Tool for palletizing mixed products, palletizing robot including the tool, and method therefor

Abstract

A tool for palletizing mixed products includes a frame for mounting the tool to a robot, a support assembly having a support member forming a support surface disposed in a predetermined reference orientation to support the product, and a gripper assembly mounted to the frame having an actuator and a grip press operatively connected to the actuator for moving the grip press relative to the frame in an actuation direction opposite the support surface to clamp the product between the support surface and the grip press in the predetermined reference orientation. The support assembly connection to the frame has a configuration for fixing the support member relative to the frame in the actuation direction with the support surface in the predetermined reference orientation and is releaseable for movement in at least another direction such that the support member is moveable away from the predetermined reference orientation.

Description

[Technical field]

[0001] [CROSS-REFERENCE TO RELATED APPLICATIONS] This application is a nonprovisional application and claims the benefit of U.S. Provisional Patent Application No. 63 / 208,023, filed June 8, 2021, the entire disclosure of which is incorporated herein by reference.

[0002] [Technical field] FIELD OF THE DISCLOSURE Exemplary embodiments relate generally to palletization, and more specifically, to palletization of mixed products. [Background technology]

[0003] A brief description of related developments Warehouses, distribution centers, and fulfillment centers typically receive full pallets of uniform products. Often the products are depalletized and stored separately in storage areas. When a specific order needs to be prepared, the products are transported to a palletizer cell, which may be manual, automated, or robotic.

[0004] Due to the wide variety of products, specialized and versatile end-of-arm tooling is required if a robotic approach is adopted. Typical tools for gripping the product are equipped with vacuum cups or pads. Such tools are economical and easy to use. They can be used for sealed boxes or cartons, but are limited to grip trays, stretch wrapped products, etc. Problems can also arise if the top flap of the box is not properly glued or tapped. As we see an increase in product sizes and formats in warehouses and distribution centers, more robust and versatile tooling is required.

[0005] The above-mentioned shortcomings of vacuum cups or pads can be overcome by using fork-type tools. Conventionally, the bottom forks of such tools are extendable. When the product is gripped, the bottom forks are extended to get under the product, and when the product is lowered into place, the bottom forks are retracted. This type of tool is popular, considering that it can reliably handle virtually any type of product.

[0006] However, one drawback of conventional fork-type tools concerns the width of the bottom forks. Ideally, each bottom fork should be wide enough to be able to pick and handle products of various dimensions, but if it is too large, it limits the ability to lower narrow products onto the pallet, considering that the wider forks will interfere with products already placed on the pallet. The use of narrower bottom forks leads to drawbacks such as reduced durability of the bottom forks. For example, narrower bottom forks may be more prone to bending and deformation than wider bottom forks. Bending or deforming bottom forks may lead to product picking and / or product placement errors as the products are transferred and stacked on the pallet by the palletizing robot. Thus, bent and deformed bottom forks are replaced, but the time required to replace the bottom forks may be significantly longer, which may increase the downtime of the palletizing robot.

[0007] Conventional fork-type tools can also encounter product placement errors where the distance or height between the top of the bottom fork and the surface on which the product is being placed can be such that the product is dragged or rolled when it contacts the placement surface, which can result in the product being misaligned / misplaced. Summary of the Invention

[0008] The foregoing aspects and other features of the disclosed embodiments are explained in the following description, taken in conjunction with the accompanying drawings. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a perspective view of a palletizer cell for mixed products incorporating aspects of the present disclosure. [Figure 1A] 2 is a perspective view of a portion of the palletizer cell of FIG. 1 according to an embodiment of the present disclosure. [Diagram 2] FIG. 1 is a perspective view of a mixed palletizing tool incorporating aspects of the present disclosure; [Figure 2A] 3 is a perspective view of a portion of the tool of FIG. 2 according to an embodiment of the present disclosure. [Figure 2B] 2B is a cross-sectional perspective view of a portion of the tool illustrated in FIG. 2A according to an embodiment of the present disclosure. [Figure 3A] 3 is a perspective view of the tool of FIG. 2 in a wider configuration, a gripping member in a lowered position, and a pusher bar(s) in a forward position, according to an embodiment of the present disclosure. [Figure 3B] FIG. 3 is a partial perspective view of the tool of FIG. 2 according to an embodiment of the present disclosure. [Figure 3C] FIG. 3 is a perspective view of the tool of FIG. 2 according to an embodiment of the present disclosure. [Figure 4] 3 is a rear elevational view of the tool of FIG. 2 according to an embodiment of the present disclosure, the tool shown in the same configuration as FIG. [Diagram 5] FIG. 1 is a perspective view of a mixed palletizing tool incorporating aspects of the present disclosure; [Figure 6] FIG. 6 is a side view of the tool of FIG. 5 according to an embodiment of the present disclosure. [Figure 7] FIG. 6 is a rear elevational view of the tool of FIG. 5 with the fork shown in a narrow configuration in accordance with an embodiment of the present disclosure. [Figure 8] FIG. 6 is a rear elevational view of the tool of FIG. 5 with the forks shown in a wide or extended configuration in accordance with an embodiment of the present disclosure. [Figure 9] FIG. 6 is a partial perspective view of a fork joint of the tool of FIGS. 2 and 5 according to an embodiment of the present disclosure. [Figure 9A] 10 is a partial plan view of the fork coupling of FIG. 9 according to an embodiment of the present disclosure. FIG. [Figure 9B]FIG. 6 is a partial perspective view of a fork joint of the tool of FIGS. 2 and 5 according to an embodiment of the present disclosure. [Figure 10] FIG. 6 is a perspective view of a fork of the tool of FIGS. 2 and 5 according to an embodiment of the present disclosure. [Figure 10A] FIG. 6 is a plan view of a portion of the tool of FIGS. 2 and 5 according to an embodiment of the present disclosure. [Figure 10B] FIG. 6 is a perspective view of a fork of the tool of FIGS. 2 and 5 according to an embodiment of the present disclosure. [Figure 10C] FIG. 6 is a perspective view of a fork of the tool of FIGS. 2 and 5 according to an embodiment of the present disclosure. [Figure 11] FIG. 2 is a side elevational view of a portion of the palletizer cell of FIG. 1 according to an embodiment of the present disclosure. [Figure 12] FIG. 6 is a side elevational view of a tool representative of both the tools of FIGS. 2 and 5 according to an embodiment of the present disclosure. [Figure 13] FIG. 6 is a side elevational view of a tool representative of both the tools of FIGS. 2 and 5 according to an embodiment of the present disclosure. [Figure 13A] FIG. 6 is a side elevational view of a tool representative of both the tools of FIGS. 2 and 5 according to an embodiment of the present disclosure. [Figure 13B] FIG. 6 is a side elevational view of a tool representative of both the tools of FIGS. 2 and 5 according to an embodiment of the present disclosure. [Figure 13C] FIG. 6 is a side elevational view of a tool representative of both the tools of FIGS. 2 and 5 according to an embodiment of the present disclosure. [Figure 14] FIG. 1 is a flow diagram of a method incorporating aspects of the present disclosure. [Figure 15] FIG. 1 is a flow diagram of a method incorporating aspects of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] 1 illustrates an exemplary palletizer cell 15 for mixed products according to an embodiment of the present disclosure. Although the embodiments of the present disclosure are described with reference to the drawings, it should be understood that they may be embodied in many forms. Furthermore, any suitable size, shape, or type of elements or materials may be used.

[0011] Aspects of the disclosure provide a palletizer cell 15, and a tool 10 for the palletizer cell 15, that provides automatic calibration of gripper and pusher assemblies of the tool 10, such as after a contact event between the tool 10 and an object. The tool 10 also provides compliance of at least the support member(s) or fingers (also called forks) 44 of the tool 10 in response to a contact event (i.e., the support member(s) 44 do not maintain a permanent bend). The support surface 44S of the support member(s) 44 of the tool 10 provides a minimized drop height when transferring a product 12 from the tool 10 to a product holding position of the palletizer cell 15.

[0012] As described herein, tool 10 includes one or more (e.g., various) shock mitigation devices and / or position tracking devices that together form a combined synergistic system. This synergistic system is a multi-degree-of-freedom shock mitigation and contingency system that includes kinematic release in one or more degrees of freedom of one of the product clamping members (see, e.g., the product top and product bottom clamping members as described herein). Although kinematic release is illustrated in the drawings and described in combination with one or more other features of the multi-degree-of-freedom shock mitigation and contingency system, it is noted that kinematic release may be utilized alone or in any combination with one or more other features of the multi-degree-of-freedom shock mitigation and contingency system.

[0013] The multi-degree-of-freedom shock mitigation and emergency response system includes torque limiting / pause following deviations (e.g., of a product held by a tool) at the tool actuators. Although torque limiting / pause following is illustrated in the drawings and described in combination with one or more other features of the multi-degree-of-freedom shock mitigation and emergency response system, it is noted that torque limiting / pause following may be utilized alone or in any combination with one or more other features of the multi-degree-of-freedom shock mitigation and emergency response system.

[0014] The multi-degree-of-freedom shock mitigation and emergency response system also includes substantially immediate identification of a defect in the support member 44 in that the finger does not assume a substantially permanent bend. Here, the support member 44 is a multi-degree-of-freedom frangible finger that breaks upon impact with an object in the X, Y, and / or Z directions (see FIGS. 10 and 10B). Here, the support member 44 is configured to break (as described herein) when a predetermined lateral force (e.g., in the Y or Z direction) or an axial force (e.g., in the X direction along the longitudinal / major axis of the support member) applied to the support member exceeds a predetermined / threshold amount of force, such that the support member does not assume a permanent bend that cannot be easily detected. It is noted that although the frangible finger is illustrated in the drawings and described in combination with one or more other features of the multi-degree-of-freedom shock mitigation and emergency response system, the frangible finger (which may, for example, be referred to as a defect notification system) may be utilized alone or in any combination with one or more other features of the multi-degree-of-freedom shock mitigation and emergency response system.

[0015] The multi-degree-of-freedom shock mitigation and emergency response system also includes a contingency plan for a broken support member 44. For example, as described herein, aspects of the disclosure provide for rapid swap replacement of the support member 44 via a support member configuration that provides for sliding the support member in and out of the mounting bracket and / or retention of the support member on the mounting bracket by a set screw. The set screw provides clamping of the support member on the mounting bracket with minimal impedance to remove the support member from the mounting bracket. As with other features of the multi-degree-of-freedom shock mitigation and emergency response system, the contingency plan is illustrated in the drawings and described in combination with one or more other features of the multi-degree-of-freedom shock mitigation and emergency response system, but the contingency plan may be utilized alone or in any combination with one or more other features of the multi-degree-of-freedom shock mitigation and emergency response system.

[0016] An advantage of the multi-degree-of-freedom shock mitigation and emergency response system is that the trajectory of the tool 10 (and robotic arm) is time-optimized or time-optimal, e.g., the robotic arm moves the tool 10 in a bang-bang motion that is at least partially larger or faster than conventional palletizing systems.

[0017] 1 and 1A, a palletizer cell 15 includes an industrial robotic arm (or robot) 14 to which an end-of-arm tool, such as tool 10, is coupled in accordance with an embodiment of the present disclosure. The robotic arm 14 is configured to position the tool 10 adjacent to both an in-feed conveyor 16 and a pallet receiving station 18. The assembly of the robotic arm 14, tool 10, in-feed conveyor 16, and pallet receiving station 18 is referred to herein as a palletizer cell 15. A suitable example of a palletizer cell is provided in U.S. Pat. No. 9,701,490, issued Jul. 11, 2017 (entitled "Method and Tool for Palletizing Mixed Load Products"), the entire disclosure of which is incorporated herein by reference.

[0018] Products 12, which may be of various sizes, are loaded into the palletizer cell 15, arriving from an infeed conveyor 16. Each product 12 is gripped by the tool 10 in such a way as to hold the product 12 securely so as to allow rapid transfer to a pallet 20 without damaging the product 12 and without any relative movement between the product 12 and the tool 10. The product 12 is then released and placed onto the pallet 20.

