A tape head assembly-which tapes flaps of boxes on a conveyor-includes power-assist functionality to stretch a first spring used to power a trailing roller to press tape against a trailing case sidewall of a case. A force by the case moving on the conveyor acting upon a leading roller may provide some of the energy to stretch the first spring. However, a roller-assist air cylinder uses compressed air to assist or fully stretch the first spring. A knife assembly may be used to cut the tape applied to a case. A second spring may be stretched by the force of the moving case acting upon a knife arm. The second spring may be used later operate the knife blade. However, a knife-assist air cylinder uses compressed air to assist or fully stretch the second spring. Both assist assemblies may be turned off to operate the tape head in a conventional manner.
B65B 57/04 - Automatic control, checking, warning or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages and operating to control, or to stop, the feed of such material, containers, or packages
B65B 61/06 - Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for severing webs, or for separating joined packages by cutting
B65H 35/00 - Delivering articles from cutting or line-perforating machines; Article or web delivery apparatus incorporating cutting or line-perforating devices, e.g. adhesive tape dispensers
Techniques for erecting folded-flat cases are described herein. In a first example, a grasping tool is moved along a supporting beam in two directions in a first dimension. The supporting beam is configured for movement along first and second beams two directions in a second dimension. The grasping tool is configured to grasp and open a folded-flat case. In a second example, the grasping tool is configured with a rotation arm. A rotation-control beam defines a track, within which a pin connected to the rotation arm is configured to slide. A motor drives the rotation-control beam in two directions in one dimension, to thereby rotate the grasping tool.
A tape head assembly—which tapes flaps of boxes on a conveyor—includes power-assist functionality to stretch a first spring used to power a trailing roller to press tape against a trailing case sidewall of a case. A force by the case moving on the conveyor acting upon a leading roller may provide some of the energy to stretch the first spring. However, a roller-assist air cylinder uses compressed air to assist or fully stretch the first spring. A knife assembly may be used to cut the tape applied to a case. A second spring may be stretched by the force of the moving case acting upon a knife arm. The second spring may be used later operate the knife blade. However, a knife-assist air cylinder uses compressed air to assist or fully stretch the second spring. Both assist assemblies may be turned off to operate the tape head in a conventional manner.
B65B 57/04 - Automatic control, checking, warning or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages and operating to control, or to stop, the feed of such material, containers, or packages
B65B 61/06 - Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for severing webs, or for separating joined packages by cutting
B65H 35/00 - Delivering articles from cutting or line-perforating machines; Article or web delivery apparatus incorporating cutting or line-perforating devices, e.g. adhesive tape dispensers
Techniques for corrugate and chipboard knocked-down case inspection and manufacturing are described. In an example, a piece of cardboard is cut according to a shape of a knocked-down case, and a first plurality of measurements are made. The piece of cut cardboard is scored to create a plurality of fold-lines, based at least in part on the first plurality of measurements, and a second plurality of measurements are made. A fold-line between a major panel and a minor panel is folded, based at least in part on the second plurality of measurements, and a third plurality of measurements are made. A fold-line of a tab of the piece of cut cardboard is folded, based at least in part on the third plurality of measured distances. The tab is glued to a panel of the piece of cardboard to form a knocked-down case.
G01B 11/02 - Measuring arrangements characterised by the use of optical techniques for measuring length, width, or thickness
G01B 11/03 - Measuring arrangements characterised by the use of optical techniques for measuring length, width, or thickness by measuring coordinates of points
G06K 7/14 - Methods or arrangements for sensing record carriers by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
G06K 19/06 - Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
B31B 50/78 - Opening and distending flattened articles mechanically
B31B 120/30 - Construction of rigid or semi-rigid containers temporarily collapsed during manufacturing
Techniques for corrugate and chipboard knocked-down case inspection and assembly are described herein. In one example, the disclosed techniques include a method to inspect and assemble a knocked-down case. In the example, a measurement of at least one aspect of the knocked-down case is obtained. A difference is determined between the obtained measurement and a standard measurement and/or a range of standard measurements. Programming of a case-handling tool is executed that is based at least in part on the determined difference. In an example, the programming is configured to adjust for and/or compensate for differences between the actual knocked-down case and a knocked-down case that is within a specification. A case-handling tool is operated responsive to the executed programming to at least partially erect the knocked-down case into an erected case.
G01B 11/02 - Measuring arrangements characterised by the use of optical techniques for measuring length, width, or thickness
G01B 11/03 - Measuring arrangements characterised by the use of optical techniques for measuring length, width, or thickness by measuring coordinates of points
G06K 19/06 - Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
B31B 50/00 - Making rigid or semi-rigid containers, e.g. boxes or cartons
B31B 50/78 - Opening and distending flattened articles mechanically
Techniques for corrugate and chipboard knocked-down case inspection and assembly are described herein. In one example, the disclosed techniques include a method to inspect and assemble a knocked-down case. In the example, a measurement of at least one aspect of the knocked-down case is obtained. A difference is determined between the obtained measurement and a standard measurement and/or a range of standard measurements. Programming of a case- handling tool is executed that is based at least in part on the determined difference. In an example, the programming is configured to adjust for and/or compensate for differences between the actual knocked-down case and a knocked-down case that is within a specification. A case-handling tool is operated responsive to the executed programming to at least partially erect the knocked-down case into an erected case.
