Robotic packaging device

Abstract

An end of arm tool that is capable of handling fragile items such as eggs that are packaged in containers (e.g., egg cartons) that require special handling is provided. The end of arm tool comprises vacuum cup assemblies to grip the top surfaces of the packages, clamp fingers to clamp the edges of the packages, and optionally a pusher assembly to release the packages from the clamp fingers. In addition, a method of loading packages into cases using the end of arm tool apparatus of the present invention is provided. A gripper may be provided to place divider sheets between packages in the cases.

1 . An end of arm tool comprising:
 a plate having a top surface and a bottom surface;   at least one clamp actuator located on the bottom surface of the plate;   at least one clamp bar operably connected to the clamp actuator;   a plurality of clamp fingers connected to the clamp bar; and   a vacuum cup assembly located on the bottom surface of the plate.   
   
   
       2 . The end of arm tool of  claim 1  further comprising:
 at least one release actuator mounted on the plate; and   a pusher assembly connected to the release actuator along the bottom surface of the plate.   
   
   
       3 . The end of arm tool of  claim 1  having two clamp bars substantially parallel to each other wherein five clamp fingers are connected to each clamp bar. 
   
   
       4 . The end of arm tool of  claim 1  wherein the clamp finger has a top section that connects to the clamp bar, a middle section, and a bottom section having a tip that curves inwardly. 
   
   
       5 . The end of arm tool of  claim 1  wherein the clamp finger is made of a flexible material. 
   
   
       6 . The end of arm tool of  claim 5  wherein the flexible material is spring steel. 
   
   
       7 . The end of arm tool of  claim 1  wherein the vacuum assembly is capable of:
 creating negative air pressure to generate a vacuum to grip a package by its top surface; and   creating positive air pressure to disengage from the top surface of the package.   
   
   
       8 . The end of arm tool of  claim 1  further comprising gripper means for gripping and releasing a divider sheet. 
   
   
       9 . An end of arm tool comprising:
 gripping means for gripping a package by its top surface; and   
     clamping means for clamping at least two edges of a package; 
   
   
       10 . The end of arm tool apparatus of  claim 9  further comprising:
 releasing means for releasing the clamping means from the edges of the package.   
   
   
       11 . The end of arm tool apparatus of  claim 10  wherein the releasing means comprises a pusher assembly that is operated by pushing means. 
   
   
       12 . The end of arm tool apparatus of  claim 11  wherein the pushing means comprises at least one release actuator. 
   
   
       13 . The end of arm tool apparatus of  claim 9  wherein the gripping means comprises at least one vacuum cup assembly. 
   
   
       14 . The end of arm tool apparatus of  claim 9  wherein the clamping means comprises a plurality of clamp fingers connected to a clamp bar that is connected to retractable means. 
   
   
       15 . The end of arm tool apparatus of  claim 14  wherein the retractable means comprise at least one clamp actuator. 
   
   
       16 . A method of packing a case comprising:
 connecting an end of arm tool comprising-a vacuum cup assembly and a plurality of clamp fingers to a robotic arm;   controlling the robotic arm to place the end of arm tool over a package so that the vacuum cup assembly makes contact with the top surface of the package;   generating a vacuum so that the vacuum cup assembly grips the top surface of the package;   retracting the clamp fingers to clamp at least two edges of the package;   controlling the robotic arm to lift the package and carry the package to a case;   moving the robotic arm into the case to place the package in the case;   releasing the package; and   moving the robotic arm out of the case.   
   
   
       17 . The method of  claim 16  wherein the step of releasing the package comprises creating a positive air pressure in the vacuum cup assembly to blow off the top surface of the package from the vacuum cup assembly. 
   
   
       18 . The method of  claim 17  wherein the step of releasing the package further comprises operating a pusher assembly to push the package off the clamp fingers to completely release the package from the end of arm tool. 
   
   
       19 . The method of  claim 16  wherein the end of arm tool further comprises gripper means, further comprising:
 repeating the steps to place a plurality of packages in the case; and   controlling the robotic arm and operating the gripper means to place at least one divider sheet between columns of packages in the case.   
   
   
       20 . The method of  claim 16  wherein the package is an egg carton.