A FANUC M-420iA is shown packaging chilled and frozen bags of soup. The system packages 40 small bags per minute and 25 large bags per minute. The controller is built into the base of the robot. A mechanical gripper is used to pick up the flexible chilled bags of soup and automatically changes to a vacuum gripper in order to pick up the frozen solid bags of soup. After packaging, the boxes are taped closed by case closers and move down the conveyor to a palletizing cell for shipping. |