[0019] The term "product" should be construed herein to include any type of case, carton, tray, stretch wrap, and the like. Generally, the products are rectangular in shape. The dimensions of the products may vary widely for each different type of product. Typical dimensions (W x L x H) are between 4" x 6" x 2" (10.16 cm x 15.25 cm x 5.08 cm) and 20" x 25" x 24" (50.8 cm x 63.5 cm x 61.0 cm). It should be noted that although the illustrated products are referred to using the same reference number 12, their configurations and sizes may vary.

[0020] The in-feed conveyor 16 is in the form of a roller-type conveyor. In other embodiments, the products 12 are brought to a position within the reach of the robotic arm 14 via another type of conveyor, such as a narrow belt conveyor with a pop-up mechanism between the narrow belts to lift the products, or are transported within the reach of the robotic arm 14 in any suitable manner.

[0021] The pallet receiving station 18 is in the form of an open area within the reach of the robotic arm 14. The open area is large enough to receive an entire mixed pallet.

[0022] The robot arm 14 to which the tool 10 is attached is a standard 4-axis or 6-axis industrial articulated robot arm. The robot arm 14 is equipped with the tool 10 to securely grasp and transfer one or more products 12 from an infeed conveyor 16 to a pallet 20. Conventional robot arms such as ABB's IRB 660 or IRB 6640, FANUC's R2000 or M410, or any similar robot arm provided by other manufacturers such as Kuka or Motoman can be used. The robot arm 14 includes other known systems and components that enable its operation. These systems and components are considered to be well known in the art and therefore will not be described in more detail herein for the sake of brevity. The terms "robot" and "robot arm" are used interchangeably herein to mean a programmable system including articulated and / or movable members capable of receiving, controlling and moving a tool such as the tool 10.

[0023] The robotic arm 14 is conventionally coupled to a controller 22 that controls the operation of the robotic arm 14 and the tool 10. The term "controller" should be interpreted broadly to include one or more electronic devices, including one or more computers, that are made up of components and / or that are programmed with instructions to generate one or more functions, including communicating data and instructions with electronic or electromechanical machines or apparatus.

[0024] With reference to FIGS. 2, 2A, 2B, 3A-3C, and 4, tool 10A will now be described in more detail. Tool 10A may be generally similar to tool 10 illustrated in FIG. 1. Tool 10A includes a frame 24 for mounting tool 10A to robot arm 14, and a support assembly 250, a gripper assembly 26, and a pusher assembly 28, and a width adjustment assembly 29, attached to frame 24. Frame 24 receives a robot mounting bracket or wedge 30 that allows tool 10A to be conventionally mounted to robot arm 14, where robot mounting bracket 30 is coupled to the frame in any suitable manner, such as with mechanical and / or chemical fasteners. As described in more detail below, in some embodiments, robot mounting bracket 30 is configured to mount tool 10A to robot arm 10A such that tool 10A is at an angle θ relative to a mounting surface of end-of-arm tool mount 1100 of robot arm 14 (see FIG. 11). Here, the robot mounting bracket 30 provides one-step positioning of the tool 10 (relative to the robot end-of-arm tool mount 1100) to a predetermined orientation (e.g., angle θ) via a wedged interface provided by the robot mounting bracket 30 between the frame 24 and the end-of-arm tool mount 1100. The robot mounting bracket 30 eliminates any variations in the end-of-arm tool mount 1100, where the interface provided by the robot mounting bracket 30 between the tool 10 and the end-of-arm tool mount 1100 is set to a predetermined tilted datum or a predetermined horizontal plane PLN (see FIG. 12).

[0025] The frame 24 has any suitable configuration for mounting the tool 10A to the robot arm 14. For example, as illustrated in FIG. 2, the frame 24 has a substantially closed box-type configuration having any suitable shape for mounting components (described herein) of the tool 10A to the frame and for coupling the frame 24 to the robot arm 14. In one or more embodiments, the frame 24 includes any suitable reinforcing members (e.g., cross braces, posts, ribs, etc.) in one or more portions of the frame 24, such as a portion of the frame 24 to which the mounting bracket 30 is coupled. As another example, as illustrated in FIGS. 2A and 2B, the frame 24 has a closed lattice structure LS configuration, where at least a portion of the frame 24 forms a honeycomb structure 24H configured to couple with the mounting bracket 30. The lattice structure LS of the frame 24 and its honeycomb structure 24H are configured to resist static and / or cyclic / dynamic loads induced on / in the frame from movement of the robot arm 14 and / or loading and unloading of products to / from the tool, where the static and / or cyclic / dynamic loads may cause fatigue conditions along one or more portions of the frame 24 (e.g., resulting from transfer cycles, flexing from drive actuation (note that in some embodiments, the drives 56, 109 are disposed substantially at opposite ends of the frame 24 such that the robot mounting bracket 30 is disposed between the drives 56, 109), and / or maximum allowable loads due to impact predictions, etc.). For example, at least the honeycomb structure 24H is configured to resist load-induced fatigue in the connection between the robot arm 14 and the frame 24 (e.g., via the mounting bracket 30). Here, the frame 24 includes a plurality of trusses 24T (which may be integrally formed with one another or may be connected to one another by mechanical and / or chemical fastening, etc.) to form a closed lattice structure LS and its honeycomb structure 24H, where the trusses 24T are disposed on the sides, longitudinal ends, top and bottom surfaces of the frame 24 (see Figures 2A and 2B).While the frame 24 is illustrated in the drawings as either a box frame or a lattice frame, it should be understood that in other embodiments, the frame 24 is a combination box frame and lattice frame, where at least some portions of the frame 24 have a box structure while at least other portions of the frame have a lattice / honeycomb structure. For illustrative purposes only, in some embodiments, the combined box / lattice frame includes a lattice honeycomb structure in one portion of the frame for connection with the mounting bracket 30 and the robotic arm 14, and includes one or more box frame sections for attachment of the components of the tool 10A to the frame 24. It is noted that while the configurations of the frame 24 described herein are illustrated in the drawings and described in combination with one or more other features of the multi-degree of freedom shock mitigation and emergency response system, each frame configuration may be utilized alone or in any combination with one or more other features of the multi-degree of freedom shock mitigation and emergency response system described herein.

[0026] The support assembly 250 is movably coupled to the frame 24 as described further herein to rotate about a pivot axis 296 in a release or follow direction 297. The support assembly 250 has a support base or mounting bracket 43 depending from the frame 24 and one or more support members or fingers 44 depending from and projecting from the mounting bracket 43. Although the drawings illustrate the tools 10, 10A, 10B having three, four, or six support members 44, it should be understood that the number of support fingers illustrated is exemplary and in other embodiments the tools 10, 10A, 10B have more than three, five, or six support members 44. The support member(s) 44 are connected to the frame 24 by the mounting bracket 43. Here, it is envisioned that the support assembly 250 deposits or places products from above (e.g., in the direction 298A), such that the support members 44 are proximate to a placement surface. Thus, in one embodiment, the connection between the mounting bracket 43 and the frame 24 is disposed on the support member 44. The support member(s) 44 form thereon a support surface 44S disposed in a predetermined reference position and orientation (herein referred to as the predetermined reference orientation) as described herein to support an article 12 seated on the support surface 44S. In this embodiment, the support assembly 250 includes fork assemblies 38, 38', each of which is defined by one or more (two are illustrated here) parallel support members 44. Each pair of support members 44 is secured to a respective post 41, 41' via a mounting bracket 43 that is fixedly attached at its distal end 36 to the post 41, 41'. The support members 44 of the two fork assemblies 38, 38' extend from their respective posts 32, 32' such that the support surfaces 44S of the support members 44 are planar and define a predetermined reference plane 200 at a predetermined reference orientation of the support assembly 250 (described in more detail below with reference to FIGS. 2 and 12). The support members 44 are beveled (so that the support surfaces 44S and the reference plane 200 are inclined or tilted) to facilitate insertion thereunder of the products 12 and to aid in placement of the products on the pallet 20, as described further herein.Although the support members are shown mounted in pairs to their respective posts 41, 41' via a common mounting bracket 43, in other embodiments, each support member 44 has its own respective mounting bracket, while in other embodiments a single mounting bracket is provided that is common to all support members 44 for connecting the support members to the posts 41, 41'. In still other embodiments, the fork assembly 38, 38' includes any suitable number of support members 44 (e.g., more or less than two) and / or support members 44 of any suitable shape other than those shown in the drawings. As will become more apparent upon reading the following description, the part(s) referenced with a prime symbol (') are substantially identical to other parts identified with the same but non-prime reference, the only difference being that the prime symbol reference number refers to a movable part.

[0027] The gripping assembly 26 has an actuator or first drive assembly 54 and a gripping press 251 operably coupled to the first drive assembly 54 and is mounted to the frame 24 for moving the gripping press 251 relative to the frame 24 in an actuation direction 298 opposite the support surface 44S to clamp the product 12 between the support surface 44S and the gripping press 251 in a predetermined reference orientation. The gripping assembly 26 includes two parallel first track assemblies 32, 32' each extending from the frame 24 between a proximal end 34 and a distal end 36, two fork assemblies 38, 38' each fixedly attached at its distal end 36 to a respective track assembly 32, 32', and two side-by-side gripping members 40, 40' each extending generally perpendicularly therefrom and attached to a respective one of the two track assemblies 32, 32' for coordinated movement therealong. The gripping members 40, 40' are maintained in a parallel relationship with the fork assemblies 38, 38'.

[0028] Each track assembly 32, 32' is in the form of a hollow rectangular post 41, 41' with a track 42, 42' fixed to either side thereof. The track assemblies 32, 32' are not limited to hollow rectangular posts and in other embodiments may take any other rigid form capable of receiving and positioning the elongated track and fork assemblies 38, 38'.

[0029] Each gripping member 40, 40' includes an endless belt 46 attached to and secured between two shoe-shaped side plates 48, 48'. Each gripping member 40, 40' is slidably attached to a respective post 41, 41'. More specifically, a rail-engaging element 50 is secured to both shoe-shaped side plates 48, 48' near their proximal enlarged ends (e.g., the ends closest to the posts 41, 41'). The distance between opposing side plates 48, 48' is such that the gripping members 40, 40' remain attached to their respective tracks 42, 42' as they are moved therealong.

[0030] As described above, the grip press 251 is moved relative to the frame 24 in an actuation direction 298 opposite the support surface 44S to clamp the product 12 between the support surface 44S and the grip press 251 in a predetermined reference orientation. With respect to the grip press 251, the predetermined reference orientation is an orientation where the support surface 44S (and the plane 200 formed thereby) is substantially parallel to the bottom portion of the gripping members 40, 40' (or substantially parallel to the bottom portion of the pad 176 in Figures 5 and 6). With respect to the frame 24, the predetermined reference orientation is an orientation where the support surface 44S (and the plane 200 formed thereby) is substantially oriented at a pitch angle θ (corresponding to the angle θ provided by the robot mounting bracket 30) (here substantially horizontal) relative to the mounting surface 1210 of the robot mounting bracket 30 connected to the frame 24, which interfaces with and connects to the end-of-arm tool mounting portion 1100 of the robot arm 14 (see Figure 12).

