fed to a loading station. When at the loading station, each bag is blown open, a product is inserted and thereafter separated from the web and, if desired, the bag is then sealed to form a package.

[0003] These container strips in the form of chains of pre-opened bags are supplied either on a roll as taught in the AutoBag patent or festooned in a carton in the manner taught in U.S. Pat. No. 4,201,029, issued May 6, 1980, to Bernard Lemer et al. under the title Method and Apparatus for Packaging, (herein the Wig-Wag patent). Such container strips have been sold by Automated Packaging Systems, Inc. of Streetsboro, Ohio, the assignee of the present case, under the trademark AutoBag and have enjoyed great commercial success.SUMMARY

[0004] This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This summary is not intended toAttorney Docket No. P46158-WO identify key features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

[0005] In a first embodiment, a sy stem for opening a bag includes a housing, a seal backing bar coupled to the housing and configured to move in a lateral direction toward and away from the housing. The system further includes a first gripper and a second gripper located on the seal backing bar. The first and second gripper are configured to be held in fixed positions on the seal backing bar while the system opens a bag. The system further includes a third gripper and a fourth gripper located on the housing. The third and fourth grippers are movable along the housing in a transverse direction. The lateral and transverse directions are substantially perpendicular to each other. The system further includes a controller configured to control movements of the seal backing bar wi th respect to the housing and movements of the third and fourth grippers along the housing. After an opening of the bag is engaged by the first, second, third, and fourth grippers, the controller is configured to determine a perimeter of the opening of the bag while the opening of the bag is in a first shape, which is different from a second shape of the opening of the bag, and to control lateral movements of the seal backing bar and transverse movements of the third and fourth grippers along the housing so that (1) the opening of the bag transitions from the first shape to the second shape, and (2) the perimeter of the opening of the bag is maintained substantially constant during the transition from the first shape to the second shape.

[0006] In a second embodiment, the bag of the preceding embodiment is formed from a fiber-based material.

[0007] In a third embodiment, the bag of any of the preceding embodiment is part of a web of interconnected bags.

[0008] In a fourth embodiment, the web of the third embodiment is formed from a fiberbased material.

[0009] In a fifth embodiment, the controller of any of the preceding embodiments is configured to control the lateral movements of the seal backing bar and transverse movements of the third and fourth grippers so that the opening of the bag is in the shape of a quadrilateral having comers at the first, second, third, and fourth grippers.Attorney Docket No. P46158-WO

[0010] In a sixth embodiment, the quadrilateral of the fifth embodiment is an isosceles trapezoid throughout the transition from the first shape to the second shape.

[0011] In a seventh embodiment, the quadrilateral of the fifth embodiment is a scalene trapezoid throughout the transition from the first shape to the second shape.

[0012] In an eighth embodiment, the second shape of any of the preceding embodiments is a rectangle.

[0013] In a ninth embodiment, the controller of any of the preceding embodiments is configured to determine the perimeter of the opening of the bag in part by determining a location of the first gripper on the seal backing bar by causing the third gripper to register against the first gripper, and determining a location of the second gripper on the seal backing bar by causing the fourth gripper to register against the second gripper.

[0014] In a tenth embodiment, the controller of the ninth embodiment is further configured to determine the perimeter of the opening of the bag in part by, after the third and fourth grippers respectively register against the first and second grippers, causing the third and fourth grippers to move outwardly to sides of the opening of the bag. The perimeter of the bag is determined in part by a distance between the third and fourth grippers after the third and fourth grippers to move outwardly to the sides of the opening of the bag.

[0015] In an eleventh embodiment, during the transition from the first shape to the second shape, the controller of any of the preceding embodiments is configured to cause movement at a non-constant speed of at least one of: the third gripper in the transverse direction along the housing, the fourth gripper in the transverse direction along the housing, and the seal backing bar in the lateral direction.

[0016] In a twelfth embodiment, during the transition from the first shape to the second shape, the controller of any of the preceding embodiments is configured to cause movement at a constant speed of the seal backing bar from a first position to an open position and movement at a non-constant speed of the third and fourth grippers toward each other in the transverse direction along the housing.

[0017] In a thirteenth embodiment, a method of opening a bag is performed by a system. The system includes a housing, a seal backing bar coupled to the housing and configured to move in a lateral direction toward and away from the housing, a first gripper and a second gripperAttorney Docket No. P46158-WO located on the seal backing bar, and a third gripper and a fourth gripper located on the housing. The first and second gripper are configured to be held in fixed positions on the seal backing bar while the system opens a bag. The third and fourth grippers are movable along the housing in a transverse direction. The lateral and transverse directions are substantially perpendicular to each other. The method includes determining, by a controller, that an opening of the bag is engaged by the first, second, third, and fourth grippers and determining a perimeter of the opening of the bag while the opening of the bag is in a first shape. The first shape is different from a second shape of the opening of the bag. The method further includes controlling lateral movements of the seal backing bar and transverse movements of the third and fourth grippers along the housing so that (1) the opening of the bag transitions from the first shape to the second shape, and (2) the perimeter of the opening of the bag is maintained substantially constant during the transition from the first shape to the second shape.

[0018] In a fourteenth embodiment, the bag of the thirteenth embodiment is formed from a fiber-based material.

[0019] In a fifteenth embodiment, the controlling of the lateral movements of the seal backing bar and transverse movements of the third and fourth grippers of any of the thirteenth to fourteenth embodiments includes holding the opening of the bag in the shape of a quadrilateral having comers at the first, second, third, and fourth grippers.

[0020] In a sixteenth embodiment, the quadrilateral of the fifteenth embodiment is an isosceles trapezoid throughout the transition from the first shape to the second shape.

[0021] In a seventeenth embodiment, the quadrilateral of the fifteenth embodiment is a scalene trapezoid throughout the transition from the first shape to the second shape.

[0022] In an eighteenth embodiment, the determining of the perimeter of the opening of any of the thirteenth to seventeenth embodiments includes determining a location of the first gripper on the seal backing bar by causing the third gripper to register against the first gripper and determining a location of the second gripper on the seal backing bar by causing the fourth gripper to register against the second gripper.

[0023] In a nineteenth embodiment, the determining of the perimeter of the opening of the eighteenth embodiment further includes, after the third and fourth grippers respectivelyAttorney Docket No. P46158-WO register against the first and second grippers, causing the third and fourth grippers to move outwardly to sides of the opening of the bag. The perimeter of the bag is determined in part by a distance between the third and fourth grippers after the third and fourth grippers to move outwardly to the sides of the opening of the bag.

[0024] In a twentieth embodiment, during the transition from the first shape to the second shape, the controller of any of the thirteenth to nineteenth embodiments is configured to cause movement at a non-constant speed of at least one of the third gripper in the transverse direction along the housing, the fourth gripper in the transverse direction along the housing, and the seal backing bar in the lateral direction.

[0025] In a twenty-first embodiment, a nontransitory computer readable medium has instructions stored thereon for controlling a system to open a bag. The system includes a housing, a seal backing bar coupled to the housing and configured to move in a lateral direction toward and away from the housing, a first gripper and a second gripper located on the seal backing bar, and a third gripper and a fourth gripper located on the housing. The first and second gripper are configured to be held in fixed positions on the seal backing bar while the system opens a bag. The third and fourth grippers are movable along the housing in a transverse direction. The lateral and transverse directions are substantially perpendicular to each other. The instructions, when executed by a controller, cause the controller to determine that an opening of the bag is engaged by the first, second, third, and fourth grippers and to determine a perimeter of the opening of the bag while the opening of the bag is in a first shape. The first shape is different from a second shape of the opening of the bag. The instructions, when executed by the controller, further cause the controller to control lateral movements of the seal backing bar and transverse movements of the third and fourth grippers along the housing so that ( 1) the opening of the bag transitions from the first shape to the second shape, and (2) the perimeter of the opening of the bag is maintained substantially constant during the transition from the first shape to the second shape.BRIEF DESCRIPTION OF THE DRAWING

[0026] The foregoing aspects and many of the attendant advantages of the disclosed subject matter will become more readily appreciated as the same become better understood byAttorney Docket No. P46158-WO reference to the following detailed description, when taken in conjunction with the accompanying drawings, wherein:

[0027] Figs. 1A, IB, and 1C depict front, side, and top views, respectively, of an exemplary- apparatus for making packages from an elongated web of preformed interconnected bags;

[0028] Figs. 2A, 2B, and 2C depict front, side, and top views, respectively, of the apparatus showing the elongated web being advanced through the apparatus;

[0029] Figs. 3A, 3B. and 3C depict front, side, and top views, respectively, of the apparatus showing the elongated web opening being positioned below a bag opening arrangement of the apparatus;

[0030] Figs. 4A, 4B, and 4C depict front, side, and top views, respectively, of the apparatus showing bag engagement devices moved into position above the elongated web opening;

[0031] Figs. 5A, 5B, and 5C depict front, side, and top views, respectively, of view of the apparatus showing the web opening being blown open above the bag engagement devices;

[0032] Figs. 6A, 6B, and 6C depict front, side, and top views, respectively, of the apparatus showing the web being reverse indexed to position the bag engagement devices inside the web opening;

[0033] Figs. 7A, 7B, and 7C depict front, side, and top views, respectively, of the apparatus showing bag engagement devices engaging a bag of the web at the opening;

[0034] Figs. 8A, 8B. and 8C depict front, side, and top views, respectively, of the apparatus showing the engagement devices moving to provide a rectangular bag opening;

[0035] Figs. 9A, 9B. and 9C depict front, side, and top views, respectively, of the apparatus showing a rectangular product positioned above the rectangular bag opening;

[0036] Figs. 10A, 10B, and 10C depict front, side, and top views, respectively, of the apparatus showing a rectangular product positioned in the open bag;

[0037] Figs. 11 A, 11B, and 11C depict front, side, and top views, respectively, of the apparatus showing the bag engagement devices moving to close the bag and the bag being sealed by a sealing arrangement of the apparatus;Attorney Docket No. P46158-WO

[0038] Figs. 12A, 12B, and 12C depict front, side, and top views, respectively, of the apparatus showing reverse indexing of the web to separate the filled and sealed bag from the web;

[0039] Figs. 13A, 13B, and 13C depict front, side, and top views, respectively, of the apparatus showing releasing the filled and sealed bag from the apparatus;

[0040] Figs. 14A and 14B depict a front view, partially cut away, and a sectional side view, respectively, of an elongated web of bags;

[0041] Fig. 15A and 15B depict a front view and a sectional side view, respectively, of an exemplary embodiment of a package;

[0042] Figs. 16A to 16C depict instances of a pressured following method of controlling the grippers while shaping the opening of the bag;

[0043] Figs. 17A to 17C depict instances of a position following method of controlling the grippers while shaping the opening of the bag;

[0044] Fig. 18 depicts a top view of an embodiment of an apparatus configured to open a bag, in accordance with the embodiments described herein;

