Abb Flexible Automation, Inc.

Patrick Resch

Robert Scott Grams

Thomas Watson

Gilbert Dominguez

A robotic containerization and palletizing system having a multiple-fingered end effector. In one embodiment, the system carries out a method of loading a tray in a container where the method includes creating a cell with a plurality of bays; assigning each bay a location; moving trays through the cell along a path; grasping a tray off the path with a robot positioned above the path; moving the robot, with the grasped tray, to the location of one bay; and instructing the robot to release the tray at the location of the one bay.

Method of using a robotic containerization and palletizing system

A robotic containerization and palletizing system having a multiple-fingered end effector. The system includes a frame that defines one or more cells. Each cell has one gantry-type robot, which is mounted in a set of tracks on top of the frame. The robot is movable along two axes and has an arm to which the end effector is mounted. The end effector is designed to grasp trays, tubs, and similar items from a conveyor system running through the cell and load them in a cart or on a pallet. The items are gripped by two sets of fingers. One set of fingers may be mounted to a first plate and another set of fingers may be mounted to a carriage that moves in a horizontal direction, either toward or away from the first set of fingers. Each finger has a main shaft and a bent tip. The shafts are rotatable such that the tips can be moved underneath or out from under a load, depending upon whether a pick-up or drop-off operation is being performed. The end effector is designed to carry out top loading of carts and pallets and includes a measurement and containment plate that is used to detect and measure the height of trays and tubs placed in carts and on pallets. The measurement and containment plate also helps prevent loose mail in unsleeved trays or tubs from falling out of the trays or tubs during robotic transportation. The downward force exerted on the top of the mail tray/tub also helps maintain the grip of the fingers. In order to load carts having shelves, the gripper may also include a shelf-lowering assembly.

Growing community of inventors

Mayville, WI, United States of America

Patrick Resch