[0031] The predetermined reference orientation may be set by one or more stop surfaces 900-903 (see FIG. 9 ) on the mounting bracket 43 and one or more of the posts 41, 41′. In one embodiment, the stop surface 900 on the mounting bracket 43 contacts the stop surface 902 on the respective post 41, 41′ to block rotational movement of the support member 44 in the direction 297 (here clockwise) and set the predetermined reference orientation. In another embodiment, the stop surface 901 on the respective post 41, 41′ contacts the stop surface 903 on the mounting bracket 43 to block rotational movement of the support member 44 in the direction 297 and set the predetermined reference orientation. In other embodiments, any suitable combination of stop surfaces 900-903 may be used to block rotational movement of the support member 44 in the direction 297 and set the predetermined reference orientation, while in still other embodiments the predetermined reference orientation may be set in any suitable manner. 9A , in one or more embodiments, the stop surface 901 of each post 41, 41′ is disposed on or otherwise formed by a protrusion 979 extending from the respective post 41, 41′. The mounting bracket 43 includes a recess 43R, each recess 43R configured to receive a respective protrusion 979 and having or otherwise forming a stop surface 903 of the mounting bracket 43. The protrusion 979 and each recess 43R form a releasable detent or latch that at least partially maintains the support member 44 in a predetermined reference orientation. For example, at least one protrusion 979 includes one or more recesses 978 disposed on one or more sides of the protrusion 979. At least one recess 43R includes a biased detent member 976 (e.g., a ball, pin, etc.) that is biased toward a respective recess 978 of the at least one protrusion 979, where the recess 978 is shaped and sized such that at least a portion of the respective biased detent member 976 is received by and engages with the recess 978.The biasing force applied by the biased detent member 976 against the recess 978, together with the shape of the engagement surfaces of the biased detent member 976 and the recess 978, is such that the support member 44 is releasably maintained in a predetermined reference orientation (e.g., the releasable detent / latch formed by the recess 978 and the biased detent member 976 is released upon application of a predetermined force to the support member 44 to provide tracking of the gripping members 40, 40' as described herein while substantially preventing undesired movement of the gripping members 40, 40', e.g., during unloaded movement of the tool 10, 10A, 10B by the robotic arm 14).

[0032] It is noted that the support member 44 and mounting bracket 43 may be held in the predetermined reference orientation due at least in part to the cantilevered weight of the support member 44. For example, the support member 44 is cantilevered from the mounting bracket 43 such that a force 277 is generated by the weight of the support member 44 on one side of the pivot axis 296, thereby holding the support member 44 and mounting bracket 43 in the predetermined reference orientation. The support assembly connection 295 to the frame 24 has a configuration that fixes the support member 44 in an actuation direction 298 relative to the frame 24 with the support surface 44S in the predetermined reference orientation, and a configuration that releases the support member 44 to be movable in at least another direction 297 (e.g., here, counterclockwise away from the predetermined reference orientation). Here, the other direction 297 is a release or follow direction that is oriented substantially opposite the actuation direction 298 such that the support member 44 is movable relative to the frame 24 such that the support surface 44S is substantially free to move away from a predetermined reference orientation in the direction 297, as further described herein.

[0033] Still referring to Fig. 13A, as well as Figs. 2, 3A-3C, and 4, the distance 299 (Fig. 2) between the bottom portion of the gripping member 40, 40' and the top portion of the respective fork assembly 38, 38' defines the opening of the gripping assembly 26 and can be adjusted for the height of a given product 12. To that end, the position and movement of the gripping members 40, 40' are servo-driven and, in one embodiment, pneumatically actuated by the first drive assembly 54. The gripping assembly 26 has a position tracking or adapting device 300 arranged such that actuation of the gripping press 251 to clamp the product 12 between the support surface 44S and the gripping press 251 follows or adapts to a displaced position of the support surface 44S away from a predetermined reference orientation (as shown in Fig. 13A, the gripping press 251 can move in the direction 298, maintaining a grip on the product 12, in response to the displacement of the support surface 44S and the product 12 held thereon). In one embodiment, the position tracking device 300 may be included in the first drive assembly 54. For example, the first drive assembly 54 includes a first drive section 56 having a torque limiting device 301 and an output shaft provided with a first pulley 58 operably receiving an endless belt 60, which is further attached to a second pulley 62. The torque limiting device 301 may be any suitable mechanical or electrical device for limiting the torque of the first drive section 56, such as a mechanical spring-loaded friction clutch, a spring-loaded spline clutch, electromotive force (EMF) feedback in the first drive section 56 sensing an increase in current and actuating an electronic clutch. A roll 59 rotatably mounted on the frame is provided for tensioning the belt 60. The pulley 62 is mounted on one end of the shaft, and a driven gear 64 is provided on the other end. The driven gear 64 is rotatably mounted on the frame 24 and receives an endless timing belt 65.

[0034] A linkage assembly 70 operably connects the endless timing belt 65 to the track 42 of the fixed post 41. Another linkage assembly 71 operably connects the distal end 69 of the pneumatic actuator 68 to the side plate 48. A horizontal bar 74 is connected to the gripper assemblies 40-40', as best seen in Figure 3A.

[0035] A horizontal bar 74, which is fixed to the gripping member 40 at the side of the fixed post 41 and slidably received by the other gripping member 40, causes both gripping members 40, 40' to slide in unison along the track assemblies 42, 42' in an actuating direction 298 when the first drive assembly 54 is actuated.

[0036] The width adjustment assembly 29 allows the tool 10A to be moved between two specific width configurations, a narrow configuration and a wide configuration, depending on the size of each product 12 to be picked. More specifically, the width adjustment assembly 29 allows the distance between the movable post 41' and the fixed post 41 (and the support members or forks supported thereby), and thus between the gripping members 40 and 40' and between the forks 38 and 38', to be moved and maintained.

[0037] The width adjustment assembly 29 includes an upper cursor 76 and a lower cursor 78 (FIGS. 2 and 4) that receive respective horizontal tracks 80 and 75 (FIGS. 2, 3C, and 4). The track 75 is fixed to the horizontal bar 74. The upper horizontal track 80 is fixedly attached to the frame 24 below, and the upper cursor 76 is slidably attached to the track 80 and fixedly attached to the movable post 41'. The lower track 75 is fixedly attached to the gripping member 40, and the lower cursor 78 is fixedly attached to the other gripping member 40' and slidably attached to the lower track 75. A slot 82 is provided in the outer side plate 48 of the other gripping member 40' to allow passage of the horizontal bar 74 and the lower track 75 when the movable gripping member 40' is moved towards the other gripping member 40. The width adjustment assembly 29 further includes a pneumatic cylinder 84 mounted to the frame near the fixed post 41. The cylinder rods 86 can be extended or retracted to change the width of the tool 10A. Although a width adjustment assembly 29 is described and illustrated, in one or more embodiments (such as that illustrated in FIG. 9 ), the width adjustment assembly is omitted and the spacing (e.g., lateral pitch) between the support members 44 is fixed. Fixing the lateral pitch between the support members 44 at least in part facilitates improved time optimization of the tool trajectory / movement.

[0038] The pusher assembly 28 will now be described in more detail. The pusher assembly 28 has high stiffness (e.g., provided at least in part by the pusher bar) based on maintaining free clearance between telescoping portions of the pusher bar (as described herein) to facilitate telescoping / releasing the pusher bar (relative to the top of the pusher bar) with rotation / camming of the support member 44 about axis 296 (as described herein) to break the pusher bar free from impact with an object. The pusher assembly 28 includes one or more pushers or pusher bar(s) 94, 94' mounted to the frame 24 for longitudinal movement in direction 294 (FIG. 2) along the support member 44. The pusher bars 94, 94' may have any suitable configuration including, but not limited to, square bars, round bars, tubes, elongated "U" shaped channel bars, "I" beams, elongated box frames similar to those described herein with respect to the frame 24 (see pusher assembly 28A in FIG. 5), lattice frames similar to those described herein with respect to the frame 24 (see pusher assembly 28A in FIGS. 13B and 13C), and / or any suitable configuration or combination thereof to effect the pusher bar structures and functions described herein. The pusher assembly is a pusher actuator or second drive assembly 88 having positional tracking similar to that of the first drive assembly 54. As will become apparent upon reading the following description, the pusher assembly 28 defines a product abutment extending generally perpendicular to both the fork assembly 38, 38' and the gripping members 40, 40' to extend between the fork assembly 38, 38' and the gripping members 40, 40'. The pusher bars 94, 94' have a longitudinal position along the fork assemblies 38, 38' that is movable in conjunction with displacement of the tool 10A in the opposing direction thereof to move the pusher bars 94, 94' over the support surface 44S.

[0039] The pusher assembly 28 includes a third track assembly 90 including a track 96 extending generally parallel to the fork assemblies 38, 38', two pusher bars 94, 94' attached to the track 96 via pusher bar holders 92, and a second drive assembly 88 for moving the pusher bar holders 92 along the track 96.

[0040] Pusher bar holder 92 is slidably mounted in track 96 via a cursor 102 secured to pusher bar holder 92. Holder 92 includes a track 98 that is oriented perpendicular to gripping members 40-40'.

[0041] A proximal end 87 of pusher bar 94 is fixedly mounted to pusher bar holder 92. A proximal end 87' of pusher bar 94' is slidably mounted within track 98 via cursor 104 for movement therealong. Pusher bar 94 is further slidably mounted to inner plate 48 of gripping member 40 via hollow bracket 91 for free movement along gripping members 40-40' and to allow lateral movement of gripping members 40-40' along pusher bar 94-94'. Bracket 91 is slidably mounted to inner plate 48.

[0042] The distal end 89 of the pusher bar 94 is provided with a support member 93 extending laterally from the pusher bar 94-94' perpendicularly therefrom in the opposite direction. The length of these two support members 93 is such that the support member 93 does not extend beyond the fork 38 and the gripping member 40' when the gripping member 40' and the fork 38' are positioned closer to the other corresponding assembly 40 and fork 38. In one embodiment, the pusher assembly 28 is also configured to follow or conform to the displaced position of the support surface 44S, as described further herein. For example, and with brief reference to FIGS. 13 and 13A, at least a portion 1350 of the pusher bar 94, 94' of the pusher assembly 28 may be telescopic relative to another portion 1355 of the pusher bar 94, 94', such that the telescopic portion 1350 moves in the direction 298 along a linear slide 1370 axis formed by or coupled to another portion 1355 of the pusher bar 94, 94'. Here, the telescoping portion 1355 of the pusher bars 94, 94' follows and allows free movement of the support member 44 about the pivot axis 296 in response to contact with the object 1300 (see Figures 13, 13A, 13B, and 13C).

[0043] As mentioned above, in one embodiment, the second drive assembly 88 includes a position tracking or adapting device 310. In one embodiment, the position tracking device 310 can be included in the drive section 106 of the second drive assembly 88. For example, the second drive assembly 88 includes a drive section 106 having a torque limiting device 311 and an output shaft provided with a pulley 107 operably coupled to an endless belt 109. The torque limiting device 310 can be any suitable mechanical or electrical device that limits the torque of the drive section 106, such as a mechanical spring-loaded friction clutch, a spring-loaded spline clutch, electromotive force (EMF) feedback in the first drive section 56 that senses an increase in current and activates an electronic clutch. The endless belt 109 is coupled to a pulley 111. A roller 108 is provided on the frame 24 to tension the belt 109. The pulley 111 is coupled via a connecting shaft 112 to a pulley 113 that is coupled to a timing belt 115. The other end of the endless belt 115 is attached to a pulley 114 that is rotatably mounted to the frame 24 via a mounting bracket 116. The cursor 102 is attached to the belt 115 via a clipping assembly 118 for movement of the holder 92 in conjunction with the belt 115.

[0044] During operation of the pusher assembly 28, the longitudinal position of both pusher bars 94, 94' along the gripping members 40, 40' is controlled by the drive 106, with the pusher bar 94' moving laterally in conjunction with the gripping members 40 when the width of the tool 10A is adjusted to the width or length of the product 12 to be picked, and the gripping members 40, 40' moving freely along the pusher bars 94-94' to adjust to the height of the product 12. When the pusher assembly 28 is moved by the second drive assembly 88, the belt 46 moves in conjunction to follow the movement of the pusher assembly 28. The pusher bars 94, 94' are attached to the belt 46 by means of clipping assemblies 119, 119' (see FIG. 3C).

[0045] 5-8, another tool 10B for palletizing mixed products in accordance with an embodiment of the present disclosure is described. Tool 10B is generally similar to tool 10A described above, except as otherwise noted.

[0046] In this embodiment, the tool 10B includes fork assemblies 38, 38' each having one or more support members 44. The fork assemblies 38, 38' are attached to a frame 24A via tapered beams 148, 150 extending perpendicularly therefrom. The central beam 150 is fixedly attached to the frame 24A, and the two side beams 148 are attached to the frame 24A for lateral movement in a direction 700 relative to the central beam 150. More specifically, the side beams 148 are attached to tracks 152, and a lateral distance 701 from the central beam 150 can be altered via actuators 154 (e.g., compare distance 701 in Figures 7 and 8). In one embodiment, each of the actuators 154 includes a position tracking device substantially similar to those described above.