[0045] Figs. 19A and 19B depict first and second shapes, respectively, of an opening of a bag along with of an embodiment of using full position control to transition the opening of the bag from a first shape to a second shape, in accordance with the embodiment described herein;

[0046] Figs. 20A and 20B depict an embodiment of a method of the apparatus shown in Fig. 18 determining the locations of the grippers on the seal backing bar, in accordance with the embodiment described herein;

[0047] Figs. 21A to 21C show an instance of the apparatus shown in Fig. 18 determining the perimeter of the opening of the bag in a first shape, in accordance with the embodiment described herein;

[0048] Figs. 22A to 22F depicts instances of a method of the apparatus shown in Fig. 18 transitioning the opening of the bag from a first shape to a second shape while maintaining a substantially constant perimeter of the opening of the bag, in accordance with the embodiment described herein;Attorney Docket No. P46158-WO

[0049] Figs. 23A to 23D depict an embodiment of the process of the apparatus shown in Fig. 18 maintaining the perimeter of the opening of the bag substantially constant when the bag is not centered about a centerline of the apparatus, in accordance with the embodiment described herein;

[0050] Fig. 24 depicts an example embodiment of a system that may be used to implement some or all of the embodiments described herein; and

[0051] Fig. 25 depicts a block diagram of an embodiment of a computing device, in accordance with the embodiments described herein.DETAILED DESCRIPTION

[0052] The present application relates to an elongated web 16 (Figs. 14A and 14B) of preformed interconnected bags 18. In an exemplary embodiment, the web 16 has an opening 30 defined in a first ply 20 and a line of separation 32 in a second ply 22. The webs 16 of preformed interconnected bags 18 can take a wide variety of different forms. In the exemplary embodiments illustrated by Figs. 14A and 14B, each preformed bag 18 is defined by first and second plies 20, 22 of the web 16. First and second side edges 24, 26 of the w eb hermetically join the first and second plies. Preformed seals 28 extend between the first and second side edges 24, 26. The opening 30 extends between the first and second side edges 24. 26. The line of separation 32, such as a line of perforations in the second ply 22 extends between the first and second side edges 24, 26. In one exemplary embodiment, the opening 30 is superposed over the line of w eakness 32. In another exemplary embodiment, the opening 30 and the line of weakness 32 are offset.

[0053] The web 16 of preformed bags 18 illustrated by Figs. 14A and 14B is one example of the wide variety of different webs that may be used. Examples of acceptable webs of preformed interconnected bags include, but are not limited to, the webs disclosed in U.S. Pat. No. 3,254,828 to H. Lemer and U.S. Pat. No. 5,957,824 to B. Lerner et al., which are incorporated herein by reference in their entirety'.

[0054] Referring to Figs. 15A and 15B, an exemplary package 12 includes a sealed compartment 36. The package 12 may have any number of compartments. Product 40 is disposed in the compartment 36. The illustrated product 40 is a box. However, the packageAttorney Docket No. P46158-WO12 may contain any product. The compartment is defined by the first and second side edges 24, 26, the preformed seal 28, and a seal 44 that is formed after the product 40 is loaded into the bag. In the example, the seal 44 extends from the first side edge 24 to the second side edge 26 to hermetically seal the compartment 36. In another embodiment, the dividing seal 28 may not extend all the way from the first side edge to the second side edge or may be intermittent to allow communication between the compartment 36 and external air or the compartment 36 and another optional compartment of the package. The webs 16 of interconnected bags 18 can be made in a wide variety of different ways.

[0055] The webs 16 of interconnected bags 18 can be used in a wide variety of different applications. For example, the webs 16 of interconnected bags 18 can be used in a wide variety of different packaging machines. Figs. 1A-1C illustrate an exemplary embodiment of an apparatus 10 or packaging machine for making packages 12 from an elongated web 16 of preformed interconnected bags 18, such as the elongated webs 16 of bags 18 illustrated by Figs. Figs. 14A and 14B.

[0056] Figs. 1A-1C through 13A-13C schematically illustrate an exemplary of a machine being operated to make packages 12 from an elongated web 1 of preformed interconnected bags 18. Any apparatus represented by the schematic illustrations of 1A-1C through 13A-13C can be used that performs the functions shown by Figs. 1A-1C through 13A-13C. The concepts of the apparatus 10 can be implemented in any of a wide variety of packaging machines. For example, U.S. Pat. No. 3,254,468 to H. Lemer, U.S. Pat. No. 4,928,455 to Gereby et al., U.S. Pat. No. 5,341,625 to Kramer, U.S. Pat. No. 5,394,676 to B. Lemer et al., U.S. Pat. No. 6,543,201 to Cronauer et al., U.S. Pat. Nos. 6,742,317, 5,394,676, 5,371,521, and 4,899,520 disclose packaging machines that can be modified in accordance with the present invention to make packages from an elongated web of preformed interconnected bags and are all incorporated herein by reference in their entirety.

[0057] Referring now to Figs. 1A-1C, the illustrated apparatus 10 includes a supply 50 (Fig. 2B) of the elongated web 16 of preformed interconnected bags 18, an indexing mechanism 52, an opening arrangement 54, a sealing arrangement 56, and a controller (not shown). The supply 50 comprises the elongated web 16 that is rolled or folded to stage a relatively large amount of the web in a relatively small space. The web 16 is routed from the supply 50 along a path of travel P to the indexing mechanism 52. The indexing mechanism 52 receives theAttorney Docket No. P46158-WO web 16 from the supply and moves the web along the path of travel P. The indexing mechanism 52 may take a wide variety of different forms. For example, any indexing mechanism that can be controlled to index bags of the web to selected positions along the path of travel may be used. In the illustrated example, the indexing mechanism comprises a pair of rollers 60 that form a nip that engages the web 16. The rollers 60 are selectively driven by a motor (not shown) to index bags of the web to selected positions along the path of travel P.

[0058] Referring to Figs. 1A-1C, the opening arrangement 54 is positioned along the path of travel P to open each bag that is to be loaded and sealed. In the illustrated embodiment, the opening arrangement 54 comprises a blower 400 and an engagement device 402. However, the opening arrangement 54 may take a wide variety of different forms. The blower 400 can take a wide variety of different forms. In the illustrated embodiment, the blower 400 comprises a plurality of nozzles 210 positioned above the rollers 60 of the indexing mechanism 52. The illustrated nozzles 210 are oriented downward to blow air downward past the rollers 60 along the path of travel P of the web 18.

[0059] The engagement device 402 can take a wide variety of different forms. In the illustrated embodiment, the engagement device 402 comprises a first gripper 220 and a second gripper 230. The first gripper 220 is spaced apart from the second gripper 230 and both are configured to grip the first ply 20 of the bag 18. In one exemplary embodiment, the spacing S (Fig. 1 A) between the grippers 220, 230 is adjustable. This optional spacing may be automatic and controlled by the controller or the spacing may be manually adjusted. This allows the engagement device to provide openings 800 (See Fig. 8) having different widths.

[0060] The engagement device 402 also includes a third gripper 240 and a fourth gripper 250. The third gripper 240 and the fourth gripper 250 are moveable relative to and independently of one another and are configured to grip the side edges 24, 26 of the bag 18. The third and fourth grippers 240, 250 are omitted from Figs. 1 IB, 12B, and 13B to more clearly illustrate opening of the first and second grippers 220, 230.

[0061] The grippers 220 and 230 grip the opening 30 and move to create the shaped opening 800 as will be described in more detail below. This rectangular opening allows the large items, such as rectangular items, like boxes to be packaged inside the bag 18. While the shaped opening 800 is shown as a rectangular shape, the opening can be any shape. ForAttorney Docket No. P46158-WO example, the opening could be a quadrilateral, a trapezoid, a triangle, an irregular polygon, or any other shape. The number of grippers used to grip the opening 30 of the bag may be increased or decreased to create the desired opening shape. Different shapes of openings accommodate different shapes of packages being inserted into the bags.

[0062] Referring to Figs. 1 A-1C, the controller is in communication with the indexing mechanism 52, the opening arrangement 54, and the sealing arrangement 56. The controller controls the indexing mechanism 52, the opening arrangement 54, and the sealing arrangement 56 to convert the preformed bags 18 into packages 12. A wide variety of controllers can be used and programmed to control the indexing mechanism 52, the opening arrangement 54, and the sealing arrangement 56 as described herein. For example, the controller and controller algorithms described in U.S. Pat. No. 5,341,625 to Kramer can be modified to control the indexing mechanism 52. the opening arrangement 54, and the sealing arrangement 56 to form the packages.

[0063] Referring to Figs. 2A-2C and 3A-3C, the controller controls the indexing mechanism 52 to index the web 16 forward along the path of travel as indicated by arrows P. until the opening 30 of the bag 18 is just below the engagement device 402 in the exemplary embodiment. In alternate embodiments, the opening 30 is indexed to other positions. For example, the opening 30 can be indexed to any position where the blower 400 can blow the opening 30 open or at least partially open. For example, the opening 30 may initially be positioned above the engagement device 402, be blown open by the blower 400, and then be moved to the position illustrated by Figs. 3A-3C.

[0064] In an exemplary embodiment, the controller controls the engagement device to move the grippers 220, 230, 240, 250 from a closed position (See Figs. 3A-3C) to an open position (See Fig. 4A-4C) once the opening 30 is positioned below- the engagement device 402. Referring to Figs. 5A-5C, the controller controls the blower 400 to blow air between the plies 20, 22 at the opening 30 of the bag. The air is forced betw een the plies through the opening 30 to inflate the bag 18. In an exemplary embodiment, the first ply 20 of the inflated bag 18 is generally aligned with or aligned with a gap 500 (see Fig. 5B) between the grippers 220, 230. In an exemplary embodiment, the edges of the inflated bag 18 are generally aligned with or aligned with a gap 520 (see Figs. 5A and 5C) between the gripping members of each open gripper 240, 250. In another embodiment, the bag 18 is not inflated but opened by otherAttorney Docket No. P46158-WO means just enough to allow the grippers 220, 230, 240, 250 to be inserted into the opening 30 of the bag.

[0065] Referring to Figs. 6A-6C, in an exemplary embodiment the controller 58 causes the indexing mechanism 52 to reverse index the web as indicated by arrow 612 while the grippers 220, 230 are open. The blower 400 may optionally be stopped during the reverse indexing. The reverse indexing pulls the first ply 20 of the bag 18 into the gap 500 between the gripping members of each pair of open grippers 220, 230. The reverse indexing also pulls the edges 24. 26 of the bag 18 into the gap 520 between the gripping members of each pair of open grippers 240. 250.

[0066] Referring to Figs. 7A-7C, in an exemplary embodiment the controller 58 causes the grippers 220, 230, 240, 250 to move from the open position to the closed position. The first ply 20 of the bag 18 is gripped between the gripping members of each of the pairs of gripper 220, 230. The edges 24, 26 of the bag 18 are gripped between the gripping members of each gripper 240, 250.