An end-of-arm tool and an associated robotic arm are configured to place items (e.g., soft-sided merchandise) into a case. In an example, an end-of-arm tool is configured to grasp a surface (e.g., the top surface) of an item of merchandise and deposit the item into the case. Accordingly, as an item is deposited, the tool uses contact with that item to move previously placed items back into their preferred locations. After the penultimate item in a row of items is put in place, it may move out of position. As a final item is added to a row, the tool pivots the final item so that a side surface of the final item pushes the penultimate item into its correct position. The tool then pivots the final item to orient the top surface of the item horizontally, and places it in a predetermined position.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
B65G 47/91 - Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
Techniques for installing a robotic arm, such as for use in a product packaging environment are described. In an example, a floor-supported plate may define a number of holes to allow connection of the plate to selected locations in the concrete floor. In an example, holes defined in the plate that are in undesirable locations in the concrete floor may not be used to bolt the plate to the floor. In contrast, holes that are in more favorable locations in the plate can be used to bolt the plate to the floor. The floor-supported plate may also be configured with alignment features that assist in connection of one or more supporting or related systems to the plate. Examples of the systems that may be connected to the plate, and/or aligned by contact with the plate, include conveyor systems, case-providing cassette(s), and pallet location and/or alignment guides.
Structure, method and techniques for a robotic end-of-arm tool usable in the packaging industry are described herein. In an example, the end-of-arm tool is configured for attachment to a robotic arm, and may be used in case opening and sealing operations. The case may be partially opened by a packaging system from a folded-flat configuration, and may be and squared and sealed by the end- of-arm tool. In the example, first and second mandrels (or jigs) are configured to be extended to contact inside surfaces of a case. In the example, a base supports the first and second mandrels, and allows adjustment of a distance by which they are separated. In an extended state, the mandrels press on interior surfaces of opposite sides of the case, forming the case into a square configuration. Suction cups hold the minor flaps, allowing the major flaps to be folded and sealed.
Techniques for product-stacking and case-packing are particularly adapted for product that is packaged in envelopes or flexibly-sided containers. Such products include may different types, such as foodstuffs, books, boxed goods, etc. In an example, a product-stacking and case-packing system may include a product-stacking assembly and a case-packing assembly. In the example, the product-stacking assembly may be configured with a plurality of pairs of flights, each pair of flights programmed to move according to operation of an associated pair servo motors, and programmed to receive and down-stack incoming product items into groups. In the example, the case-packing assembly may include a robotic arm and end-of-arm tool configured to grasp one or more groups of stacked product items, when pushed from the product-stacking assembly, and place each group of stacked product items in a case (e.g., a cardboard box).
B65G 47/256 - Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles removing incorrectly orientated articles
B65G 47/91 - Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
B65B 5/10 - Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
B65B 35/44 - Arranging and feeding articles in groups by endless belts or chains
B65G 47/244 - Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning them about an axis substantially perpendicular to the conveying plane
11.
Flight and product indexing assemblies for packaging
Flight and indexing assemblies for automated packaging systems provide better product spacing for faster and more reliable automation. In an example, a plurality of flights may include a plate- or sheet-like body with a perpendicular flange extending from an upper portion of the flight. Two adjacent flanges contain a pouch or other product to be packaged in a case. A flange constrains an upper portion of each pouch to a confined and predetermined area, thereby aiding grippers of an end-of-arm tool to grasp the pouches. A flight and product indexing assembly is configured to control spacing between adjacent flights, and to position pouches constrained between adjacent flights, so that flights position product at predetermined locations for gripping by the end-of-arm tool.
B65G 47/28 - Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles during transit by a single conveyor
B25J 11/00 - Manipulators not otherwise provided for
B65B 5/08 - Packaging groups of articles, the articles being individually gripped or guided for transfer to the containers or receptacles
B65B 35/44 - Arranging and feeding articles in groups by endless belts or chains
B65B 5/06 - Packaging groups of articles, the groups being treated as single articles
B65B 35/36 - Arranging and feeding articles in groups by grippers
B65G 47/08 - Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines spacing or grouping the articles during feeding
B65B 63/02 - Auxiliary devices, not otherwise provided for, for operating on articles or materials to be packaged for compressing or compacting articles or materials prior to wrapping or insertion in containers or receptacles
The disclosure describes techniques for erecting cases, and particularly example structures and example methods for use in a case erecting system using a robotic arm. A tool for use in robotic case erecting may be used in conjunction with a robotic arm. Use of the tool assists in keeping a case level as the case moves along a conveyor, where a plow closes the major flaps and a tape head tapes edges of the flaps together, thereby sealing the bottom of the case. The tool also assists in regulating the gap between the major flaps, so that the gap and/or any overlap of the flaps is minimized. Accordingly, the tool assists the robotic arm to close the case in a more precise manner.