[0047] The tool 140 further includes a pusher assembly 28A, which may be similar to the pusher assembly 28 described above, but in this embodiment, the pusher bars 94, 94' are in the form of a box frame (FIG. 5) and / or a lattice frame (FIGS. 13B, 13C). The pusher assembly 28A is mounted to the frame 24A via a track 158 for slidable movement along the central support member 44. Displacement of the pusher assembly 28 is driven by a first drive assembly 162, which includes a first drive 164, a first endless belt assembly 166, and associated pulleys. The first drive 164 may include a position tracking or adapting device 600 having a torque limiting device 301. The torque limiting device 601 may be any suitable mechanical or electrical device that limits the torque of the first drive unit 56, such as a mechanical spring-loaded friction clutch, a spring-loaded spline clutch, electromotive force (EMF) feedback in the first drive unit 56 that senses an increase in current and activates an electronic clutch.

[0048] A pad 176, which forms a gripping element with one or more of the support members 44, is mounted on the pusher assembly 28A for slidable movement in the direction 298 via the track 171 therealong. Longitudinal movement of the pad 176 in the track 171 is driven by a second drive assembly 168, which includes a second drive 170, a splined shaft 160, an endless belt assembly 172, and an actuator 174. In one embodiment, the second drive 170 includes a position tracking or adapting device 500 in a manner similar to that described above. The position tracking device 500 includes a torque limiting device 501, which may be any suitable mechanical or electrical device that limits the torque of the second drive 170, such as a mechanical spring-loaded friction clutch, a spring-loaded spline clutch, electromotive force (EMF) feedback in the first drive 56 that senses an increase in current and activates an electronic clutch.

[0049] In one embodiment, the pusher assembly 28A is also configured to follow or adapt to the displaced position of the support surface 44S, as described further herein. For example, at least a portion 1350 of the pusher assembly 28A (such as the pad 176 and / or the track 171 and its housing) may be telescopic relative to another portion 1355A, such that the telescopic portion 1350A moves in the direction 298 along a linear slide 1370A (the telescopic motion being provided in part by the position tracking device 500) provided by or coupled to another portion 1355A of the pusher assembly 28A. Here, the telescopic portion 1355A follows and enables the free movement of the support member 44 about the pivot axis 296 in response to contact with the object 1300 (see FIGS. 13, 13A, 13B, and 13C).

[0050] 2, 5, 9, and 10, an exemplary support assembly connection 295 between the mounting bracket 43 and the support member(s) 44 of the tools 10A, 10B is described in accordance with an embodiment of the present disclosure. The support assembly connection 295 to the frame 24, 24A is positionally determinative such that the support assembly connection 295 determinatively positions the support member 44 in an actuation direction 298 at a predetermined position with the support surface 44S at a predetermined reference orientation relative to the frame 24, 24A, and is movably released in a release direction 297 distinct from the actuation direction 298 such that the support member 44 is substantially freely movable relative to the frame 24, 24A in a release direction 267 away from the predetermined position.

[0051] The movable release configuration of the support member 44 allows the support member 44 to be substantially free to move relative to the frame 24, 24A in at least the release direction 297 in a state other than the clamped state in which the gripping assembly 26, 26A grips the product 12 by the support surface 44S and the grip press 251, 251A. In one embodiment, the support assembly linkage 295 has a pivot or otherwise compliant connection 950 disposed between the support member 44 and the frame 24, 24A that defines an operational release of the support assembly linkage 295 such that the support member 44 is movable relative to the frame 24, 24A in the release direction 297. For example, the mounting bracket 43 is coupled to the frame 24, 24A in any suitable manner to pivot about a pivot axis 296 such that compliance of the support member 44 causes the support surface 44S to move relative to the frame 24, 24A in the release direction 297 away from a predetermined position. The compliant connection 950 is configured to allow the support member 44 to be compliant regardless of whether the tools 10A, 10B are in a gripping state in which the product is gripped by the support surface 44S and the grip presses 251, 251A, or in a non-gripping state in which the product 12 is not being gripped or there is no product 12 on the tools 10A, 10B.

[0052] As noted above, pivotal movement of the mounting bracket 43 is prevented by one or more stop surfaces 900-903 (FIG. 9) on the mounting bracket 43 and one or more of the posts 41, 41' (the tapered beams 148, 150 of FIGS. 5-8 may have a configuration similar to that of the posts 41, 41'). In one aspect, the stop surface 900 of the mounting bracket 43 contacts the stop surface 902 of the respective post 41, 41' to prevent rotational (here clockwise) movement of the support member 44 in the direction 297 and set a predetermined reference orientation. In another aspect, the stop surface 901 of the respective post 41, 41' contacts the stop surface 903 of the mounting bracket 43 to prevent rotational movement of the support member 44 in the direction 297 and set a predetermined reference orientation. While in other embodiments any suitable combination of stop surfaces 900-903 may be used to block rotational movement of support member 44 in direction 297 to set the predetermined reference orientation, in still other embodiments the predetermined reference orientation may be set in any suitable manner. It is noted that support member 44 and mounting bracket 43 may be held in the predetermined reference orientation by virtue of the cantilevered weight of support member 44. For example, support member 44 is cantilevered from mounting bracket 43 such that a force 277 is generated by the weight of support member 44 on one side of pivot axis 296, thereby holding support member 44 and mounting bracket 43 in the predetermined reference orientation.

[0053] 13, 13A, 13B, and 13C, the movable release configuration of the support member 44 provides for movement of the support member 44 in a release direction 297, such as upon contact with the object 1300, to substantially prevent bending of the support member 44. For example, the support surface 44S is substantially free to move in the release direction 297 upon contact of the object 1300 against the support member 44 in a contact direction 1310 that is at least partially aligned with the release direction 297 (e.g., to generate a moment about the pivot axis 296 (FIG. 13A)), which contact of the object 1300 against the support member 44 is generated by relative motion between the support member 44 and the object 1300 (e.g., during movement of the tool 10A, 10B along the paths 197-199 by the robot arm 14 or during a palletizing movement (see FIG. 1). Here, the movement of the support member 44 about the pivot axis 296 is unpowered (i.e., passive) movement. In one embodiment, such as in FIG. 13 where tools 10, 10A, 10B are "empty" (i.e., not carrying a product), object 1300 is a product 12, or in other embodiments, such as in FIG. 13A where tools 10, 10A, 10B are carrying a product 12, object 1300 is a different product 12A positioned at least in one of a product pick station 16P (e.g., in-feed conveyor 16) that holds products for picking by the tools and any suitable portion of palletizer cell 15. In yet another embodiment, with respect to Figures 13, 13A, 13B, and 13C, the object 1300 is a structure from at least one of a structure of a product pick station 16P (e.g., an in-feed conveyor 16 or any portion thereof) that holds products for picking by a tool, a structure of a palletizer cell 15 (e.g., a robot support structure, a conveyor, etc.), and a structure (e.g., a pallet, a product, etc.) that is seated in at least a portion of the palletizer cell 15.

[0054] 2, 13A, and 13C, the grip press 251 and / or portions of the pusher bar 94, 94' follow the movement of the support member 44 about the pivot axis 296. For example, as shown in FIG. 13A, the grip press 251 can move in a direction 298B in response to movement of the support member 44 in a direction 297 resulting from contact between the support member 44 and the object 1300. The position tracking device 300 of the first drive assembly 54 (which drives the movement of the grip press 251 in the direction 298) can yield to a force applied to the gripping members 40, 40' of the grip press 251 by the product 12 held on the support surface 44S of the support member 44 while maintaining a grip on the product 12, allowing the grip press 251 to follow the movement in the direction 298B. The position tracking device 500 of FIG. 5 may operate in a manner similar to that described above with respect to the position tracking device 300 to provide tracking to the pad 176 similar to the tracking of the grip press 251. Similarly, the position tracking device 310 of the second drive assembly 88, which drives the pusher bars 94, 94', may provide tracking in the direction 1333 (FIG. 13A) of the pusher bars 94, 94' in response to movement of the support member 44 in the direction 297 (FIG. 13A) (and movement of the product 12 held thereon) resulting from contact between the support member 44 and the object 1300. For example, when the support member 44 pivots about the pivot axis 296 in response to contact with the object, the product 12 may move in the direction 1333, and thus the product 12 may push the pusher bars 94, 94'. The position tracking device 310 enables movement of the pusher bars 94, 94' in the direction 1333 in response to movement of the products 12 effected by rotation of the support member 44 about the pivot axis 296. The position tracking device 600 of FIG. 5 may operate in a manner similar to that described above with respect to the position tracking device 310 to provide tracking for the pusher assembly 28A similar to the tracking of the pusher assembly 28.Thus, the position tracking devices 300, 500 of the drive assemblies 54, 168 adapt to the displacement (i.e., gripping force in the gripping direction) of the respective grips (e.g., grip press 251 or pad 176), and the position tracking devices 310, 600 of the drive assemblies 88, 162 adapt to the displacement (i.e., pressing force in the pressing direction) of the respective pusher bars of the pusher assemblies.

[0055] Additionally, the telescoping portion of the pusher bar telescopes in response to movement of the support member 44 about the pivot axis 396 as described herein. Referring to Figures 2, 5, and 13 as described above, in one embodiment, the tools 10A, 10B include compliant pusher assemblies 28, 28A. It is noted that while tool 10A is illustrated in Figure 13, the pusher assembly 28A of tool 10B may be similarly configured. In one embodiment, at least a portion 1350 of the pusher bar 94, 94' of the pusher assembly 28 may be telescopic relative to another portion 1355 of the pusher bar 94, 94' such that the telescoping portion 1350 moves in the direction 298 along a linear slide 1370 axis formed by or coupled to another portion 1355 of the pusher bar 94, 94'. Here, the telescoping portions 1355 of the pusher bars 94, 94' comply with and allow for free movement of the support member 44 about the pivot axis 296 in response to contact with the object 1300. For example, movement of the support member 44 (and its support surface 44S) about the pivot axis 296 in a release direction 297 in response to contact with the object 1300 causes the telescoping portions 1355 of the pusher bars 94, 94' to move in a direction 298 toward the robot mounting bracket 30 to allow movement of the support member 44 about the pivot axis 44 away from the predetermined reference orientation. Although telescoping compliance is described and illustrated with respect to FIG. 13 , it should be understood that any suitable compliance (e.g., bending, pivoting, etc.) may be provided by the pusher assemblies 28, 28A to allow movement of the support member 44 in the direction 297 away from the predetermined reference orientation without substantial interference from the pusher assemblies 28, 28A.

[0056] In one embodiment, the support member 44 may be constructed of any suitable phenolic material, such as, but not limited to, a thermoset glass-reinforced (fiber epoxy) laminate. A suitable example of a thermoset glass-reinforced (fiber epoxy) laminate is Galorite® G10 / FR4. The phenolic material may provide the support member 44 with resiliency that allows the support member 44 to bend elastically while returning to its original shape after contacting the object 1300. In other embodiments, the support member 44 may be constructed of any suitable metal, plastic, or other material having sufficient mechanical properties to support the products 12 for palletization.