[0067] Referring to Figs. 8A-8C, each bag 18 is provided with a shaped opening 800 at a position where the bag is loaded with a product 40. The shaped opening 800 has a shape based on how the grippers 220, 230, 240, and 250 hold the shaped opening 800. In the depicted, embodiment, the grippers 220, 230, 240, and 250 hold the shaped opening 800 in the shape of a rectangle. Referring to Figs. 8A-8C, in an exemplary' embodiment, the controller controls the engagement device 402 to provide the bag 18 with the shaped opening 800 for loading. In the illustrated embodiment, the grippers 220, 230 move the first ply 20 away from the second ply 22 as indicated by arrows 850 (see Figs. 8B and 8C). At the same time, the grippers 240, 250 move the edges 24, 26 toward each other as indicated by arrows 860 (see Figs. 8A and 8C). The movement of the grippers 240, 250 tears the line of weakness 32 in the second layer 22. As such, edge portions 852 of the bag 18 are tom away from edge portions 852' of the next bag 18', allowing the shaped opening 800 to be formed. In one exemplary embodiment, the second ply 22 slides between the grippers 240, 250 as the grippers 240, 250 move from the position illustrated by Figs. 7A-7C to the position illustrated by Figs. 8A-8C. A center portion 854 of the line of weakness 32 in the second layer 22 of the bag 18 remains intact. This leaves the bag 18 connected to the bag 18' while the bag 18 has the shaped opening 800.Attorney Docket No. P46158-WO

[0068] The grippers 220, 230 can move the first ply 20 away from the second ply 22 in a wide variety of different ways. In the illustrated embodiment, the grippers 220. 230 are attached to a bar 68 that is part of the sealing arrangement 56. In this embodiment, the bar 68 moves the attached grippers 220, 230. However, the grippers 220, 230 can be moved by an actuator that is separate from the bar 68. The grippers 240, 250 can move the edges 24, 26 toward each other in a variety of different ways. In the illustrated embodiment, the grippers 240, 250 move in a slot 870 in a housing of the apparatus 10. The grippers 240, 250 can be driven by a motor, a linear actuator or any other mechanism.

[0069] Referring to Figs. 9A-9C and 10A-10C, the bag 18 is maintained with the shaped opening 800 at the load position and the product 40 is loaded into the bag 18. The product 40 may be loaded manually or automatically. In the illustrated embodiment, the position where the bag 18 is loaded is also the position where bag 18 is sealed after the shaped opening 800 is closed. In another embodiment, the position where the bag is loaded is different than the position where the bag is sealed. In this embodiment, the controller causes the indexing mechanism 52 to move the bag 18 to the seal position after the bag is loaded with product 40 and closed.

[0070] In an exemplary embodiment, once the product is loaded in the bag 18, an operator may provide a signal to the controller that indicates that loading is complete or completion of loading may be automatically detected. The apparatus 10 may be configured to allow the operator to provide the completed loading signal to the controller in a wide variety of different w ays. For example, the apparatus may have a control foot pedal (not shown) or the sealing arrangement 56 may have a portion that the operator can push on to indicate that loading is complete and it is time to seal the package. Similarly, the apparatus can be configured to automatically detect completed loading and provide the controller with a signal that indicated this fact. For example, the apparatus may include a counter or may weigh the package to detect completed loading.

[0071] Referring to Figs. 11 A-l 1C, the signal from the operator or detection of completed loading is communicated to the controller, and causes the engagement device 402 to close the bag. In the illustrated embodiment, the grippers 220, 230 move the first ply 20 back toward the second ply 22 as indicated by arrows 1150 (see Figs. 1 IB and 11C). At the same time, the grippers 240, 250 move the edges 24, 26 aw ay from each other as indicated by arrows 1160Attorney Docket No. P46158-WO to close the bag opening 30 (see Fig. 11C). In an exemplary' embodiment, the second ply 22 slides through each of the grippers 240, 250 as the grippers 240, 250 move from the position illustrated by Figs. 10A-10C to the position illustrated by Figs. 11 A-l 1C. In the illustrated embodiment, the center portion 854 of the line of weakness 32 in the second layer 22 of the bag 18 remains in-tact. As such, the closed bag 18 remains connected to the bag 18'.

[0072] Still referring to Figs. 11 A-l 1C, the bag may be sealed at the position illustrated by Figs. 11 A-l 1C or the engagement device 402 may release the bag and the bag may be indexed to another position for sealing. In one exemplary embodiment, the bag is sealed while the engagement device 402 is holding the bag 18 closed. The sealing arrangement 56 is positioned along the path of travel P to provide the seal 44. The sealing arrangement 56 may take a wide variety' of different forms. For example, any mechanism that applies heat to the web to seal the first and second webs together to form the seal 44 may be implemented.

[0073] In the illustrated embodiment, the sealing arrangement comprises a seal backing bar 68 and a heating element 70 that are selectively moved into and out of engagement. Referring to Fig. 1 IB, when the web is in the seal position, the controller controls the sealing arrangement 56 to clamp the web 16 between the seal backing bar 68 and the heating element 70. In an exemplary embodiment, the seal backing bar 68 comprises a rubber seal backing element 1168. The seal backing bar 68 may be moved to the clamped position (see Fig. 1 IB) from the unclamped position (See Fig. 10B) under a low force, such as a force that is lower than a force that could injure a finger that might be between the rubber seal backing element 1168 and the heating element 70. In addition, the rubber seal backing element 1168 is not heated.

[0074] In an exemplary embodiment, the heating element 70 is moved to the clamped position (See Fig. 1 IB) from the unclamped position (See Fig. 10B) and / or heat is applied by the heating element 70 only after the rubber seal backing element 1168 has been moved to the clamped position. Heat is applied to the web to seal the plies of the web together between the first side edge 24 and the second side edge 26. The heating element 70 may be continuously on (i.e. always hot when the machine is turned on) or the heating element 70 may be controlled to only apply heat when the bag 18 is clamped and / or a seal signal is provided by the controller. The first and second plies 20. 22 are sealed together to form the compartment 36.Attorney Docket No. P46158-WO

[0075] Referring to Figs. 12A-12C, the engagement device 402 releases the bag. This release may be after the seal is formed or while the seal is being formed. This release may be before (see Fig. 12B) or after (see Fig. 13B) the seal backing bar 68 and a heating element 70 move apart from one another. In an exemplary' embodiment, the controller causes the engagement device 402 to release the bag by causing the grippers 220, 230, 240, 250 to move from the closed position (Figs. 11A-11C) to the open position (Figs. 12A-12C).

[0076] Still referring to Figs. 12A-12C, the controller controls the indexing mechanism 52 to separate the formed package 12 from the web 16. The second ply 22 is broken along the remaining center portion 854 (the center portion 854 is already broken off in the illustration of Figs. 12A-12C) of the line of separation 32 to separate the package 12 from the elongated web 16. In the illustrated embodiment, the controller controls the indexing mechanism 52 to pull the web 16 away from the bag 18 as indicated by arrows 74 while the bag is clamped by the sealing arrangement 56 in an exemplary embodiment.

[0077] Referring to Figs. 13A-13C, the controller controls the sealing arrangement 56 to release the formed package 12 after the filled bag 18 is separated from the next, unfilled bag 18'. In the illustrated embodiment, the formed package 12 is released by moving the seal backing bar 68 away from the heating element 70.

[0078] Referring again to Figs. 3A-3C, the controller 58 indexes the web 16 with the opening 30 of the next bag 18 to the load position and the cycle begins again. The controller may repeat the method as required to produce as many packages are needed from the web.

[0079] Traditionally, the web 16 has ty pically been formed of plastic materials, such as polyethylene, cellophane, vinyl films, pliofilms, cellulose acetate film, polystyrene, polypropylene, or other heat-sealable plastic materials. The use of these plastic materials in the web 16 has led to two forms of controlling the grippers 240 and 250 while shaping the opening 30 of the bag 18. These two forms of controlling the grippers 240 and 250 while shaping the opening 30 of the bag 18 are depicted in Figs. 16A to 16C and in Figs. 17A to 17C, respectively.

[0080] Figs. 16A to 16C depict instances of a pressured following method of controlling the grippers 240 and 250 while shaping the opening 30 of the bag 18. In Fig. 16A, the grippers 220, 230, 240, and 250 engage the opening 30 of the bag 18. From the point depicted in Fig.Attorney Docket No. P46158-WO16A, the apparatus 10 exerts a continuous outward force on each of the grippers 240 and 250. The continuous outward force causes the grippers 240 and 250 to move transversely away from each other until the grippers 240 and 250 reach the sides of the opening 30 of the bag 18.

[0081] Fig. 16B depicts a point in the method at which the grippers 240 and 250 are in contact with the sides of the opening 30 of the bag 18. The apparatus 10 continues to exert a continuous outward force on the grippers 240 and 250, which includes pressure in the opening 30 of the bag 18 between the grippers 240 and 250. When the bag 18 is made from a plastic material, the ability of the material to stretch and flex allows the bag 18 to withstand the pressure induced in the opening 30 of the bag 18. After the grippers 240 and 250 contact the sides of the opening 30 of the bag 18, the apparatus 10 can move the seal backing bar 68 laterally outward to shape the opening 30 of the bag 18.

[0082] Fig. 16C depicts a point in the method at which the seal backing bar 68 is spaced laterally away from the grippers 240 and 250 and is being moved laterally outward from the grippers 240 and 250. The lateral movement of the seal backing bar 68 starts to open the opening 30 of the bag 18 as the grippers 220 and 230 move away from the grippers 240 and 250. The apparatus 10 continues to exert the same continuous outward force on the grippers 240 and 250. However, the lateral movement of the seal backing bar 68 pulls the opening 30 of the bag 18 which induces an inward transverse force on the grippers 240 and 250. The inward transverse force carried by the opening 30 of the bag 18 overcomes the continuous outward force on the grippers 240 and 250 by the apparatus so that the grippers 240 and 250 move toward each other. When the bag 18 is made from a plastic material, the ability7of the material to stretch and flex allows the bag 18 to withstand the pressure carried in the opening 30 of the bag 18 to overcome the continuous outward force on the grippers 240 and 250 exerted by the apparatus 10. This lateral outward movement of the seal backing bar 68 and the transverse inward movement of the grippers 240 and 250 shapes the opening 30 of the bag 18. The final shape of the opening of the bag will depend on how far the seal backing bar 68 moves laterally outward and the corresponding forces imparted on the grippers 240 and 250 through the opening 30 of the bag 18.

[0083] Figs. 17A to 17C depict instances of a position following method of controlling the grippers 240 and 250 while shaping the opening 30 of the bag 18. In Fig. 17A, the grippersAttorney Docket No. P46158-WO220, 230, 240, and 250 have already engaged the opening 30 of the bag 18. The grippers 240 and 250 have already been moved transversely to positions where the grippers 240 and 250 will be when the opening 30 of the bag 18 is fully open. From the point depicted in Fig. 17A, the apparatus 10 can move the seal backing bar 68 laterally outward.