Techniques for construction and operation of a programmable product picking apparatus are described herein. Such an apparatus picks up product according to a first spacing (e.g., from a conveyor) and releases the product according to a second spacing (e.g., into a carton). In one possible configuration, a fixed matrix plate defines at least first and second rows of slots. Two movable matrix plates, one that moves right-then-left and one that moves left-then-right, move in opposite directions parallel to the fixed matrix plate according to strokes of pneumatic cylinders. Each of a plurality of product pickers is driven by one of the two movable matrix plates. As that plate moves, the product picker is also moved according to a slot defined in the movable matrix plate. Each product picker comes to a stop when it reaches an end of a slot defined in the fixed matrix plate.
A product aggregating apparatus receives product with an in-feed conveyor assembly and provides the product in an aggregated, registered and/or organized form, such as to a product picking apparatus. The in-feed conveyor assembly includes at least one in-feed conveyor, each in-feed conveyor configured to deliver product to first and second locations. A product receiver assembly includes at least first and second product receiver carriages to receive product at the first and second locations, respectively. An aggregated product receiver assembly comprises a carriage configured for vertical movement to positions adjacent to each product receiver carriage. A pusher assembly, comprising a pusher carriage configured for vertical movement to positions adjacent to each product receiver carriage, contains pushers horizontally moveable to push product from the adjacent product receiver carriage and onto the carriage of the aggregated product receiver assembly for picking by an appropriate apparatus.
A product aggregating apparatus receives product with an in-feed conveyor assembly and provides the product in an aggregated, registered and/or organized form, such as to a product picking apparatus. The in-feed conveyor assembly includes at least one in-feed conveyor, each in-feed conveyor configured to deliver product to first and second locations. A product receiver assembly includes at least first and second product receiver carriages to receive product at the first and second locations, respectively. An aggregated product receiver assembly comprises a carriage configured for vertical movement to positions adjacent to each product receiver carriage. A pusher assembly, comprising a pusher carriage configured for vertical movement to positions adjacent to each product receiver carriage, contains pushers horizontally moveable to push product from the adjacent product receiver carriage and onto the carriage of the aggregated product receiver assembly for picking by an appropriate apparatus.
A case erector is configured to open folded cases. In one example, the case erector includes a planar bearing surface. A semi-circular channel is defined in the planar bearing surface about a center point. Additionally, a notch is located so that the planar bearing surface does not extend to the center point of the semi-circular channel. A plate is in contact with the planar bearing surface. The plate has at least one flange sized for travel within the semi-circular channel so that the plate rotates against the planar bearing surface in a circular manner about the center point. A notch is defined in the plate so that the plate does not extend to the center point of the semi-circular channel. An arm is connected to the plate so that the plate and the arm rotate together with respect to the planar bearing surface. In operation, a folded edge of a folded case is positioned at the center point. One or two arms, moved by plates rotating on bearing surfaces, attach to and open the folded case.
Examples of a robotic de-palletizer and a robotic magazine loader are described herein. The robotic de-palletizer is configured to remove cases (e.g. HSC (half slotted cases) filled with product (e.g. disassembled cartons)) and to place the HSC on one or more conveyors. The conveyor(s) move the full HSC from the “de-palletizing” area to a magazine-loading area for processing by a robotic magazine loader. In one example of the robotic magazine loader, HSC containing unassembled cartons are removed from the conveyor. The contents of the HSC are added to a magazine feeding a carton assembling and filling machinery and the empty HSC is conveyed to a discard location.
A conveying system includes a robotic arm, an end-of-arm-tool, carried by the robotic arm, and a conveyor. In one example, the end of arm tool includes a plurality of engagement mechanisms arranged in an array. Each engagement mechanism includes at least two opposed fingers moveable between engaged and released positions, and is thereby adapted to grasp a soft-sided article from the conveyor. The conveyor includes a plurality of parallel tracks, each track separated from an adjacent track by a groove. A plurality of stops is configured to stop a plurality of soft-sided articles in an array analogous to the arrayed engagement mechanisms of the end-of-arm tool. In operation, the opposed fingers of each engagement mechanism pass through the grooves defined within the conveyor, to grasp upstream and downstream sides of an article, respectively, and underneath the article, which is then lifted by the robotic arm.
A compensating roller system is adapted to adjust to size variation of product moving through a conveyor system. In one example, the compensating roller system is used to control a force resulting in deflection of a conveyor belt. In a specific implementation of such an example, a first rail is configured to support a first conveyor belt. A plurality of rollers is attached to the first rail and supports a conveyor belt moving over the rollers. The attachment allows each roller to pivot independently of movement of other rollers. Each of the rollers' movement is against a bias, and allows for deflection of the conveyor belt. A second rail may be configured as the first rail, and oriented define a channel for product movement between conveyor belts carried by the first and second rails.
B65G 15/12 - Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface with two or more endless belts
patents