[0057] In some embodiments, support member 44 is a frangible support member 44F having a non-ductile material (and is generally similar to support member 44 unless otherwise noted), such that frangible support member 44F is not substantially displaced from a predetermined reference orientation (such as that shown in FIGS. 2 and 12) from impact of support assembly 250 against obstacle or object 1300 ( FIG. 13 ) as tool 10, 10A, 10B is moved by robotic arm 14 along one or more paths 197-199 (see FIG. 1 ). characterized in that the frangible support member 44F remains substantially undeformed and the support surface 44S remains substantially unchanged upon failure of the frangible support member 44F due to impact with an obstacle or object 1300 causing a breakage that breaks the support surface 44S from a predetermined reference orientation, so as to provide the support surface 44S with two states: a substantially unaltered state 1077 (as shown in FIG. 10) and a broken state 1078 (as shown in FIG. 10B). The breakage of the frangible support member 44F provides an operator of the palletizer cell 15 with a predetermined substantially immediate indication or sign 1403 of the breakage of the support surface 44S. For example, as shown in FIG. 10B, a portion of the frangible support member 44F is completely (or in other embodiments partially) separated from another portion of the frangible support member so as to visibly cut out or visibly create a gap in the support surface 44S. The predetermined indicia 1043 provides an operator with substantially immediate identification of a break that has rendered the support surface 44S unsuitable for seating a product 12 thereon. The frangible support member 44F is configured to define the predetermined indicia 1043 that provides a substantially immediate indication of a broken condition 1078, the predetermined indicia 1043 being inherent to a break in the frangible support member 44F. For example, the indicia 1043 may be any suitable indicia, such as a broken surface, strands of material, or any other suitable visual and / or audible indication that identifies the break.It is noted that the robot arm 14 operates under bang-bang (maximum torque, optimal time) control, where the tools 10, 10A, 10B are moved by the robot arm 14 along paths 197-199 at about 70% to about 90% of the maximum acceleration of the robot arm 14 and about 50% to about 60% of the maximum jerk of the robot arm without the product 12 being held on the support member 44. With the product held on the support member 44, the robot arm 14 moves the tools 10, 10A, 10B along paths under bang-bang control at about 55% to about 85% of the maximum acceleration of the robot arm 14 and about 50% to about 75% of the maximum jerk of the robot arm. The support member 44 may encounter objects / obstacles 1300 (FIG. 13) during this bang-bang controlled movement and may elastically deflect and remain unchanged against the colliding object or may otherwise be damaged as described herein.

[0058] In one embodiment, the frangible support member 44F is configured to not substantially deform and the support surface 44S to remain substantially unchanged from a predetermined reference orientation upon a collision between the support assembly 250 and an obstacle or object 1300 (FIG. 13) as the tools 10, 10A, 10B are moved along the path(s) 197-199 by the robot arm 14 in accordance with a predetermined duty cycle of the robot arm 14 to palletize pallets in the palletizer 15. In one embodiment, the frangible support member 44F is configured to be substantially undeformed and the support surface 44S is configured to be substantially unchanged from a predetermined reference orientation upon impact of the support assembly 250 with an obstacle or object 1300 (FIG. 13) as the tools 10, 10A, 10B are moved by the robot arm 10 along the path(s) 197-199 in accordance with optimal trajectory movement of the tools 10, 10A, 10B along the path(s) 197-199 between different picking and placing positions of the tools 10, 10A, 10B within the palletizer 15 (such as picking from different positions on the in-feed conveyor 16 and placing at different positions on the pallet 20 as illustrated in FIG. 1).

[0059] As described herein, the support member 44, 44F and its support surface 44S have a proximal end 1050 and a distal end 1060, which are arranged so that the product 12 is seated (at least partially stably held) between the proximal end 1050 and the distal end 1060, and the support member 44, 44F is connected to the frame 24, 24A at the proximal end 1050, wherein the support surface 44S has an anhedral angle α between the proximal end 1050 and the distal end 1060 with respect to a predetermined horizontal plane PLN (FIG. 12), such that the product 12 seated on the support surface 44S is positioned at the anhedral angle α upon ejection from the tool 10, 10A, 10B from the distal end 1060 of the support surface 44S. For example, support member 44 (including frangible support member 44F) is coupled to frame 24 (including frame 24A) using at least partially compliant linkage 961 ( FIG. 9 ). In some embodiments, frangible support member 44F is configured to break upon impact with an obstacle or object 1300 ( FIG. 13 ) that exceeds the compliance of linkage 961. By way of example, support member 44 (again including frangible support member 44F) is removably coupled to mounting bracket 42 using a sliding joint 920 configured such that support member 44 and mounting bracket 43 slide relative to one another and support member 44 is coupled and uncoupled from mounting bracket 43 by relative sliding between support member 44 and mounting bracket 43. In one aspect, the support member 44 is removably joined to the mounting bracket 43 by a slot joint 921 that provides for substantially tool-free, rapid swapping of one support member with another (e.g., for replacement), where substantially tool-free, rapid swapping may refer to sliding one support member 44 out of the mounting bracket 43 in a substantially straight line (in direction 999 in FIG. 9 ) and replacing a removed support member with another, different support member 44 by sliding a different support member 444 into the mounting bracket 43 in a substantially straight line movement (in direction 999 in FIG. 9 ) (i.e., to occupy the space within the mounting bracket of the support member that was just removed).The slot joint 921 defines a guideway interface between the mounting bracket 43 and the support member 44 such that the mounting bracket 43 and the support member 44 slide relative to one another in a sliding direction 999 to effect coupling and decoupling of the support member 44 and the mounting member. The guideway interface has an orientation transverse to the release direction 297 with the support assembly linkage 295 fixing the support surface 44S in a predetermined reference orientation, and the support assembly linkage 295 has a pivot axis 296 for reorienting the guideway interface downward at least partially away from the cantilevered weight of the support member 44.

[0060] The guideway interface has a reference datum arranged to define a predetermined reference orientation of the support surface 44S that generally coincides with the junction of the support member 44 and the mounting bracket 43. As seen in FIG. 9, the guideway interface of the slot joint 921 includes a channel 925 that is sized and shaped to receive a base (or proximal) end 1050 of the support member 44. The channel 925 may have any suitable configuration, such as, for example, a T-shape, a V-shape, or other suitable shape configured to receive and position the support member 44 in the predetermined reference orientation. In this embodiment, the base end 1050 of the support member 44 is shown (for illustrative purposes only) as having a lateral groove 1051 spaced from a locating surface 1055 of the support member 44, where the lateral groove 1051 receives opposing projections 930, 931 of the channel 925. The reference datum is formed by one or more of an interface between the locating surface 1055 and the upper surface 932 of the channel 925 and / or an interface between the upper surface 1052 and the lower surface 1053 of the lateral groove 1051 of the support member 44 and between the upper surface 937 and the lower surface 938 of each of the opposing projections 930, 931 of the channel 925. In one aspect, to provide for sliding insertion and removal of the support member 44 into and from the mounting bracket 43, the guideway interface defines a running clearance between the support member 44 and the mounting bracket 43 such that the support member 44 and the mounting bracket 43 are substantially free to slide relative to one another when coupled and uncoupled.

[0061] 9, 10, and 10A, in one embodiment, the support member is fully seated or coupled to the mounting bracket 43 where, for example, one or more stop surfaces 1054 of the lateral groove 1051 contact the stop surfaces 933 of the opposing projections 930, 931, although in other embodiments, any suitable surface may position the support member 44 in the sliding direction 999 within the channel 925. In one embodiment, the support member 44 is configured with a visual indicator that provides a visual indication that the support member 44 is fully seated within the channel 925. For example, the base end 1050 of the support member 44 includes a laterally / transversely extending notch 1066 that includes an apex 1067. The support member 44 and locating surfaces described above (e.g., in sliding direction 999) may be positioned relative to one another such that when the support member 44 is fully seated or coupled within the channel 925 of the mounting bracket 43, the apex 1067 is substantially aligned with the back or seat viewing surface 1080 (see FIG. 10A ) of the mounting bracket 43. In other aspects, any suitable visual, audible, or other indication may be provided to indicate to the operator that the support member 44 is fully seated in the mounting bracket 43.

[0062] The slot joint interface 921 described above provides for tool-less (i.e., no tools are required) replacement of the support member 44. Tool-less changing of the support member 44 is accomplished by sliding the "old" support member 44 out of the channel 925 and sliding the "replacement" support member 44 into the channel 925 from which the "old" support member 44 was removed, as described above. Replacement of the support member 44 can be accomplished in about 2 minutes or less, compared to fork exchange times of about 15 minutes or more for conventional end-of-arm palletizing tools. Removal of the "old" support member 44 can be further facilitated by tilting the tools 10A, 10B (such as via appropriate control of the robotic arm 14) such that the cantilevered (or distal) end 1060 of the support member 44 is oriented downward (e.g., toward the floor) such that removal of the support member 44 is a gravity-assisted removal.

[0063] 9B and 10C, in one or more embodiments, the support member 44 is coupled to the mounting bracket by any suitable removable fastener 972 (bolts, screws, clips, etc.). For example, the proximal end 1050 of the support member 44 includes one or more apertures 970 that are shaped and sized for passage of the respective fasteners 972 (i.e., the apertures 970 are clearance holes that do not engage the fasteners 972 other than to allow passage of the fasteners 972 into the support member 44). The channels 925 of the mounting bracket 43 include respective apertures 971 that are positioned in the mounting bracket 43 such that they are substantially aligned with the respective apertures 970 of the support member 44 when the support member 44 is fully seated in the channels 925. It is noted that while the support member 44 is not illustrated as having a notch 1066, in one or more embodiments, the notch 1066 is included in the support member with the apertures 970. In some embodiments, the aperture 971 in the mounting bracket is a clearance hole, and a fastener 972 passing through both the aperture 970 and the aperture 971 is retained by any suitable retainer 974 (e.g., a nut, clip, pin, etc.) such that the fastener 971 at least partially couples the support member 44 to the mounting bracket 43. In other embodiments, the aperture 971 is a threaded aperture such that the fastener 972 is threadedly engaged with the aperture 971 to at least partially couple the support member 44 to the mounting bracket 43. In still other embodiments, some apertures 971 are threaded while other apertures are clearance holes. For example, referring also to FIG. 9A, the channel 925T disposed opposite the protrusion 979 includes a threaded aperture 971 while the other channel 925C includes a through hole aperture 971. In some embodiments, any suitable reinforcing plate 973 is provided between the head of the fastener(s) 972 and the respective support member 44 to increase the interface between (and the load applied to) the fastener 972 and the support member 44.

[0064] 10-12, the support member 44 is tapered, where the taper decreases from the base end 1050 to the cantilever end 1060. The support member 44 has a reference surface (e.g., bottom surface 1070) that provides a positioning reference for the tools 10, 10A, 10B that are moved by the robot arm 14 to a placement position in the palletizer 15 from which the products 12 are ejected from the tools 10, 10A, 10B and placed on the pallet 20 in the palletizer 15. The reference surface (e.g., bottom surface 1070) is located opposite the support surface 44S. The bottom surface 1070 is positioned substantially aligned with a predetermined horizontal plane PLN when the tools 10, 10A, 10B are in the placement position. For example, the taper of the support member 44 is such that the bottom surface 1070 (which may be generally parallel to one or more of the lateral grooves 1051 and the locating surface 1055) is generally parallel to a surface 1220 (e.g., a surface of another product 12, or any suitable support surface of the palletizer cell 15) on which the product 12 is to be picked or placed, and the support surface 44S of the support member 44 is disposed at an angle α relative to the surface 1220, where the angle α results in a reduced "drop height" 1200 compared to a fork having a product support surface that is generally parallel to the surface on which the product is to be placed or picked. In other words, the support surface 44S inclined at the distal end 1060 toward a predetermined horizontal plane PLN by anhedral angle α allows the tool 10, 10A, 10B to be positioned in the placement position such that the product 12 ejected from the support surface 44S at the distal end 1060 to effect placement of the product 12 on the pallet 20 has a minimum drop from the support surface 44S to the pallet 20 or other suitable support surface. In one embodiment, the anhedral angle α is about 3° such that the drop height provided by the support member 44 is about ¾ inch (about 19 mm) or less than about ¾ inch (about 19 mm). In other embodiments, the anhedral angle α may be greater or less than 3° to effect any suitable drop height 1200. In one embodiment, the angle α of the support surface 44S relative to the surface 1220 may correspond approximately to (or be approximately the same as) the angle θ of the robot mounting bracket 30 described above, while in other embodiments, the angle α may be different from the angle θ (e.g., greater or less than the angle θ).

