END OF ARM TOOL (EOAT) FOR BEVERAGE CARTONS

• US 20190322451A1
• Filed: 04/17/2019
• Published: 10/24/2019
• Est. Priority Date: 04/18/2018
• Status: Abandoned Application

• Current Assignee: Bastian Solutions, LLC (Toyota Motor Corporation)
• Original Assignee: Bastian Solutions, LLC (Toyota Motor Corporation)
• Inventors: Bastian, II, William A., Zoghzoghy, Joe G., Sharkey, Thomas William, Danner, Todd Marshall
• Application Number:
  US16/386,843
• Publication Number:
  US 20190322451A1
• Time in Patent Office: Days
• CPC Class Codes: B25J 15/0014 having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
• CPC Class Codes: B25J 15/0061 mounted on a modular gripping structure
• CPC Class Codes: B25J 15/026 actuated by gears
• CPC Class Codes: B25J 15/0616 with vacuum
• CPC Class Codes: B65B 11/008 by webs revolving around articles moved along the axis of revolution
• CPC Class Codes: B65B 11/025 by webs revolving around stationary articles
• CPC Class Codes: B65B 11/585 to stacked articles, e.g. pallettised loads
• CPC Class Codes: B65B 2210/16 the web dispenser travelling around the article along a non-rotating ring
• CPC Class Codes: B65B 35/16 by grippers
• CPC Class Codes: B65B 43/58 vertically movable
• CPC Class Codes: B65B 5/101 by gravity B65B5/12 and B65B5/108 take precedence
• CPC Class Codes: B65B 5/105 by grippers B65B5/12 and B65B5/108 take precedence
• CPC Class Codes: B65B 57/14 and operating to control, or stop, the feed of articles or material to be packaged
• CPC Class Codes: B65B 59/001 Arrangements to enable adjustments related to the product to be packaged
• CPC Class Codes: B65G 1/0435 with pulling or pushing means on either stacking crane or stacking area
• CPC Class Codes: B65G 1/1375 the orders being assembled on a commissioning stacker-crane or truck
• CPC Class Codes: B65G 2201/025 Boxes
• CPC Class Codes: B65G 2203/0233 Position of the article
• CPC Class Codes: B65G 2203/041 Camera
• CPC Class Codes: B65G 2203/042 Sensors
• CPC Class Codes: B65G 59/04 : by suction or magnetic devices
• CPC Class Codes: B65G 61/00 : Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for

Abstract

A beverage carton packing system includes an End of Arm Tool (EoAT). The EoAT is configured to lift one end and pull a beverage carton, package, or other container from a stack of cartons. Once pulled, the EoAT is configured to grab an opposite side of the carton and remove the carton from the stack. The EoAT is mounted to an Automated Guided Vehicle (AGV) via a robot arm. Through the EoAT, the robot arm is able to stack mixed pallets of the cartons on the AGV. The AGV has a funnel-shaped packing chamber where the mixed pallet is stacked and a stretch wrapper for stretch wrapping the mixed pallet.

Claims

1. A system, comprising:

an end of Arm Tool (EoAT) having at least a first member and a second member;

wherein the first member is configured to lift and pull a container; and

wherein the second member is configured to grab a side of the container opposite the first member.

2. The system of claim 1, wherein the first member of the EoAT has a gripper with a vertically movable vacuum cup plenum.

3. The system of claim 2, wherein the first member has a vacuum cup pattern with large vacuum cups arranged in a triangular pattern and small cups arranged in a line below the large vacuum cups.

4. The system of claim 2, wherein the EoAT has a movable support plate for the gripper.

5. The system of claim 2, wherein the EoAT has one or more foldable gripper fingers configured to grab a corner of the container.

6. The system of claim 2, wherein the EoAT has a plenum adjuster to move the plenum to tilt the container.

7. The system of claim 2, wherein the second member of the EoAT has a push plate and a carriage lift motor configured to vertically move the push plate.

8. The system of claim 7, wherein the carriage lift motor includes a rack and pinion.

9. The system of claim 7, wherein the EoAT includes a carriage that is horizontally moveable to clamp the container with the push plate.

10. The system of claim 1, wherein the EoAT has a robot arm horizontal mount.

11. The system of claim 1, wherein the EoAT has a robot arm side mount.

12. The system of claim 1, further comprising:

an Automated Guided Vehicle (AGV);

wherein the EoAT is mounted to a robot arm; and

wherein the robot arm is mounted to the AGV.

13. The system of claim 12, wherein the AGV has a lift mechanism on which the container is stacked.

14. The system of claim 13, wherein the lift mechanism includes a scissor lift.

15. The system of claim 14, wherein the lift mechanism includes a post screw scissor lift.

16. The system of claim 13, wherein the lift mechanism has a conveyor configured to discharge the container.

17. The system of claim 13, wherein the AGV has a packing chamber.

18. The system of claim 17, wherein the packing chamber has a funnel shape.

19. The system of claim 17, wherein the packing chamber has one or more access doors.

20. The system of claim 17, wherein:

the packing chamber has a chamber opening; and

the AGV has an orbital stretch wrapper located at the chamber opening.

21. The system of claim 17, wherein the robot arm rotates 180 degrees relative to the AGV.

22. The system of claim 1, wherein the EoAT has a pressure plate configured to sense squeezing force.

23. The system of claim 1, wherein the EoAT has a vision system configured to sense gripping of the container.

24. The system of claim 1, wherein the container includes a beverage carton.

25. A method, comprising:

lifting an end of a container from a container stack with an End of Arm Tool (EoAT);

pulling the container by the end with the EoAT; and

grabbing an opposite end of the container with the EoAT.

26. The method of claim 25, wherein said lifting includes moving a vacuum cup plenum of the EoAT in a vertical direction.

27. The method of claim 26, further comprising:

moving a support plate of the EoAT under the container.

28. The method of claim 26, further comprising:

grabbing a corner of the container with one or more foldable gripper fingers of the EoAT.

29. The method of claim 26, wherein said lifting includes tilting the container by moving a plenum adjuster of the EoAT.

30. The method of claim 26, further comprising:

moving a push plate of the EoAT in the vertical direction with a carriage lift motor.

31. The method of claim 30, further comprising:

clamping the container with the push plate by horizontally moving a carriage of the EoAT in a horizontal direction.

32. The method of claim 25, further comprising:

wherein EoAT is mounted to an Automated Guided Vehicle (AGV) via a robot arm; and

transporting the container between the container stack and the AGV with the robot arm.

33. The method of claim 32, further comprising:

stacking the container on a lift mechanism of the AGV; and

moving the container in a vertical direction with the lift mechanism.

34. The method of claim 33, further comprising:

wherein the lift mechanism has a conveyor; and

moving the container with the lift mechanism.

35. The method of claim 33, further comprising:

packing the container in a packing chamber of the AGV with the EoAT.

36. The method of claim 35, further comprising:

stretch wrapping the container in the packing chamber with a orbital stretch wrapper located at an opening of the packing chamber.

37. The method of claim 25, further comprising:

sensing squeezing force on the container with a pressure plate of the EoAT.

38. The method of claim 25, further comprising:

sensing gripping of the container with a vision system of the EoAT.