[0084] Fig. 17B depicts a point in the method at which the seal backing bar 68 has been moved laterally outward but has not yet reached the position at which the opening 30 of the bag 18 is fully open. As the seal backing bar 68 moves laterally outward between the instances shown in Figs. 17A and 17B, the grippers 240 and 250 remained in the same transverse locations. The opening 30 of the bag 18 has begun to chance shape with the sides of the opening 30 changing shape due to the outward movement of the seal backing bar 68 while the grippers 220, 230, 240, and 250 remained engaged with the opening 30 of the bag 18. As shown in Fig. 17B, the sides of the opening 30 of the bag 18 (i.e., the portion of the opening 30 between the grippers 220 and 240 and the portion of the opening 30 between the grippers 230 and 250) are somewhat slack.

[0085] Fig. 17C depicts a portion in the method at which the seal backing bar 68 has been moved laterally outward to the position at which the opening 30 of the bag 18 is fully open. In the position show n, the sides of the opening 30 of the bag 18 are held taut between the grippers 220 and 240 and betw een the grippers 230 and 250. In the depicted embodiment, the opening 30 of the bag 18 is held in the shape of an isosceles trapezoid.

[0086] One challenge with the position following method shown in Figs. 17A-17C is that the transverse positioning of the grippers 240 and 250 and the lateral movements of the seal backing bar 68 are based on an estimate of the perimeter of the opening 30 of the bag 18. The estimated perimeter of the opening 30 of the bag 18 may be the nominal perimeter of the opening 30 of each of the bags 18 in the w eb 16. However, the opening 30 of any one bag 18 in the web 16 may have a perimeter that is larger or smaller than the nominal perimeter. If the perimeter of the opening 30 is larger than the bag shown in Fig. 17C, then one or more of the grippers 220, 230, 240, and 250 may not remain engaged w ith the opening 30 of the bag 18. Such a lack of proper engagement by the grippers 220, 230, 240, and 250 may not permit a user to insert a product into the bag 18 properly. If the perimeter of the opening 30 is smaller than the bag shown in Fig. 17C. the grippers 220. 230, 240. and 250 will exert a significant force on the opening 30 of the bag 18 when the seal backing bar 68 reaches theAttorney Docket No. P46158-WO lateral position shown in Fig. 17C. When the bag 18 is formed from a plastic material, the forces exerted on the smaller perimeter of the opening 30 of the bag 18 by the grippers 220, 230, 240. and 250 can cause the opening 30 of the bag 18 to stretch or deform.

[0087] One problem with the methods depicted in Figs. 16A-16C and Figs. 17A-17C is the need for the material of the bag 18 to be resilient. There are bag materials that are sufficiently resilient, such as plastic materials. However, plastic materials have drawbacks, such as the difficulty for end consumers to recycle such plastic materials. There are incentives for shipping bags to be made from materials that are more sustainable than the plastic materials described above. In particular, there is a desire for shipping bags to be made from fiber-based materials, such as paper, kraft paper, and the like. It would be advantageous to continue to use bag-opening machines, such as the apparatus 10 discussed above, with w ebs of bags formed from fiber-based materials. However, the forces imparted on the opening 30 of the bag 18 in both of the Figs. 16A-16C and Figs. 17A-17C typically causes fiber-based materials to permanently deform (e.g., rip, tear, etc.). Not only are such physical deformations unaesthetic to many consumers, those deformities may prevent the bags from properly closing or from holding the products therein throughout the shipping process.

[0088] Fig. 18 depicts a top view of an embodiment of an apparatus 1010 configured to open a bag 1018. The bag 1018 can be formed from a fiber-based material, such as paper or kraft paper. The bag 1018 can be one of a number of interconnected bags in a web, similar to the interconnected bags 18 in the web 16 described above. The apparatus 1010 can hold the w eb of interconnected bags that includes the bag 1018 and control the bag (e.g., advancing, indexing, reverse indexing, etc.) similar to the embodiments of the apparatus 10 described above. The bag 1018 has an opening 1030 that can be flat when located in the web and can be opened by the apparatus 1010, as described in greater detail below.

[0089] The apparatus 1010 includes a housing 1066 and a seal backing bar 1068. The seal backing bar 1068 is capable of moving laterally away from and tow ard the housing 1066. In the embodiment shown in Fig. 18, the lateral direction in which the seal backing bar 1068 can move is they direction. The apparatus 1010 further includes grippers 1220, 1230, 1240, and 1250 that are configured to engage the opening 1030 of the bag 1018. The grippers 1220, 1230, 1240, and 1250 can engage the opening 1030 of the bag 1018 using any of the methodsAttorney Docket No. P46158-WO described above with respect to the grippers 220, 230, 240, and 250 engaging the opening 30 of the bag 18 or using any other method of engaging the opening 1030 of the bag 1018.

[0090] The grippers 1220 and 1230 are located on the seal backing bar 1068. The grippers 1220 and 1230 remain in a static location on the seal backing bar 1068 in the transverse x direction during operation of the apparatus 1010 to open and seal the bags. The grippers 1220 and 1230 are capable of being repositioned on the seal backing bar 1068 in the transverse x direction; however, such repositioning typically requires use of tools and therefore necessitates that the apparatus 1010 be powered down to reposition the grippers 1220 and 1230. Thus, during ongoing operation of the apparatus 1010. the positions of the grippers 1220 and 1230 on the seal backing bar 1068 can be considered as static in the transverse x direction.

[0091] The grippers 1240 and 1250 are located on the housing 1066. In some embodiments, the grippers 1240 and 1250 are located in a horizontal groove of the housing 1066. The grippers 1240 and 1250 are capable of moving in the transverse x direction along the housing 1066. As discussed in greater detail below, the positions of the grippers 1240 and 1250 can be controlled during the operation of the apparatus 1010. Thus, unlike the grippers 1220 and 1230, the grippers 1240 and 1250 can be moved in the transverse x direction during ongoing operation of the apparatus 1010.

[0092] The apparatus 1010 further includes a controller 1058. In the depicted embodiment, the controller 1058 is shown as being inside of the housing 1066. In other embodiments, the controller 1058 can be located in any other portion of the apparatus 1010 or externally to the apparatus 1010. The controller 1058 can be any form of computing device that can provide instructions to various components of the apparatus 1010 and / or receive information about characteristics of the apparatus 1010.

[0093] The apparatus 1010 further includes actuators 1054, 1055, 1056, and 1057. The actuator 1054 is configured to control the position of the gripper 1240 in the transverse x direction along the housing 1066 and to control the speed of movements of the gripper 1240 when moving in the transverse x direction along the housing 1066. The actuator 1055 is configured to control the position of the gripper 12 0 w hen moving in the transverse x direction along the housing 1066 and to control the speed of movements of the gripper 1250 in the transverse x direction along the housing 1066. The actuators 1056 and 1057 areAttorney Docket No. P46158-WO configured to control the position of the seal backing bar 1068 in the lateral y direction and to control the speed of movements of the seal backing bar 1068 when moving in the lateral y direction. In some embodiments, each of the actuators 1054, 1055. 1056, and 1057 can be any kind of actuator that controls the position of the gripper 1240, the gripper 1250, or the seal backing bar 1068, such as a solenoid. It will be apparent that, in other embodiments, the apparatus could have any number of actuators that control movement of the grippers 1240 and 1250 and the seal backing bar 1068. such as a single actuator that controls both of the grippers 1240 and 1250, a single actuator that controls the seal backing bar 1068, multiple actuators that control each of the grippers 1240 and 1250, and the like.

[0094] The controller 1058 is communicatively coupled to each of the actuators 1054, 1055, 1056, and 1057. In some embodiments, the controller 1058 is configured to control operation of each of the actuators 1054, 1055, 1056, and 1057 by sending control signals to each of the actuators 1054. 1055, 1056, and 1057. In some embodiments, the controller 1058 is further configured to receive signals from each of the actuators 1054, 1055, 1056, and 1057 indicating a condition within the apparatus 1010. For example, the controller 1058 can send control signals to the actuator 1054 to control the position and / or speed of the gripper 1240 in the transverse x direction along the housing 1066 and the controller 1058 can receive signals from the actuator 1054 indicating a current position of the gripper 1240 in the transverse x direction along the housing 1066. In this last example, such communication between the controller 1058 and the actuator 1054 allows for full position control of the gripper 1240 by the controller 1058.

[0095] The ability of the controller 1058 to have full position control of the grippers 1240 and 1250 and full position control of the seal backing bar 1068 permits the apparatus 1010 to reliably open bags made from fiber-based materials without physically deforming the opening of the bags. Figs. 19A and 19B depict first and second shapes, respectively, of an opening of a bag along w ith of an embodiment of using full position control to open the opening 1030 of the bag 1018 from the first shape to the second shape.

[0096] Fig. 19A depicts the first shape of the opening 1030 of the bag 1018. In some embodiments, the first shape is the shape of the opening 1030 of the bag 1018 when the grippers 1220, 1230. 1240, and 1250 initially engage the opening 1030 of the bag 1018. The comers A, B, C, and D represent the locations where the grippers 1220, 1230, 1240, and 1250Attorney Docket No. P46158-WO respectively hold the opening 1030 of the bag 1018. As can be seen, the grippers 1220, 1230, 1240, and 1250 hold the opening 1030 of the bag 1018 in the shape of a trapezoid at the instance shown in Fig. 19A.

[0097] The Lengths L of the sides of the opening 1030 are shown in Fig. 19A. The length LAB represents the length between the engagement of the grippers 1220 and 1230 on the opening 1030. This length LAB is based on the static distance between the grippers 1220 and 1230 on the seal backing bar 1068 during operation of the apparatus 1010. The length LCDI represents the length between the engagement of the grippers 1240 and 1250 on the opening 1030 at the instance depicted in Fig. 19A. This length LCDI is based on the instantaneous distance between the grippers 1240 and 1250 along the housing 1066 at the instance shown in Fig. 19A. The length LA I represents the length between the engagement of the grippers 1220 and 1240 on the opening 1030 at the instance depicted in Fig. 19A. The length LACI is a function of the transverse position Ac; of the gripper 1240 at that moment, the static transverse position XA of the gripper 1220, and the lateral distance Lx; between the side of the opening 1030 held by the grippers 1220 and 1230 and the side of the opening 1030 held by the grippers 1240 and 1250. The length LBDI represents the length between the engagement of the grippers 1230 and 1250 on the opening 1030 at the instance depicted in Fig. 19B. The length LBDI IS a function of the transverse position XDI of the gripper 1250 at that moment, the static transverse position AB of the gripper 1230, and the lateral distance LYI between the side of the opening 1030 held by the grippers 1220 and 1230 and the side of the opening 1030 held by the grippers 1240 and 1250.