[0065] Still referring to FIG. 10, in one embodiment, the support member 44 may also include convex or concave sides 1013. The concave sides may provide the support member with a tapered I-beam shape that provides greater stiffness in direction 298 than in direction 1098. Here, the concave sides 1013 reduce the cross-sectional area of ​​the support member to increase the elasticity (e.g., enable elastic bending) of the support member 44 in the direction 1098 such that the support member 44 may bend elastically upon contact of the support member 44 with the object 1300 (FIG. 13) in the direction 1098 and may return to its original shape upon release of contact with the object 1300. Here, compliance of the support member 44 in the direction 1098 is provided by the elasticity of the support member 44 and compliance of the support member 44 in the direction 298 is provided by the compliance linkage 950 described herein.

[0066] With reference to Figures 1, 2, 5, and 14, a method for palletizing mixed products according to an embodiment of the present disclosure is described. The method includes providing tools 10A, 10B having frames 24, 24A for mounting the tools 10A, 10B to a robot arm 14 (Figure 14, block 1400). In the method described above, the tools 10A, 10B have a support assembly 250 movably coupled to the frames 24, 24A, and a gripper assembly 26, 26A attached to the frames 24, 24A, having an actuator (see, for example, the first drive 56 and the second drive assembly 168) and a gripper press 251, 251A operably coupled to the actuator. A product is supported on a support member 44 of the support assembly 250 (Figure 14, block 1410). As described herein, the support member 44 forms a support surface 44S arranged in a predetermined reference orientation to support thereon a product 12 seated on the support surface 44S. The grip press 251, 251A is moved relative to the frame 24, 24A in an actuation direction 298 opposite the support surface 44S to clamp the product 12 between the grip press 251, 251A and the support surface 44S in the predetermined reference orientation (FIG. 14, block 1420). As described above, the support assembly connection 295 to the frame 24, 24A has a configuration that fixes the support member 44 in the actuation direction 298 relative to the frame 24, 24A with the support surface 44S in the predetermined reference orientation, and a configuration that is movably released in at least another direction 297 such that the support member 44 is movable relative to the frame 24, 24A such that the support surface 44S is substantially free to move away from the predetermined reference orientation.

[0067] As described herein, another direction 297 is a release direction, in which the support surface 44S is substantially free to move in the release direction 297 by contact of the object 1300 (FIG. 13) against the support member 44 in a contact direction 1310 at least partially aligned with the release direction, this contact of the object 1300 against the support member being generated by relative motion between the support member 44 and the object. An exemplary movement / path 197-199 of the support member 44 (and tools 10A, 10B) is illustrated in FIG. 1 as a palletizing movement of the robot arm 14 moving the tools 10A, 10B. For example, the robot arm 14 may move the tool 10 (which is representative of the tools 10A, 10B) in the palletizing movement / path 197 toward the product pick station 16P. The palletizing movement may include one or more horizontal and vertical movements of the tool 10 to position the support member 44 under the product 12 to be picked and gripped by the tool 10. The robotic arm 14 may move the tool 10 with the product 12 in a palletizing motion / path 198 to lift the product 12 from the product pick station 16P to a position above / adjacent to the pallet 20. The robotic arm 14 moves the tool in a palletizing motion / path 199 to place the product 12 on the pallet 20 (e.g., on the pallet 20 or on one or more products 12 already placed on the pallet 20). If the support member 44 contacts the object 1300 during the palletizing motion / path 197-199, the support member 44 may move in a release direction 297 about the pivot axis 296, bend laterally in a direction 1098 (see FIG. 10), and bend elastically in a direction 298, as described above. In embodiments where the support member 44 is a frangible support member 44F, contact of the support member 44 with the object 1300 during the palletizing operation / path 197-199 causes the support member to move in the release direction 297 about the pivot axis 296 and / or break (see FIG. 10B) in the manner described above. In some embodiments, the tools 10, 10A, 10B may have compliant supports with conventional support members 44 (which allow for permanent deformation / bending upon impact) as described.In some other aspects, the frangible support members described herein may be attached to conventional end-of-arm palletizing tools.

[0068] Here, when the support member 44 and the object 1300 are brought into contact, the support surface 44S of the support member 44 may be moved away from a predetermined reference orientation, and, as described herein, the support assembly connection 295 has a movable release configuration that allows the support member to be substantially freely moved in a release direction 297 relative to the frame 24, 24A when the gripping assemblies 26, 26A are in a state other than a clamped state.

[0069] When the support member 44 and the object are brought into contact, the gripping assembly 26, 26A has a position tracking device 300, 500 arranged so that the actuation of the gripping press 251, 251A, which clamps the product between the support surface 44S and the gripping press 251, 251A, follows the displaced position of the support surface 44S in the direction 297 away from the predetermined reference orientation. For example, when the product 12 is gripped by the tool 10A, 10B and the support surface 44S is moved in the direction 297 away from the predetermined reference position, an opposing force can be exerted against the gripping force of the gripping press 251, 251A. The opposing force can be detected by the position tracking device 300, 500, and the gripping force can be released or reduced to accommodate the movement of the support surface 44S in the direction 297 away from the predetermined reference orientation, without substantially affecting the product 12 held by the tool 10A, 10B. When contact between the support surface 44 and the object 1300 is released, the support surface 44S may return to a predetermined reference orientation under the weight of the support member and / or the product held thereon, and the product 12 may be placed in any suitable position (e.g., on the pallet 20 or other position where the product 12 may be inspected prior to palletization). With no product on the tool 10A, 10B, the position of the grip press 251, 251A may be recalibrated or zeroed by driving the grip press 251, 251A to a known position, e.g., by contacting the support surface 44S. Contact between the grip press 251, 251A and the support surface 44S is registered by the position tracking device 300, 500, where registration of the contact indicates to the controller 22 of the tool 10A, 10B that the grip press 251, 251A is in a known position and operation of the grip press may continue with the calibrated movement. The position tracking devices 300, 500 may also reduce the torque of or stop the respective drive assemblies if resistance to movement of the grip press 251, 251A increases beyond a predetermined threshold to protect the drive assembly components from wear.

[0070] In one embodiment, the method includes pushing the product 12 with a longitudinal movement by the pusher assembly 28, 28A along the support member 44 ( FIG. 14 , block 1430), such as when placing the product 12 on a pallet 20 or other product-holding location. As noted above, the pusher bar(s) 94 are driven by a drive assembly 88, 162 that includes a position tracking device 310, 600. The position tracking device 310, 600 may reduce the torque of the respective drive assembly or stop the drive assembly if resistance to movement of the pusher assembly 28, 28A increases beyond a predetermined threshold to protect the drive assembly components from wear. The position tracking device 310, 600 may also effect a calibration or zeroing of the pusher bar 94 by driving the pusher bar(s) 94 to a known position, such as fully retracted toward the posts 41, 41′ (or beams 148, 150), where further movement of the pusher bar(s) 94 toward the posts 41, 41′ (or beams 148, 150) is blocked or limited by allowing movement of the tracks 96, 158. The blocked movement of the pusher bar(s) 94 is registered by the position tracking device 310, 600, where registration of the blocked movement indicates to the controller 22 of the tool 10A, 10B that the pusher bar(s) 94 is in a known position and operation of the pusher bar(s) 94 may continue with the calibrated movement.

[0071] In one aspect, the method includes replacing ( FIG. 14 , block 1440) one or more support members 44. As noted above, support members 44 may be joined and / or unjoined from mounting bracket 43, such as when a support member is worn, broken, or otherwise to be replaced.

[0072] With reference to Figures 1, 2, 5, and 15, in one aspect of the disclosure, a method for palletizing mixed products is described. In the method, the tools 10, 10A, 10B are mounted on the robot 14 in a manner generally similar to that described above (Figure 15, block 1500). A predetermined indication (such as that described above) of the breakage of the frangible support member 44 and the destruction of the support surface 44S is provided to an operator (Figure 15, block 1510) upon impact of the frangible support member 44 with an obstacle (such as object 1300 (Figures 13, 13A)) with or by the frangible support member 44. The broken support member 44 is replaced with another frangible support member by rapid swapping of the broken support member 44 with another frangible support member 44 (Figure 15, block 1520). As described herein, rapid swapping of a broken support member 44 with another frangible support member 44 is the substantially tool-less removal of the broken support member 44 from the support assembly 43 and the substantially tool-less insertion of another support member 44 into the support assembly 43, where the frangible support member 44 is connected to the frame 24, 24A using an at least partially compliant linkage 295, and the frangible support member 44 breaks upon impact with an object 1300 that exceeds the compliance of the linkage 295.

[0073] According to one or more aspects of the present disclosure, a tool for palletizing mixed products is provided. The tool includes: a frame for attaching the tool to the robot; a support assembly movably connected to the frame, the support assembly having support members defining a support surface arranged at a predetermined reference orientation to support an article seated on the support surface; a gripping assembly having an actuator and a gripping press operatively connected to the actuator, the gripping assembly being mounted on the frame such that the gripping press is moved relative to the frame in an actuation direction opposite the support surface to clamp the product between the support surface and the gripping press at a predetermined reference orientation; Equipped with The support assembly connection to the frame has a configuration that fixes the support member relative to the frame in an actuation orientation with the support surface in a predetermined reference orientation, and is movably released in at least another direction such that the support member is movable relative to the frame such that the support surface is substantially free to move away from the predetermined reference orientation.

[0074] According to one or more aspects of the present disclosure, the at least another direction is a release direction, and the support surface moves substantially freely in the release direction by contact of the object against the support member in a contact direction at least partially aligned with the release direction, and the contact of the object against the support member is generated by relative motion between the support member and the object.

[0075] According to one or more aspects of the present disclosure, contact between the support member and the object, resulting in substantially free movement of the support surface, is created by the palletizing action of the robot moving the tool.

[0076] According to one or more aspects of the present disclosure, the object is a product or a different product disposed in at least one of a product pick station that holds the product for picking by a tool and a portion of a palletizer cell.

[0077] According to one or more aspects of the present disclosure, the object is a structure from at least one of a product pick station structure that holds products for picking by a tool, a palletizer cell structure, and a structure seated in at least a portion of the palletizer cell.

[0078] According to one or more embodiments of the present disclosure, the other direction is oriented substantially opposite the actuation direction.

[0079] According to one or more aspects of the present disclosure, the support surface is planar and defines a predetermined reference plane at a predetermined reference orientation.

[0080] According to one or more aspects of the present disclosure, the support assembly connection has a movable release configuration such that when the gripping assembly is in a state other than a clamped state in which a product is gripped by the support surface and grip press, the support member is substantially freely movable relative to the frame in at least another direction.

[0081] According to one or more aspects of the present disclosure, the gripping assembly has a position tracking device arranged such that actuation of the grip press to clamp a product between the support surface and the grip press follows a displacement position of the support surface away from a predetermined reference orientation.

[0082] In accordance with one or more aspects of the present disclosure, the position tracking device is a torque limiting device.

[0083] According to one or more aspects of the present disclosure, the tool further comprises: a pusher assembly including a pusher mounted to the frame for longitudinal movement along the support member; A pusher actuator having position tracking capability; Equipped with.

[0084] According to one or more aspects of the present disclosure, the support assembly linkage has a pivot disposed between the support member and the frame that defines an operational release of the support assembly linkage such that the support member is movable relative to the frame in another direction.

[0085] According to one or more aspects of the present disclosure, the support assembly has a support base depending from a frame, and the support member depends from, protrudes from, and is connected to the frame by the support base.

[0086] According to one or more aspects of the present disclosure, the support member is removably joined to the support base using a sliding joint that is configured such that the support member and the support base slide relative to one another and the support member is joined and unjoined to the support base by relative sliding between the support member and the support base.

[0087] According to one or more aspects of the present disclosure, the support member is removably joined to the support base by a slot joint that defines a guideway interface between the support base and the support member such that the support base and the support member slide relative to one another to effect mutual coupling and decoupling of the support member and the support base.

[0088] According to one or more aspects of the present disclosure, the guideway interface has a reference datum arranged to define a predetermined reference orientation of the support surface that generally coincides with the junction of the support member and the support base.

[0089] According to one or more aspects of the present disclosure, the guideway interface defines a running clearance between the support member and the support base such that the support member and the support base slide substantially freely relative to one another when coupled and uncoupled.

[0090] According to one or more aspects of the present disclosure, the guideway interface has an orientation transverse to the release direction with the support assembly coupling fixing the support surface in a predetermined reference orientation, and the support assembly coupling has a pivot for at least partially reorienting the guideway interface downward.

