End-of-arm tool for robotic arm
AssigneePearson Packaging Systems
InventorMichael J. Johnson
Life of this patent
Estimating the term…
Abstract
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.
Claims18
An end-of-arm tool for a robotic arm, the end-of-arm tool comprising:
- a frame of the end-of-arm tool connected to the robotic arm;
- a base having a fastener to connect to a surface of an item;
- a pivoting fastener to connect the frame to the base;
- an actuator connected to the base and to the frame, and configured to orient the base to desired orientations between an inclined orientation and a substantially horizontal orientation;
- and
- one or more computer-readable media storing computer-executable instructions that, when executed, cause one or more processors to perform acts comprising:
- grasping a top side of the item to be placed in a location within a case that is between a penultimate item and a wall of the case;
- pivoting the item from a first position, wherein the top side of the item is substantially horizontal, to a second position, wherein the top side of the item is tilted;
- moving a first side of the item into contact with the penultimate item in a row of items in the case;
- pushing the penultimate item with the first side of the item, to thereby remove portions of the penultimate item from the location within the case;
- moving the item to the location within the case that is between the penultimate item and the wall of the case;
- and
- releasing the top side of the item, wherein the top side of the item is adjacent to the first side of the item, which is in contact with the penultimate item, and is adjacent to a second side, opposite the first side, that is in contact with the wall of the case.
One or more computer-readable media storing computer-executable instructions that, when executed, cause one or more processors to perform acts comprising:
- depositing a penultimate item in a row of items in a case, wherein deposition of the penultimate item comprises pushing at least one previously placed item into a respective preferred position;
- and
- depositing a final item in the row of items in the case, wherein deposition of the final item in the row of items comprises:
- pivoting the final item about a pivoting connector connecting a base to a frame, to orient a top surface of the final item at an angle from the horizontal;
- pressing the final item against the penultimate item to thereby move the penultimate item into a preferred position, wherein the moving is responsive to at least one of:
- movement of an end-of-arm tool, and pivoting of a fastener holding the final item to the end-of-arm tool;
- pivoting the final item about the pivoting connector connecting the base to the frame, to orient the top surface of the final item substantially horizontally;
- and
- depositing the final item in a position adjacent to the penultimate item.
A method, comprising:
- under control of one or more processors configured with executable instructions:
- grasping a top side of an item to be placed in a location within a case that is between a penultimate item and a wall of the case;
- pivoting the item from a first position, wherein the top side of the item is substantially horizontal, to a second position, wherein the top side of the item is tilted;
- moving a first side of the item into contact with the penultimate item in a row of items in the case;
- pushing the penultimate item with the first side of the item, to thereby remove portions of the penultimate item from the location within the case;
- moving the item to the location within the case that is between the penultimate item and the wall of the case;
- and
- releasing the top side of the item, wherein the item is placed between the penultimate item and the wall of the case.
Dependencies are inferred from the claim text.