[0098] Fig. 19B depicts the second shape of the opening 1030 of the bag 1018. In some embodiments, the second shape is the shape of the opening 1030 of the bag 1018 when the grippers 1220, 1230. 1240, and 1250 hold the opening 1030 of the bag 1018 open for a user to insert a product into the bag 1018. The comers A, B, C, and D represent the locations where the grippers 1220, 1230, 1240, and 1250 respectively hold the opening 1030 of the bag 1018. As can be seen, the grippers 1220, 1230, 1240, and 1250 hold the opening 1030 of the bag 1018 in the shape of a trapezoid at the instance shown in Fig. 19B.

[0099] From the instance shown in Fig. 19A to the instance shown in Fig. 19B, the comers A and B have moved laterally outward from the comers C and D. This movement of the comers A and B represents lateral movement of the seal backing bar 1068 away from theAttorney Docket No. P46158-WO housing 1066, which causes the grippers 1220 and 1230 to move laterally outward from the housing 1066. The comers C and D have also moved transversely inward towards each other. This movement of the comers C and D represents transverse movements of the grippers 1240 and 1250 toward each other along the housing 1066. As can be seen by the arrows in Fig. 19B, the distance that each of the comers A and B moved laterally outward is greater than the distance that each of the comers C and D moved transversely inward.

[0100] The Lengths L of the sides of the opening 1030 are show n in Fig. 19B. The length LAB represents the length between the engagement of the grippers 1220 and 1230 on the opening 1030. Because the grippers 1220 and 1230 are static on the seal backing bar 1068 during operation of the apparatus 1010, the length AB in Fig. 19B is the same as the length LAB in Fig. 19B. The length LCD2 represents the length between the engagement of the grippers 1240 and 1250 on the opening 1030 at the instance depicted in Fig. 19B. This length LCDB is based on the instantaneous distance between the grippers 1240 and 1250 along the housing 1066 at the instance shown in Fig. 19B. The length LACY represents the length between the engagement of the grippers 1220 and 1240 on the opening 1030 at the instance depicted in Fig. 19B. The length LACB is a function of the transverse position Ac of the gripper 1240 at that moment, the static transverse position A? of the gripper 1220, and the lateral distance LY2 between the side of the opening 1030 held by the grippers 1220 and 1230 and the side of the opening 1030 held by the grippers 1240 and 1250. The length LBD represents the length between the engagement of the grippers 1230 and 1250 on the opening 1030 at the instance depicted in Fig. 19B. The length LBD2 is a function of the transverse position XD2 of the gripper 1250 at that moment, the static transverse position AB of the gripper 1230, and the lateral distance LY2 between the side of the opening 1030 held by the grippers 1220 and 1230 and the side of the opening 1030 held by the grippers 1240 and 1250.

[0101] As noted above, physical deformation of the bag 1018 can occur if the grippers 1220, 1230, 1240, and 1250 induce too great a force in the opening 1030 of the bag. Also, the opening 1030 of the bag 1018 can disengage from the grippers 1220, 1230, 1240, and 1250 if too much slack is permitted in the opening 1030 between and two of the grippers 1220, 1230, 1240, and 1250. To address this, the full position control of the grippers 1220, 1230, 1240, and 1250 can be used to maintain substantially the same perimeter of the opening 1030 of the bag 1018 while the grippers 1220, 1230, 1240, and 1250 move.Attorney Docket No. P46158-WO

[0102] The first position of the opening 1030 of the bag 1018, as shown in Fig. 19A, can be the instance when the grippers 1220, 1230, 1240, and 1250 initially engage the opening 1030 of the bag 1018. At that point, controller 1058 can calculate the length LAB between the grippers 1220 and 1230, the length LCDI between the grippers 1240 and 1250, and the lateral distance LYI between the side of the opening 1030 held by the grippers 1220 and 1230 and the side of the opening 1030 held by the grippers 1240 and 1250. These lengths LAB. LCDI. and LYI can be calculated based on the known positions of the grippers 1220, 1230. 1240, and 1250 and the relative position of the seal backing bar 1068 with respect to the housing 1066. The controller 1058 can also calculate the length LACI because it is a function of the known position Ah of the gripper 1220, the known position Xci of the gripper 1240, and the lateral distance LYI. Similarly, the controller 1058 can calculate the length LBDA because it is a function of the known position Ah of the gripper 1230, the known position Ah; of the gripper 1250, and the lateral distance Try. From there, the controller 1058 can calculate the perimeter Pi of the opening 1030 of the bag 1018 in the first shape according to equation (1):

[0103] The second position of the opening 1030 of the bag 1018, as shown in Fig. 19B, can be the instance when the grippers 1220, 1230, 1240, and 1250 hold the opening 1030 of the bag 1018 open for a user to insert a product. The lateral distance LY2 between the sides of the opening 1030 of the bag 1018 can represent a predetermined lateral width of the opening 1030 of the bag 1018 for loading. In some embodiments, the predetermined lateral width of the opening 1030 of the bag 1018 for loading can be based on a user input of a desired lateral width, a default value of lateral width for loading, a function of a size of a product to be inserted into the bag 1018. or in any other manner. As can be seen, the lateral movement of the grippers 1220 and 1230 on the backing bar 1068 causes the comers A and B to move laterally away from the comers C and D.

[0104] For the perimeter of the opening 1030 to remain substantially constant during the transition from the first shape show n in Fig. 19A to the second shape shown in Fig. 19B, the distance betw een the comers C and D needs to decrease in order to accommodate the movements of the comers A and B. In the depicted embodiment, the grippers 1240 and 1250 move inward in the transverse direction to reduce the length LCD2 between the comers C and D. The movements of the comers A, B, C, and D have also changed the lengths LACY andAttorney Docket No. P46158-WOLBD2 of the sides of the opening 1030. The perimeter P2 of the opening 1030 of the bag 1018 in the second shape can be defined according to equation (2):

[0105] Because the perimeter P2 of the opening 1030 of the bag 1018 in the second shape is maintained substantially the same as the perimeter Pi of the opening 1030 of the bag 1018 in the second shape, the controller 1058 can substitute the perimeter Pi from equation (1) as the perimeter P2 in equation (2). This leaves two variables in equation (2) — the positions Xc2 and XD2 of the comers C and D. From there, the controller 1058 can determine relative positions Xc2 and XD2 of the comers C and D for the second shape shown in Fig. 19B. In one example, the controller 1058 can determine that the relative positions Xc2 and XD2 of the comers C and D are centered with respect to comers A and B so that the second shape is an isosceles trapezoid. In another example, the controller 1058 can determine that the comer C will move inward toward the comer A and a proportional distance that is substantially similar to the distance that the comer D moves in toward the comer B. In other examples, the controller 1058 can determine that the relative positions Xc2 and XD2 of the comers C and D in any other way. Once the relative positions Xc2 an XD2 of the comers C and D are determined, the controller 1058 can solve for the positions Xc2 and Ao? of the comers C and D using those relative positions and equation (2).

[0106] In addition to calculating the final positions Xc2 and XD2 of the comers C and D, the controller 1058 can also make a general calculation of velocity and / or acceleration of the seal backing bar 1068, the gripper 1240, and the gripper 1250 that will result in the perimeter of the opening 1030 remaining substantially constant during the transition from the first shape to the second shape.

[0107] As noted above, the comers A and B move laterally outward a greater distance than the comers C and D move transversely inward. In order to maintain a substantially similar perimeter of the opening 1030 during the transition from the first shape to the second shape, the controller 1058 can cause at least one of the following to move at a non-constant speed: the seal backing bar 1068, the gripper 1240, and the gripper 1250. This will result in movement at a non-constant speed of at least one of the comers A and B, the comer C, and the comer D. In one example, the controller 1058 can cause the seal backing bar 1068 to move at a constant speed and cause the grippers 1240 and 1250 to move at non-constantAttorney Docket No. P46158-WO speeds to maintain the substantially similar perimeter of the opening 1030 during the transition of the opening 1030 from the first shape to the second shape. In another example, the controller 1058 can cause the seal backing bar 1068 to move at a non-constant speed and cause the grippers 1240 and 1250 to move at constant speeds to maintain the substantially similar perimeter of the opening 1030 during the transition of the opening 1030 from the first shape to the second shape. In yet another example, the controller 1058 can cause the seal backing bar 1068 to move at a non-constant speed and cause the grippers 1240 and 1250 to move at non-constant speeds to maintain the substantially similar perimeter of the opening 1030 during the transition of the opening 1030 from the first shape to the second shape.

[0108] As noted above, the apparatus 1010 may determine locations of the grippers 1220 and 1230 on the seal backing bar 1068 prior to engaging the opening 1030 of the bag 1018. Figs. 20A and 20B depict an embodiment of a method of the apparatus 1010 determining the locations of the grippers 1220 and 1230. Fig. 20A depicts a first instance at which the grippers 1240 and 1250 are spaced outwardly in the transverse direction from the grippers 1220 and 1230. At the first instance, controller 1058 has positioned the seal backing bar 1068 with respect to the housing 1066 such that distance between the housing 1066 and the grippers 1220 and 1230 is less than the distance that the grippers 1240 and 1250 extend away from the housing 1066. Fig. 20B depicts a second instance at which the controller 1058 has caused the grippers 1240 and 1250 to move inward in the transverse direction. In particular, the controller 1058 has caused the gripper 1240 to move inward in the transverse direction until the gripper 1240 has registered against the gripper 1220 and the controller 1058 has caused the gripper 1250 to move inward in the transverse direction until the gripper 1240 has registered against the gripper 1230. Because the controller 1058 actuators 1054 and 1055 provide signals to the controller 1058 of the locations of the grippers 1240 and 1250, respectively, the controller 1058 knows the locations of the grippers 1240 and 1250 when the grippers 1240 and 1250 resister against the grippers 1220 and 1230, respectively. The controller 1058 can determine the locations of the grippers 1220 and 1230 based on the know n respective positions of the grippers 1220 and 1230 and the grippers 1240 and 1250 when the grippers 1240 and 1250 are registered against the grippers 1220 and 1230.

[0109] As noted above, a user of the apparatus 1010 can reposition the locations of the grippers 1220 and 1230 on the seal backing bar 1068 when the apparatus 1010 is poweredAttorney Docket No. P46158-WO down. In some embodiments, the apparatus 1010 is configured to perform the method shown in Figs. 20A and 20B each time that the apparatus is powered on to determine the locations of the grippers 1220 and 1230 on the seal backing bar 1068. The apparatus 1010 can then use the determined locations of the grippers 1220 and 1230 on the seal backing bar 1068 for the remainder of the time that the apparatus is powered on regardless of the number of bags opened by the grippers 1220, 1230, 1240, and 1250 while the apparatus 1010 remains powered on. In other embodiments, the apparatus 1010 may perform the method shown in Figs. 20A and 20B prior to each instance that the grippers 1220, 1230, 1240, and 1250 open a bag.