[0091] According to one or more aspects of the present disclosure, the tool further comprises a wedge coupled to the frame, the wedge configured to couple the frame to a robot arm of the robot such that the tool has a predetermined angle set by the wedge relative to a mounting surface of an end-of-arm tool mount of the robot arm.

[0092] According to one or more aspects of the present disclosure, the support member has a tapered product support surface, where the angle of the tapered product support surface substantially corresponds to the predetermined angle established by the wedge.

[0093] According to one or more aspects of the present disclosure, the angle of the tapered product support surface and the predetermined angle established by the wedge are substantially the same.

[0094] According to one or more aspects of the present disclosure, a tool for palletizing mixed products is provided. The tool includes: a frame for attaching the tool to the robot; a support assembly movably connected to the frame, the support assembly having support members defining a support surface arranged at a predetermined reference orientation to support an article seated on the support surface; a gripping assembly having an actuator and a gripping press operatively connected to the actuator, the gripping assembly being mounted to the frame such that the gripping press is moved relative to the frame in an actuation direction opposite the support surface to grip the product between the support surface and the gripping press at a predetermined reference orientation; Equipped with The support assembly connection to the frame is positionally deterministic such that the support assembly connection deterministically positions the support member in a predetermined position in an actuation direction with the support surface in a predetermined reference orientation relative to the frame, and is movably released in a release direction such that the support member is substantially freely movable relative to the frame away from the predetermined position in a release direction that is different from the actuation direction.

[0095] According to one or more aspects of the present disclosure, the support surface moves substantially freely in the release direction with contact of the object against the support member in a contact direction at least partially aligned with the release direction, the contact of the object against the support member being generated by relative motion between the support member and the object.

[0096] According to one or more aspects of the present disclosure, contact between the support member and the object, resulting in substantially free movement of the support surface, is created by the palletizing action of the robot moving the tool.

[0097] According to one or more aspects of the present disclosure, the object is a product or a different product disposed in at least one of a product pick station that holds the product for picking by a tool and a portion of a palletizer cell.

[0098] According to one or more aspects of the present disclosure, the object is a structure from at least one of a product pick station structure that holds products for picking by a tool, a palletizer cell structure, and a structure seated in at least a portion of the palletizer cell.

[0099] According to one or more aspects of the present disclosure, the release direction is oriented substantially opposite the actuation direction.

[0100] According to one or more aspects of the present disclosure, the support surface is planar and defines a predetermined reference plane at a predetermined reference orientation.

[0101] According to one or more aspects of the present disclosure, the support assembly connection has a movable release configuration such that the support member is substantially freely movable relative to the frame in at least the release direction when the gripping assembly is in a state other than a clamped state in which the product is gripped by the support surface and grip press.

[0102] According to one or more aspects of the present disclosure, the gripping assembly has a position tracking device arranged such that actuation of the grip press to clamp a product between the support surface and the grip press follows a displacement position of the support surface away from a predetermined reference orientation.

[0103] In accordance with one or more aspects of the present disclosure, the position tracking device is a torque limiting device.

[0104] According to one or more aspects of the present disclosure, the tool further comprises: a pusher assembly including a pusher mounted to the frame for longitudinal movement along the support member; A pusher actuator having position tracking capability; Equipped with.

[0105] According to one or more aspects of the present disclosure, the support assembly linkage has a pivot disposed between the support member and the frame that defines an operational release of the support assembly linkage such that the support member is movable relative to the frame in a release direction.

[0106] According to one or more aspects of the present disclosure, the support assembly has a support base depending from a frame, and the support member depends from, protrudes from, and is connected to the frame by the support base.

[0107] According to one or more aspects of the present disclosure, the support member is removably joined to the support base using a sliding joint that is configured such that the support member and the support base slide relative to one another and the support member is joined and unjoined to the support base by relative sliding between the support member and the support base.

[0108] According to one or more aspects of the present disclosure, the support member is removably joined to the support base by a slot joint that defines a guideway interface between the support base and the support member such that the support base and the support member slide relative to one another to effect mutual coupling and decoupling of the support member and the support base.

[0109] According to one or more aspects of the present disclosure, the guideway interface has a reference datum arranged to define a predetermined reference orientation of the support surface that generally coincides with the junction of the support member and the support base.

[0110] According to one or more aspects of the present disclosure, the guideway interface defines a running clearance between the support member and the support base such that the support member and the support base slide substantially freely relative to one another when coupled and uncoupled.

[0111] According to one or more aspects of the present disclosure, the guideway interface has an orientation transverse to the release direction with the support assembly coupling fixing the support surface in a predetermined reference orientation, and the support assembly coupling has a pivot for at least partially reorienting the guideway interface downward.

[0112] According to one or more aspects of the present disclosure, the tool further comprises a wedge coupled to the frame, the wedge configured to couple the frame to a robot arm of the robot such that the tool has a predetermined angle set by the wedge relative to a mounting surface of an end-of-arm tool mount of the robot arm.

[0113] According to one or more aspects of the present disclosure, the support member has a tapered product support surface, where the angle of the tapered product support surface substantially corresponds to the predetermined angle established by the wedge.

[0114] According to one or more aspects of the present disclosure, the angle of the tapered product support surface and the predetermined angle established by the wedge are substantially the same.

[0115] According to one or more aspects of the present disclosure, a tool for palletizing mixed products is provided. The tool includes: a frame for attaching the tool to the robot; a support assembly having a support member movably connected to the frame via a compliant connection to define a support surface disposed at a predetermined reference orientation to support a product seated on the support surface; a gripping assembly having an actuator and a gripping press operatively connected to the actuator, the gripping assembly being mounted to the frame such that the gripping press is moved relative to the frame in an actuation direction opposite the support surface to grip the product between the support surface and the gripping press at a predetermined reference orientation; Equipped with The tracking connection is compliant in the tracking direction such that the support member is compliant in the tracking direction and movable relative to the frame, and the tracking connection is positionally determinative such that the support member is determinatively positioned in the actuation direction at a predetermined position where the support surface is in a predetermined reference orientation relative to the frame.

[0116] According to one or more aspects of the present disclosure, the tracking direction is different from the actuation direction, and the tracking connection is configured such that tracking of the support member causes the support surface to move relative to the frame in the tracking direction away from the predetermined position.

[0117] According to one or more aspects of the present disclosure, the compliant connection is configured such that the support member is compliant regardless of whether the tool is in a gripping state in which the product is gripped by the support surface and grip press, or in a non-gripping state.

[0118] According to one or more aspects of the present disclosure, the gripping assembly has a position adaptation device that is positioned such that actuation of the grip press to grip a product between the support surface and the grip press adapts to a displaced position of the support surface away from a predetermined reference orientation.

[0119] According to one or more aspects of the present disclosure, the position adapting device is a torque limiting device.

[0120] According to one or more aspects of the present disclosure, at least the tracking direction is a release direction, and the support surface moves substantially freely in the release direction with contact of the object against the support member in a contact direction at least partially aligned with the release direction, and the contact of the object against the support member is generated by relative motion between the support member and the object.

[0121] According to one or more aspects of the present disclosure, contact between the support member and the object, resulting in substantially free movement of the support surface, is created by the palletizing action of the robot moving the tool.

[0122] According to one or more aspects of the present disclosure, the object is a product or a different product disposed in at least one of a product pick station that holds the product for picking by a tool and a portion of a palletizer cell.

[0123] According to one or more aspects of the present disclosure, the object is a structure from at least one of a product pick station structure that holds products for picking by a tool, a palletizer cell structure, and a structure seated in at least a portion of the palletizer cell.

[0124] According to one or more aspects of the present disclosure, the tracking direction is oriented substantially opposite the actuation direction.

[0125] According to one or more aspects of the present disclosure, the support surface is planar and defines a predetermined reference plane at a predetermined reference orientation.

[0126] According to one or more aspects of the present disclosure, the tracking connection has a movable release configuration such that the support member is substantially freely movable relative to the frame in at least the tracking direction when the gripping assembly is in a state other than a clamped state in which the product is gripped by the support surface and grip press.

[0127] According to one or more aspects of the present disclosure, the tool further comprises: a pusher assembly including a pusher mounted to the frame for longitudinal movement along the support member; A pusher actuator having position tracking capability; Equipped with.

[0128] According to one or more aspects of the present disclosure, the tracking connection has a pivot disposed between the support member and the frame that defines a motion release of the tracking connection such that the support member is movable relative to the frame in a tracking direction.

[0129] According to one or more aspects of the present disclosure, the support assembly has a support base depending from a frame, and the support member depends from, protrudes from, and is connected to the frame by the support base.

[0130] According to one or more aspects of the present disclosure, the support member is removably joined to the support base using a sliding joint that is configured such that the support member and the support base slide relative to one another and the support member is joined and unjoined to the support base by relative sliding between the support member and the support base.

[0131] According to one or more aspects of the present disclosure, the support member is removably joined to the support base by a slot joint that defines a guideway interface between the support base and the support member such that the support base and the support member slide relative to one another to effect mutual coupling and decoupling of the support member and the support base.

[0132] According to one or more aspects of the present disclosure, the guideway interface has a reference datum arranged to define a predetermined reference orientation of the support surface that generally coincides with the junction of the support member and the support base.

[0133] According to one or more aspects of the present disclosure, the guideway interface defines a running clearance between the support member and the support base such that the support member and the support base slide substantially freely relative to one another when coupled and uncoupled.

[0134] According to one or more aspects of the present disclosure, the guideway interface has an orientation transverse to the tracking direction with the tracking connection fixing the support surface at a predetermined reference orientation, and the tracking connection has a pivot for at least partially reorienting the guideway interface downward.

[0135] According to one or more aspects of the present disclosure, the tool further comprises a wedge coupled to the frame, the wedge configured to couple the frame to a robot arm of the robot such that the tool has a predetermined angle set by the wedge relative to a mounting surface of an end-of-arm tool mount of the robot arm.

[0136] According to one or more aspects of the present disclosure, the support member has a tapered product support surface, the angle of the tapered product support surface substantially corresponding to the predetermined angle established by the wedge.

[0137] According to one or more aspects of the present disclosure, the angle of the tapered product support surface and the predetermined angle established by the wedge are substantially the same.

[0138] According to one or more aspects of the present disclosure, a palletizing robot for palletizing mixed products is provided. The palletizing robot includes: With the base, a robot arm movably coupled to the base and having a tool coupling; A palettization tool, comprising: a frame for mounting the palletized tool to a tool joint of the robot arm; a support assembly movably connected to the frame, the support assembly having support members defining a support surface disposed at a predetermined reference orientation to support an article seated on the support surface; and a gripping assembly having an actuator and a gripping press operatively connected to the actuator and mounted to the frame for moving the gripping press relative to the frame in an actuation direction opposite the support surface to clamp the product between the support surface and the gripping press at a predetermined reference orientation; a paletter tool, Equipped with The support assembly connection to the frame has a configuration that fixes the support member relative to the frame in an actuation orientation with the support surface in a predetermined reference orientation, and is movably released in at least another direction such that the support member is movable relative to the frame such that the support surface is substantially free to move away from the predetermined reference orientation.

[0139] According to one or more aspects of the present disclosure, the at least another direction is a release direction, and the support surface moves substantially freely in the release direction by contact of the object against the support member in a contact direction at least partially aligned with the release direction, and the contact of the object against the support member is generated by relative motion between the support member and the object.

[0140] According to one or more aspects of the present disclosure, contact between the support member and the object, resulting in substantially free movement of the support surface, is created by a palletizing action of a robotic arm that moves a tool.

[0141] According to one or more aspects of the present disclosure, the object is a product or a different product disposed in at least one of a product pick station that holds the product for picking by a tool and a portion of a palletizer cell.

[0142] According to one or more aspects of the present disclosure, the object is a structure from at least one of a product pick station structure that holds products for picking by a tool, a palletizer cell structure, and a structure seated in at least a portion of the palletizer cell.

[0143] According to one or more embodiments of the present disclosure, the other direction is oriented substantially opposite the actuation direction.

