Ice cream sandwich apparatus

An ice cream sandwich making apparatus, comprising:

• a first station for making ice cream sandwiches, the first station comprising at least one ice cream extruder and a star wheel configured for receiving wafers and extruding ice cream between the wafers to make the ice cream sandwiches;
• a first servo motor driving the star wheel of the first station;
• a second station for transporting the ice cream sandwiches from the first station, the second station comprising a conveyor;
• a second servo motor driving the conveyor of the second station;
• and
• a third station for receiving the ice cream sandwiches from the conveyor, the third station comprising a wrapper head configured to wrap the ice cream sandwiches, the wrapper head comprising an elevator, a tucker, and a pusher
• a third servo motor driving the elevator of the wrapper head;
• a fourth servo motor driving the tucker of the wrapper head;
• a fifth servo motor driving the pusher of the wrapper head;
• and
• a controller connected to the servo motors to control operation and phasing of the servo motors and stations in real time and coordinate timing of the stations according to a preselected program to maximize production and minimize product breakage.