[0110] Figs. 21 A to 21 C show' an instance of the apparatus 1010 determining the perimeter of the opening 1030 of the bag 1018. In some embodiments, the method show n in Figs. 21A to 21C can be performed after the method shown in Figs. 20A and 20B. Fig. 21A show s a first instance of the method at which the apparatus 1010 has moved the grippers 1240 and 1250 back to the transverse locations of the grippers shown in Fig. 20A. The grippers 1220, 1230, 1240, and 1250 have each engaged the opening 1030 of the bag 1018. In the first instance shown in Fig. 21A, the sides of the opening 1030 extend beyond the transverse locations of the grippers 1220 and 1230. In the depicted embodiment, the opening 1030 is substantially centered in the transverse direction with respect to the grippers 1220 and 1230 and with respect to the grippers 1240 and 1250.

[0111] Fig. 21B depicts a second instance of the method at which the grippers 1240 and 1250 have been moved outward in the transverse direction. In particular, the controller 1240 has caused the grippers 1240 and 1250 to move outward transversely until the gripper 1240 has engaged the left side of the opening 1030 of the bag 1018 and the gripper 1250 has engaged the right side of the opening 1030 of the bag 1018. The controller 1058 can cause the gripper 1240 to move outward transversely until the gripper 1240 engages the left side of the opening 1030 by causing the actuator 1054 to move the gripper 1240 until the gripper 1240 encounters a predetermined amount of resistance from the left side of the opening 1030. Similarly, the controller 1058 can cause the gripper 1250 to move outward transversely until the gripper 1250 engages the right side of the opening 1030 by causing the actuator 1055 to move the gripper 1250 until the gripper 1250 encounters a predetermined amount of resistance from the right side of the opening 1030. In the depicted embodiment, the grippersAttorney Docket No. P46158-WO1240 and 1250 may engage the left and right sides of the bag at substantially the same time because the opening 1030 is substantially centered with respect to the grippers 1240 and 1250. In other embodiments, such as the embodiment discussed below with respect to Figs. 23 A to 23D, the grippers 1240 and 1250 may reach the sides of the opening 1030 at different times.

[0112] Fig. 21C depicts an enlarged view of the opening 1030 of the bag 1018 and the grippers 1220, 1230, 1240, and 1250 at the second instance of the method shown in Fig. 21B. Fig. 21 C depicts how the controller 1058 can determine the perimeter of the opening 1030 of the bag 1018 by estimating that the perimeter of the bag is in the shape of a rectangle at that instance. The long side of the rectangle Li is determined based on the transverse distance betw een the gripper 1240 and the gripper 1250 when the grippers 1240 and 1250 are engaged with the sides of the opening 1030. The short side of the rectangle L is determined based on the lateral distance between the grippers 1220 and 1230 and the grippers 1240 and 1250 at that instance. From those determined short and long sides Li and £2, the controller 1058 can determine the perimeter Pi of the opening 1030 in this first shape using equation (3):P = 2L + 2£2(3)

[0113] Using the perimeter of the opening 1030 of the bag 1018 determined from equation (3), the controller can determine how to move the seal backing bar 1068 and the grippers 1240 and 1250 based on one or more desired characteristics of the second shape of the opening 1030 of the bag 1018. Specifically, the controller 1058 can determine how to move the seal backing bar 1068 and the grippers 1240 and 1250 so that the opening 1030 maintains a substantially constant perimeter during the transition from the first shape to the second shape.

[0114] Figs. 22A to 22F depicts instances of a method of the apparatus 1010 transitioning the opening 1030 of the bag 1018 from a first shape to a second shape while maintaining a substantially constant perimeter of the opening 1030 of the bag 1018. In particular, Fig. 22A depicts the first shape of the opening of the bag, which is the same shape of the opening 1030 and position of the grippers 1220, 1230, 1240, and 1250 shown in Fig. 21B. Fig. 22F depicts the second shape of the opening 1030 of the bag 1018. In the depicted embodiment, the second shape of the opening 1030 is a rectangle where the distance between the grippers 1240 and 1250 is substantially similar to the distance between the grippers 1220 and 1230. InAttorney Docket No. P46158-WO this embodiment, after the controller 1058 determines the perimeter Pi of the opening 1030 in this first shape using equation (3), the controller 1058 can determine how far to move each of the seal backing bar 1068, the gripper 1240. and the gripper 1250 so that the opening 1030 transitions to the second shape shown in Fig. 22F. For example, the controller 1058 can determine how far to move the seal backing bar 1068 based on the perimeter P of the opening 1030 in the second shape using equation (4):^2=^AB + ^CD2 + LAC2 + ^BD2 (4) where LAB represents the distance between grippers 1220 and 1230, LCDB represents the distance betw een grippers 1240 and 1250 in the second shape, LACA represents the distance between grippers 1220 and 1240 in the second shape, LBD2 represents the distance between grippers 1230 and 1250 in the second shape. LAB is equal to LCD2 in the second shape, and LACB is equal to LBD2 in the second shape.

[0115] Figs. 22A, 22B, 22C, 22D, 22E, and 22F depict first, second third, fourth, fifth, and sixth instances, respectively, of the transition of the opening 1030 of the bag 1018 from the first shape to the second shape. In the depicted embodiment, the controller 1058 causes the seal backing bar 1068 to move away from the housing 1066 in the lateral direction at a constant speed. This constant speed of the seal backing bar 1068 is reflected in Figs. 22A to 22F where the distance moved by the seal backing bar 1068 betw een each pair of subsequent instances is the same as every7other pair of subsequent instances. In other words, the distance moved by the seal backing bar 1068 between the first and second instances shown in Figs. 22A and 22B is the same distance moved by the seal backing bar 1068 between the second and third instances shown in Figs. 22B and 22C, which is the same distance moved by the seal backing bar 1068 betw een the third and fourth instances shown in Figs. 22C and 22D, and so forth. In the depicted embodiment, the controller 1058 causes the seal backing bar 1068 to move away from the housing 1066 until the grippers 1220 and 1230 are a distance away from the housing 1066 that will permit the grippers 1220 and 1230 to hold one panel of the opening 1030 of the bag 1018 w ith the opening 1030 in the second shape.

[0116] In contrast to the movements of the seal backing bar 1068, the controller 1058 has caused the grippers 1240 and 1250 to move at a non-constant speed during the transition of the opening 1030 of the bag 1018 from the first shape to the second shape. In the depicted embodiment, the grippers 1240 and 1250 move in the transverse direction at increasingAttorney Docket No. P46158-WO speeds from the first instance show n in Fig. 22 A through the sixth instance shown in Fig. 22F and then the grippers 1240 and 1250 stop moving in the transverse direction at the sixth instance shown in Fig. 22F. In particular, the grippers 1240 and 1250 travel the least distance between the first and second instances shown in Figs. 22A and 22B, a longer distance between the second and third instances shown in Figs. 22B and 22C, an even longer distance between the third and fourth instances shown in Figs. 22C and 22D, and so forth.

[0117] In the depicted embedment, the constant speed of the seal backing bar 1068 and the non-constant speed of the grippers 1240 and 1250 combine to maintain the perimeter of the opening 1030 of the bag 1018 substantially constant during the transition from the first shape to the second shape. It will be apparent that, in other embodiments, the controller 1058 can cause movements of the grippers 1240 and 1250 at constant speeds while the seal backing bar 1068 moves at non-constant speed to achieve a similar effect of maintaining the perimeter of the opening 1030 of the bag 1018 substantially constant during the transition from the first shape to the second shape. It will also be apparent that, in other embodiments, the controller 1058 can cause movements of the grippers 1240 and 1250 at non-constant speeds and movements of the seal backing bar 1068 at non-constant speed to achieve a similar effect of maintaining the perimeter of the opening 1030 of the bag 1018 substantially constant during the transition from the first shape to the second shape.

[0118] As noted above, the process of maintaining the perimeter of the opening 1030 of the bag 1018 substantially constant during the transition from the first shape to the second shape can be performed even if the bag 1018 is not centered with respect to the housing 1066 and the seal backing bar 1068, with respect to the grippers 1220 and 1230, and / or with respect to the grippers 1240 and 1250. Figs. 23 A to 23D depict an embodiment of the process of the apparatus 1010 maintaining the perimeter of the opening 1030 of the bag 1018 substantially constant when the bag 1018 is not centered about a centerline 1011 of the apparatus 1010.

[0119] Fig. 23A depicts a first instance of the method in which the grippers 1220, 1230, 1240, and 1250 engage the opening 1030 of the bag 1018. The bag 1018 is not centered on the centerline 1011 with the right side of the opening 1030 of the bag 1018 located closer to the centerline 1011 than the left side of the opening 1030 of the bag 1018. In the depicted embodiment, the grippers 1220 and 1230 are centered about the centerline 1011 and the grippers 1240 and 1250 are centered about the centerline 1011. After the grippers 1220,Attorney Docket No. P46158-WO1230, 1240, and 1250 engage the opening 1030 of the bag 1018, the controller 1058 can cause the grippers 1240 and 1250 to move outward in the transverse direction.

[0120] Fig. 23B depicts a second instance of the method in which the grippers 1240 and 1250 have moved outward in the transverse direction. In particular, the gripper 1240 has moved to a distance 1241 away from the centerline 1011 and the gripper 1250 has moved a distance 1251 away from the centerline 1011. In the depicted embodiment, the magnitude of the distance 1241 is the same as the magnitude of the distance 1251. At the second instance, the gripper 1250 has reached the right side of the opening 1030 of the bag 1018. In some embodiments, the controller 1058 is able to determine that the gripper 1250 has reached the right side of the opening 1030 of the bag 1018 based on a signal from the actuator 1055 of resistance encountered by the gripper 1250 when the gripper 1250 contacts the right side of the opening 1030 of the bag 1018.

[0121] Fig. 23C depicts a third instance of the method in which the gripper 1240 has continued to move outward in the transverse direction. In particular, the controller 1058 has caused the gripper 1240 to move to a distance 1242 from the centerline 1011 that is greater than each of the distances 1241 and 1251. At the distance 1242 from the centerline 101 1, the gripper 1240 is in contact with the left side of the opening 1030 of the bag 1018. In some embodiments, the controller 1058 is able to determine that the gripper 1240 has reached the left side of the opening 1030 of the bag 1018 based on a signal from the actuator 1054 of resistance encountered by the gripper 1240 when the gripper 1250 contacts the left side of the opening 1030 of the bag 1018. Between the second and third instances show n in Figs. 23B and 23C, the controller 1058 has caused the gripper 1250 to remain at the distance 1251 from the centerline 1011.

[0122] At the third instance, the grippers 1220, 1230, 1240, and 1250 hold the opening 1030 of the bag 1018 in a first shape. The controller 1058 can determine the perimeter of the opening 1030 of the bag 1018 in the first shape, such as by using the method described above with respect to Fig. 19A or the method described above with respect to Fig. 21C. The controller 1058 can also determine a second shape of the opening 1030 and how the seal backing bar 1068 and the grippers 1240 and 1250 move in order to maintain the perimeter of the opening 1030 of the bag 1018 substantially constant during the transition from the first shape to the second shape.Attorney Docket No. P46158-WO

[0123] Fig. 23D depicts a fourth instance of the method in which the opening 1068 of the bag 1018 is held in the second shape. In the particular embodiment, the grippers 1240 and 1250 have moved inward in the transverse direction a proportional distance toward the centerline 1011. The seal backing bar 1068 has moved outward so that the perimeter of the opening 1030 of the bag 1018 in the second shape is substantially the same as the perimeter of the opening 1030 of the bag 1018 in the first shape. In some embodiments, at least one of the seal backing bar 1068, the gripper 1240. or the gripper 1250 has moved at a non-constant speed during the transition of the opening from the first shape to the second shape so that the opening 1030 of the bag 1018 is maintained substantially constant during the transition from the first shape to the second shape. In the particular embodiment shown in Fig. 23D, the opening 1030 of the bag 1018 is in the shape of an acute trapezoid. It will be apparent that the second shape can be any other shape in which the grippers 1220, 1230. 1240. and 1250 are capable of holding the opening 1030 of the bag 1018.

[0124] Fig. 24 depicts an example embodiment of a system 1310 that may be used to implement some or all of the embodiments described herein. In the depicted embodiment, the system 1310 includes computing devices 13201, 13202, 1320s, and 13204 (collectively computing devices 1320). In the depicted embodiment, the computing device 13201 is a tablet, the computing device 13202 is a mobile phone, the computing device 1320s is a desktop computer, and the computing device 13204 is a laptop computer. In other embodiments, the computing devices 1320 include one or more of a desktop computer, a mobile phone, a tablet, a phablet, a notebook computer, a laptop computer, a distributed system, a gaming console (e.g., Xbox. Play Station. Wii). a watch, a pair of glasses, a key fob, a radio frequency identification (RFID) tag, an ear piece, a scanner, a television, a dongle, a camera, a wristband, a w earable item, a kiosk, an input terminal, a server, a server network, a blade, a gateway, a switch, a processing device, a processing entity, a set-top box, a relay, a router, a network access point, a base station, any other device configured to perform the functions, operations, and / or processes described herein, or any combination thereof.

[0125] The computing devices 1320 are communicatively coupled to each other via one or more networks 1330 and 1332. Each of the networks 1330 and 1332 may include one or more wired or wireless networks (e.g., a 3G network, the Internet, an internal network, aAttorney Docket No. P46158-WO proprietary' network, a secured network). The computing devices 1320 are capable of communicating with each other and / or any other computing devices via one or more wired or wireless networks. While the particular system 1310 in Fig. 24 depicts that the computing devices 1320 communicatively coupled via the network 1330 include four computing devices, any number of computing devices may be communicatively coupled via the network 1330.

[0126] In the depicted embodiment, the computing device 1320s is communicatively coupled with a peripheral device 1340 via the netw ork 1332. In the depicted embodiment, the peripheral device 1340 is a scanner, such as a barcode scanner, an optical scanner, a computer vision device, and the like. In some embodiments, the network 1332 is a wired netw ork (e.g., a direct wired connection between the peripheral device 1340 and the computing device 1320s), a wireless netw ork (e.g., a Bluetooth connection or a WiFi connection), or a combination of wired and wireless networks (e.g.. a Bluetooth connection between the peripheral device 1340 and a cradle of the peripheral device 1340 and a wired connection between the peripheral device 1340 and the computing device 1320s). In some embodiments, the peripheral device 1340 is itself a computing device (sometimes called a “smart'’ device). In other embodiments, the peripheral device 1340 is not a computing device (sometimes called a “dumb” device).

[0127] Depicted in Fig. 25 is a block diagram of an embodiment of a computing device 1400. Any of the computing devices 1320 and / or any other computing device described herein may include some or all of the components and features of the computing device 1400. In some embodiments, the computing device 1400 is one or more of a desktop computer, a mobile phone, a tablet, a phablet, a notebook computer, a laptop computer, a distributed system, a gaming console (e.g., an Xbox, a Play Station, a Wii). a watch, a pair of glasses, a key fob. a radio frequency identification (RFID) tag, an ear piece, a scanner, a television, a dongle, a camera, a wristband, a wearable item, a kiosk, an input terminal, a server, a server netw ork, a blade, a gateway, a switch, a processing device, a processing entity, a set-top box, a relay, a router, a network access point, a base station, any other device configured to perform the functions, operations, and / or processes described herein, or any combination thereof. Such functions, operations, and / or processes may include, for example, transmitting, receiving, operating on, processing, displaying, storing, determining, creating / generating, monitoring,Attorney Docket No. P46158-WO evaluating, comparing, and / or similar terms used herein. In one embodiment, these functions, operations, and / or processes can be performed on data, content, information, and / or similar terms used herein.

[0128] In the depicted embodiment, the computing device 1400 includes a processing element 1405, memory 1410, a user interface 1415, and a communications interface 1420. The processing element 1405, memory 1410, a user interface 1415, and a communications interface 1420 are capable of communicating via a communication bus 1425 by reading data from and / or writing data to the communication bus 1425. The computing device 1400 may include other components that are capable of communicating via the communication bus 1425. In other embodiments, the computing device does not include the communication bus 1425 and the components of the computing device 1400 are capable of communicating with each other in some other way.

[0129] The processing element 1405 (also referred to as one or more processors, processing circuitry, and / or similar terms used herein) is capable of performing operations on some external data source. For example, the processing element may perform operations on data in the memory 1410, data receives via the user interface 1415, and / or data received via the communications interface 1420. As will be understood, the processing element 1405 may be embodied in a number of different w ays. In some embodiments, the processing element 1405 includes one or more complex programmable logic devices (CPLDs). microprocessors, multicore processors, co processing entities, application-specific instruction-set processors (ASIPs), microcontrollers, controllers, integrated circuits, application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), hardware accelerators, any other circuitry, or any combination thereof. The term circuitry may refer to an entirely hardware embodiment or a combination of hardware and computer program products. In some embodiments, the processing element 1405 is configured for a particular use or configured to execute instructions stored in volatile or nonvolatile media or otherwise accessible to the processing element 1405. As such, whether configured by hardware or computer program products, or by a combination thereof, the processing element 1405 may be capable of performing steps or operations w hen configured accordingly.Attorney Docket No. P46158-WO

[0130] The memory 1410 in the computing device 1400 is configured to store data, computer-executable instructions, and / or any other information. In some embodiments, the memory 1410 includes volatile memory (also referred to as volatile storage, volatile media, volatile memory circuitry, and the like), non-volatile memory (also referred to as non-volatile storage, non-volatile media, non-volatile memory circuitry, and the like), or some combination thereof.

[0131] In some embodiments, volatile memory includes one or more of random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), fast page mode dynamic random access memory (FPM DRAM), extended data-out dynamic random access memory' (EDO DRAM), synchronous dynamic random access memory' (SDRAM), double data rate synchronous dynamic random access memory' (DDR SDRAM), double data rate ty pe two synchronous dynamic random access memory (DDR2 SDRAM), double data rate type three synchronous dynamic random access memory (DDR3 SDRAM), Rambus dynamic random access memory (RDRAM), Twin Transistor RAM (TTRAM), Thyristor RAM (T-RAM), Zero-capacitor (Z-RAM), Rambus in-line memory module (RIMM), dual in-line memory module (DIMM), single in-line memory module (SIMM), video random access memory (VRAM), cache memory (including various levels), flash memory, any other memory that requires power to store information, or any combination thereof.

[0132] In some embodiments, non-volatile memory includes one or more of hard disks, floppy disks, flexible disks, solid-state storage (SSS) (e.g., a solid state drive (SSD)), solid state cards (SSC), solid state modules (SSM), enterprise flash drives, magnetic tapes, any other non-transitory magnetic media, compact disc read only memory’ (CD ROM), compact disc-rewritable (CD-RW), digital versatile disc (DVD). Blu-ray disc (BD). any other non- transitory optical media, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory’ (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory (e.g., Serial, NAND, NOR, and / or the like), multimedia memory’ cards (MMC). secure digital (SD) memory cards. Memory Sticks, conductive-bridging random access memory (CBRAM), phase-change random access memory (PRAM), ferroelectric random-access memory' (FeRAM), nonvolatile random access memory’ (NVRAM), magneto-resistive random access memoryAttorney Docket No. P46158-WO(MRAM), resistive random-access memory (RRAM), Silicon Oxide-Nitride-Oxide-Silicon memory (SONOS), floating j unction gate random access memory (FJG RAM). Millipede memory, racetrack memory, any other memory that does not require power to store information, or any combination thereof.

[0133] In some embodiments, memory 1410 is capable of storing one or more of databases, database instances, database management systems, data, applications, programs, program modules, scripts, source code, object code, byte code, compiled code, interpreted code, machine code, executable instructions, or any other information. The term database, database instance, database management system, and / or similar terms used herein may refer to a collection of records or data that is stored in a computer-readable storage medium using one or more database models, such as a hierarchical database model, network model, relational model, entity relationship model, object model, document model, semantic model, graph model, or any other model.

[0134] The user interface 1415 of the computing device 1400 is in communication with one or more input or output devices that are capable of receiving inputs into and / or outputting any outputs from the computing device 1400. Embodiments of input devices include a keyboard, a mouse, a touchscreen display, a touch sensitive pad, a motion input device, movement input device, an audio input, a pointing device input, a joystick input, a keypad input, peripheral device 1340, foot switch, and the like. Embodiments of output devices include an audio output device, a video output, a display device, a motion output device, a movement output device, a printing device, and the like. In some embodiments, the user interface 1415 includes hardware that is configured to communicate with one or more input devices and / or output devices via wired and / or wireless connections.

[0135] The communications interface 1420 is capable of communicating with various computing devices and / or networks. In some embodiments, the communications interface 1420 is capable of communicating data, content, and / or any other information, that can be transmitted, received, operated on, processed, displayed, stored, and the like.Communication via the communications interface 1420 may be executed using a wired data transmission protocol, such as fiber distributed data interface (FDDI), digital subscriber line (DSL). Ethernet, asynchronous transfer mode (ATM), frame relay, data over cable service interface specification (DOCSIS), or any other wired transmission protocol. Similarly,Attorney Docket No. P46158-WO communication via the communications interface 1420 may be executed using a wireless data transmission protocol, such as general packet radio service (GPRS), Universal Mobile Telecommunications System (UMTS), Code Division Multiple Access 2000 (CDMA2000), CDMA2000 IX (IxRTT), Wideband Code Division Multiple Access (WCDMA), Global System for Mobile Communications (GSM), Enhanced Data rates for GSM Evolution (EDGE), Time Division-Synchronous Code Division Multiple Access (TD-SCDMA), Long Term Evolution (LTE), Evolved Universal Terrestrial Radio Access Network (E-UTRAN), Evolution-Data Optimized (EVDO), High Speed Packet Access (HSPA), High-Speed Downlink Packet Access (HSDPA), IEEE 802.11 (WiFi), WiFi Direct, 802.16 (WiMAX), ultra wideband (UWB), infrared (IR) protocols, near field communication (NFC) protocols, Wibree, Bluetooth protocols, wireless universal serial bus (USB) protocols, or any other wireless protocol.

[0136] As will be appreciated by those skilled in the art, one or more components of the computing device 1400 may be located remotely from other components of the computing device 1400 components, such as in a distributed system. Furthermore, one or more of the components may be combined and additional components performing functions described herein may be included in the computing device 1400. Thus, the computing device 1400 can be adapted to accommodate a variety of needs and circumstances. The depicted and described architectures and descriptions are provided for exemplar}' purposes only and are not limiting to the various embodiments described herein.

[0137] Embodiments described herein may be implemented in various ways, including as computer program products that comprise articles of manufacture. A computer program product may include a non-transitory computer-readable storage medium storing applications, programs, program modules, scripts, source code, program code, object code, byte code, compiled code, interpreted code, machine code, executable instructions, and / or the like (also referred to herein as executable instructions, instructions for execution, computer program products, program code, and / or similar terms used herein interchangeably). Such non- transitory computer-readable storage media include all computer-readable media (including volatile and non-volatile media).

[0138] As should be appreciated, vanous embodiments of the embodiments described herein may also be implemented as methods, apparatus, systems, computing devices, and the like.Attorney Docket No. P46158-WOAs such, embodiments described herein may take the form of an apparatus, system, computing device, and the like executing instructions stored on a computer readable storage medium to perform certain steps or operations. Thus, embodiments described herein may be implemented entirely in hardware, entirely in a computer program product, or in an embodiment that comprises combination of computer program products and hardware performing certain steps or operations.

[0139] Embodiments described herein may be made with reference to block diagrams and flowchart illustrations. Thus, it should be understood that blocks of a block diagram and flowchart illustrations may be implemented in the form of a computer program product, in an entirely hardware embodiment, in a combination of hardware and computer program products, or in apparatus, systems, computing devices, and the like cartying out instructions, operations, or steps. Such instructions, operations, or steps may be stored on a computer readable storage medium for execution buy a processing element in a computing device. For example, retrieval, loading, and execution of code may be performed sequentially such that one instruction is retrieved, loaded, and executed at a time. In some exemplary embodiments, retrieval, loading, and / or execution may be performed in parallel such that multiple instructions are retrieved, loaded, and / or executed together. Thus, such embodiments can produce specifically configured machines performing the steps or operations specified in the block diagrams and flowchart illustrations. Accordingly, the block diagrams and flowchart illustrations support various combinations of embodiments for performing the specified instructions, operations, or steps.

[0140] For purposes of this disclosure, terminology such as “upper,” “lower,” “vertical,” “horizontal,” “inwardly,” “outwardly,” “inner,” “outer,” “front,” “rear,” and the like, should be construed as descriptive and not limiting the scope of the claimed subject matter. Further, the use of “including,” “comprising,” or “having” and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Unless limited otherwise, the terms “connected,” “coupled,” and “mounted” and variations thereof herein are used broadly and encompass direct and indirect connections, couplings, and mountings. Unless stated otherwise, the terms “substantially,” “approximately,” and the like are used to mean within 5% of a target value.Attorney Docket No. P46158-WO

[0141] The principles, representative embodiments, and modes of operation of the present disclosure have been described in the foregoing description. However, aspects of the present disclosure which are intended to be protected are not to be construed as limited to the particular embodiments disclosed. Further, the embodiments described herein are to be regarded as illustrative rather than restrictive. It will be appreciated that variations and changes may be made by others, and equivalents employed, without departing from the spirit of the present disclosure. Accordingly, it is expressly intended that all such variations, changes, and equivalents fall within the spirit and scope of the present disclosure, as claimed.

Claims

Attorney Docket No. P46158-WOCLAIMSWhat is claimed is:1 . A system for opening a bag, comprising: a housing; a seal backing bar coupled to the housing and configured to move in a lateral direction toward and away from the housing; a first gripper and a second gripper located on the seal backing bar, wherein the first and second gripper are configured to be held in fixed positions on the seal backing bar while the system opens a bag; a third gripper and a fourth gripper located on the housing, wherein the third and fourth grippers are movable along the housing in a transverse direction, wherein the lateral and transverse directions are substantially perpendicular to each other; and a controller configured to control movements of the seal backing bar with respect to the housing and movements of the third and fourth grippers along the housing, wherein, after an opening of the bag is engaged by the first, second, third, and fourth grippers, the controller is configured to: determine a perimeter of the opening of the bag while the opening of the bag is in a first shape, wherein the first shape is different from a second shape of the opening of the bag, and control lateral movements of the seal backing bar and transverse movements of the third and fourth grippers along the housing so that (1) the opening of the bag transitions from the first shape to the second shape, and (2) the perimeter of the opening of the bag is maintained substantially constant during the transition from the first shape to the second shape.

2. The system of claim 1, wherein the bag is formed from a fiber-based material.

3. The system of claim 1, wherein the bag is part of a web of interconnected bags.

4. The system of claim 3, wherein the web is formed from a fiber-based material.Attorney Docket No. P46158-WO5. The system of claim 1, wherein the controller is configured to control the lateral movements of the seal backing bar and transverse movements of the third and fourth grippers so that the opening of the bag is in the shape of a quadrilateral having comers at the first, second, third, and fourth grippers.

6. The system of claim 5, wherein the quadrilateral is an isosceles trapezoid throughout the transition from the first shape to the second shape.

7. The system of claim 5, wherein the quadrilateral is a scalene trapezoid throughout the transition from the first shape to the second shape.

8. The system of claim 1, wherein the second shape is a rectangle.

9. The system of claim 1 , wherein the controller is configured to determine the perimeter of the opening of the bag in part by: determining a location of the first gripper on the seal backing bar by causing the third gripper to register against the first gripper; and determining a location of the second gripper on the seal backing bar by causing the fourth gripper to register against the second gripper.

10. The system of claim 9, wherein the controller is further configured to determine the perimeter of the opening of the bag in part by: after the third and fourth grippers respectively register against the first and second grippers, causing the third and fourth grippers to move outwardly to sides of the opening of the bag; wherein the perimeter of the bag is determined in part by a distance between the third and fourth grippers after the third and fourth grippers to move outwardly to the sides of the opening of the bag.

11. The system of claim 1 , wherein, during the transition from the first shape to the second shape, the controller is configured to cause movement at a non-constant speed of at least one of: the third gripper in the transverse direction along the housing;Attorney Docket No. P46158-WO the fourth gripper in the transverse direction along the housing; and the seal backing bar in the lateral direction.

12. The system of claim 1. wherein, during the transition from the first shape to the second shape, the controller is configured to cause: movement at a constant speed of the seal backing bar from a first position to an open position; and movement at a non-constant speed of the third and fourth grippers toward each other in the transverse direction along the housing.

13. A method of opening a bag by a system, wherein the system comprises a housing, a seal backing bar coupled to the housing and configured to move in a lateral direction toward and away from the housing, a first gripper and a second gripper located on the seal backing bar, and a third gripper and a fourth gripper located on the housing, wherein the first and second gripper are configured to be held in fixed positions on the seal backing bar while the system opens a bag, wherein the third and fourth grippers are movable along the housing in a transverse direction, wherein the lateral and transverse directions are substantially perpendicular to each other, and wherein the method comprises: determining, by a controller, that an opening of the bag is engaged by the first, second, third, and fourth grippers; determining a perimeter of the opening of the bag while the opening of the bag is in a first shape, wherein the first shape is different from a second shape of the opening of the bag; and controlling lateral movements of the seal backing bar and transverse movements of the third and fourth grippers along the housing so that (1) the opening of the bag transitions from the first shape to the second shape, and (2) the perimeter of the opening of the bag is maintained substantially constant during the transition from the first shape to the second shape.

14. The method of claim 13, wherein the bag is formed from a fiber-based material.Attorney Docket No. P46158-WO15. The method of claim 13, wherein the controlling of the lateral movements of the seal backing bar and transverse movements of the third and fourth grippers comprises holding the opening of the bag in the shape of a quadrilateral having comers at the first, second, third, and fourth grippers.

16. The method of claim 15, wherein the quadrilateral is an isosceles trapezoid throughout the transition from the first shape to the second shape.

17. The method of claim 15, wherein the quadrilateral is a scalene trapezoid throughout the transition from the first shape to the second shape.

18. The method of claim 13, wherein the determining of the perimeter of the opening comprises: determining a location of the first gripper on the seal backing bar by causing the third gripper to register against the first gripper; and determining a location of the second gripper on the seal backing bar by causing the fourth gripper to register against the second gripper.

19. The method of claim 18, wherein the determining of the perimeter of the opening further comprises: after the third and fourth grippers respectively register against the first and second grippers, causing the third and fourth grippers to move outwardly to sides of the opening of the bag; wherein the perimeter of the bag is determined in part by a distance between the third and fourth grippers after the third and fourth grippers to move outwardly to the sides of the opening of the bag.

20. The method of claim 13, wherein, during the transition from the first shape to the second shape, the controller is configured to cause movement at a non-constant speed of at least one of: the third gripper in the transverse direction along the housing;Attorney Docket No. P46158-WO the fourth gripper in the transverse direction along the housing; and the seal backing bar in the lateral direction.

21. A nontransitory computer readable medium having instructions stored thereon for controlling a system to open a bag, wherein the system comprises a housing, a seal backing bar coupled to the housing and configured to move in a lateral direction toward and away from the housing, a first gripper and a second gripper located on the seal backing bar, and a third gripper and a fourth gripper located on the housing, wherein the first and second gripper are configured to be held in fixed positions on the seal backing bar while the system opens a bag, wherein the third and fourth grippers are movable along the housing in a transverse direction, wherein the lateral and transverse directions are substantially perpendicular to each other, and wherein the instructions, when executed by a controller, cause the controller to: determine that an opening of the bag is engaged by the first, second, third, and fourth grippers; determine a perimeter of the opening of the bag while the opening of the bag is in a first shape, wherein the first shape is different from a second shape of the opening of the bag; and control lateral movements of the seal backing bar and transverse movements of the third and fourth grippers along the housing so that (1) the opening of the bag transitions from the first shape to the second shape, and (2) the perimeter of the opening of the bag is maintained substantially constant during the transition from the first shape to the second shape.

Images