[0144] According to one or more aspects of the present disclosure, the support surface is planar and defines a predetermined reference plane at a predetermined reference orientation.

[0145] According to one or more aspects of the present disclosure, the support assembly connection has a movable release configuration such that when the gripping assembly is in a state other than a clamped state in which a product is gripped by the support surface and grip press, the support member is substantially freely movable relative to the frame in at least another direction.

[0146] According to one or more aspects of the present disclosure, the gripping assembly has a position tracking device arranged such that actuation of the grip press to clamp a product between the support surface and the grip press follows a displacement position of the support surface away from a predetermined reference orientation.

[0147] In accordance with one or more aspects of the present disclosure, the position tracking device is a torque limiting device.

[0148] According to one or more aspects of the present disclosure, the palletization tool further comprises: a pusher assembly including a pusher mounted to the frame for longitudinal movement along the support member; A pusher actuator having position tracking capability; Equipped with.

[0149] According to one or more aspects of the present disclosure, the support assembly linkage has a pivot disposed between the support member and the frame that defines an operational release of the support assembly linkage such that the support member is movable relative to the frame in another direction.

[0150] According to one or more aspects of the present disclosure, the support assembly has a support base depending from a frame, and the support member depends from, protrudes from, and is connected to the frame by the support base.

[0151] According to one or more aspects of the present disclosure, the support member is removably joined to the support base using a sliding joint that is configured such that the support member and the support base slide relative to one another and the support member is joined and unjoined to the support base by relative sliding between the support member and the support base.

[0152] According to one or more aspects of the present disclosure, the support member is removably joined to the support base by a slot joint that defines a guideway interface between the support base and the support member such that the support base and the support member slide relative to one another to effect mutual coupling and decoupling of the support member and the support base.

[0153] According to one or more aspects of the present disclosure, the guideway interface has a reference datum arranged to define a predetermined reference orientation of the support surface that generally coincides with the junction of the support member and the support base.

[0154] According to one or more aspects of the present disclosure, the guideway interface defines a running clearance between the support member and the support base such that the support member and the support base slide substantially freely relative to one another when coupled and uncoupled.

[0155] According to one or more aspects of the present disclosure, the guideway interface has an orientation transverse to the release direction with the support assembly coupling fixing the support surface in a predetermined reference orientation, and the support assembly coupling has a pivot for at least partially reorienting the guideway interface downward.

[0156] According to one or more aspects of the present disclosure, a method for palletizing mixed products is provided, the method comprising: providing a tool having a frame for mounting the tool to the robot, a support assembly movably connected to the frame, and a gripper assembly mounted to the frame, the gripper assembly having an actuator and a grip press operably connected to the actuator; supporting the product on a support member of a support assembly, the support member defining a support surface arranged in a predetermined reference orientation to support the product seated on the support surface; moving the grip press relative to the frame in an operating direction opposite the support surface so as to clamp the product between the support surface and the grip press in a predetermined reference orientation; Including, The support assembly connection to the frame has a configuration that fixes the support member relative to the frame in an actuation orientation with the support surface in a predetermined reference orientation, and is movably released in at least another direction such that the support member is movable relative to the frame such that the support surface is substantially free to move away from the predetermined reference orientation.

[0157] According to one or more aspects of the present disclosure, the at least another direction is a release direction, and the support surface moves substantially freely in the release direction by contact of the object against the support member in a contact direction at least partially aligned with the release direction, and the contact of the object against the support member is generated by relative motion between the support member and the object.

[0158] According to one or more aspects of the present disclosure, contact between the support member and the object, resulting in substantially free movement of the support surface, is created by the palletizing action of the robot moving the tool.

[0159] According to one or more aspects of the present disclosure, the object is a product or a different product disposed in at least one of a product pick station that holds the product for picking by a tool and a portion of a palletizer cell.

[0160] According to one or more aspects of the present disclosure, the object is a structure from at least one of a product pick station structure that holds products for picking by a tool, a palletizer cell structure, and a structure seated in at least a portion of the palletizer cell.

[0161] According to one or more embodiments of the present disclosure, the other direction is oriented substantially opposite the actuation direction.

[0162] According to one or more aspects of the present disclosure, the support surface is planar and defines a predetermined reference plane at a predetermined reference orientation.

[0163] According to one or more aspects of the present disclosure, the support assembly connection has a movable release configuration such that when the gripping assembly is in a state other than a clamped state in which a product is gripped by the support surface and grip press, the support member is substantially freely movable relative to the frame in at least another direction.

[0164] According to one or more aspects of the present disclosure, the gripping assembly has a position tracking device arranged such that actuation of the grip press to clamp a product between the support surface and the grip press follows a displacement position of the support surface away from a predetermined reference orientation.

[0165] In accordance with one or more aspects of the present disclosure, the position tracking device is a torque limiting device.

[0166] According to one or more embodiments of the present disclosure, the method further includes pushing the product with a longitudinal motion along the support member using a pusher assembly including a pusher mounted to a frame for longitudinal movement along the support member, the pusher driven by a pusher actuator having position tracking.

[0167] According to one or more aspects of the present disclosure, the support assembly linkage has a pivot disposed between the support member and the frame that defines an operational release of the support assembly linkage such that the support member is movable relative to the frame in another direction.

[0168] According to one or more aspects of the present disclosure, the support assembly has a support base depending from a frame, and the support member depends from, protrudes from, and is connected to the frame by the support base.

[0169] According to one or more aspects of the present disclosure, the method further includes one or more of the steps of joining and releasing the support member to the support base, where the support member is removably joined to the support base using a sliding joint configured such that the support member and the support base slide relative to one another and the support member is joined and released to the support base by relative sliding between the support member and the support base.

[0170] According to one or more aspects of the present disclosure, the support member is removably joined to the support base by a slot joint that defines a guideway interface between the support base and the support member such that the support base and the support member slide relative to one another to effect mutual coupling and decoupling of the support member and the support base.

[0171] According to one or more aspects of the present disclosure, the method further includes using a reference datum of the guideway interface to define a predetermined reference orientation of the support surface that generally coincides with the junction of the support member and the support base.

[0172] According to one or more aspects of the present disclosure, the guideway interface defines a running clearance between the support member and the support base such that the support member and the support base slide substantially freely relative to one another when coupled and uncoupled.

[0173] According to one or more aspects of the present disclosure, the guideway interface has an orientation transverse to the release direction with the support assembly coupling fixing the support surface in a predetermined reference orientation, and the support assembly coupling has a pivot for at least partially reorienting the guideway interface downward.

[0174] According to one or more aspects of the present disclosure, a tool for palletizing mixed products is provided. The tool includes: a frame for mounting a tool to a robot within the palletizer configured to move the tool along a path within the palletizer; a support assembly movably connected to the frame, the support assembly having frangible support members defining a support surface disposed at a predetermined reference position and orientation to support an article seated on the support surface; Equipped with The frangible support member has a non-ductile material and is characterized in that the frangible support member remains substantially undeformed and the support surface remains substantially unchanged from a predetermined reference position and orientation upon impact of the support assembly against an obstacle as the tool is moved along the path by the robot, and in that the frangible support member remains substantially undeformed and the support surface remains substantially unchanged upon failure of the frangible support member due to impact with an obstacle causing a break that breaks the support surface from the predetermined reference position and orientation so as to provide the support surface with two states: a substantially unaltered state and a broken state.

[0175] According to one or more aspects of the present disclosure, failure of the frangible support member provides an operator with a predetermined indication of the failure of the support surface.

[0176] According to one or more aspects of the present disclosure, the predetermined indicia has a predetermined marking that allows an operator to identify a breach that renders the support surface unsuitable for seating a product thereon.

[0177] According to one or more embodiments of the present disclosure, the frangible support member is configured to define a predetermined indicia that provides a predetermined indication, the predetermined indicia being specific to failure of the frangible support member.

[0178] According to one or more aspects of the present disclosure, the frangible support member is connected to the frame using a joint that has at least partial compliance, and the frangible support member is configured to break upon impact with an obstacle that exceeds the compliance of the joint.

[0179] According to one or more aspects of the present disclosure, the frangible support members are configured to not substantially deform and the support surface to remain substantially unchanged from a predetermined reference position and orientation upon collision of the support assembly with an obstacle as the tool is moved along a path by the robot in accordance with a predetermined duty cycle of the robot to palletize pallets in a palletizer.

[0180] According to one or more aspects of the present disclosure, the frangible support members are configured to be substantially undeformed and the support surface substantially unchanged from a predetermined reference position and orientation upon impact of the support assembly with an obstacle as the tool is moved along a path by the robot in accordance with optimal trajectory movement of the tool along the path between different product picking and placement positions of the tool within the palletizer.

[0181] According to one or more aspects of the present disclosure, the tool further comprises a wedge coupled to the frame, the wedge configured to couple the frame to a robot arm of the robot such that the tool has a predetermined angle set by the wedge relative to a mounting surface of an end-of-arm tool mount of the robot arm.

[0182] According to one or more aspects of the present disclosure, the support member has a tapered product support surface, the angle of the tapered product support surface substantially corresponding to the predetermined angle established by the wedge.

[0183] According to one or more aspects of the present disclosure, the angle of the tapered product support surface and the predetermined angle established by the wedge are substantially the same.

[0184] According to one or more aspects of the present disclosure, a tool for palletizing mixed products is provided. The tool includes: a frame for mounting a tool to a robot within the palletizer configured to move the tool along a path within the palletizer; a support assembly movably connected to the frame, the support assembly having support members defining a support surface disposed at a predetermined reference position and orientation to support an article seated on the support surface; Equipped with The support surface has a proximal end and a distal end arranged such that the product is seated between the proximal end and the distal end, the support member is connected to the frame at the proximal end, and the support surface has an anhedral angle between the proximal end and the distal end with respect to a predetermined horizontal plane, such that the product seated on the support surface is positioned at anhedral angle upon ejection from the tool from the distal end of the support surface.

[0185] According to one or more aspects of the present disclosure, the support member has a reference surface that provides a positioning reference for a tool that is moved by the robot to a placement position within the palletizer from which a product is ejected from the tool and placed onto a pallet within the palletizer, the reference surface being located opposite the support surface.

[0186] According to one or more aspects of the present disclosure, the reference surface is positioned substantially aligned with a predetermined horizontal plane with the tool in the deployment position.

[0187] According to one or more aspects of the present disclosure, a support surface inclined at a dihedral angle at a distal end toward a predetermined horizontal plane enables positioning of the tool in a placement position such that product ejected from the support surface at the distal end to effect placement of the product on the pallet has minimal drop from the support surface to the pallet.

[0188] According to one or more embodiments of the present disclosure, the anhedral angle is about 3°.

[0189] According to one or more aspects of the present disclosure, the tool further comprises a wedge coupled to the frame, the wedge configured to couple the frame to a robot arm of the robot such that the tool has a predetermined angle set by the wedge with respect to a mounting surface of an end-of-arm tool mount of the robot arm, the predetermined angle being approximately the same as the anhedral angle.

[0190] According to one or more aspects of the present disclosure, a method for palletizing mixed products is provided, the method comprising: Providing a tool, the tool comprising: a frame for mounting a tool to a robot within the palletizer configured to move the tool along a path within the palletizer; a support assembly movably connected to the frame, the support assembly having frangible support members defining a support surface disposed at a predetermined reference position and orientation to support an article seated on the support surface; having wherein the frangible support member has a non-ductile material and is characterized in that the frangible support member remains substantially undeformed and the support surface remains substantially unchanged from a predetermined reference position and orientation upon impact of the support assembly against an obstacle as the tool is moved along the path by the robot, and wherein the frangible support member remains substantially undeformed and the support surface remains substantially unchanged upon failure of the frangible support member due to impact with an obstacle causing a break that breaks the support surface from the predetermined reference position and orientation to provide two states for the support surface: a substantially unchanged state and a broken state; using a frangible support member to provide an operator with a predetermined indication of failure of the frangible support member and failure of the support surface upon impact with an obstacle; replacing the broken support member with another weak support member by rapid swapping of the broken support member with another weak support member; Includes.

[0191] According to one or more aspects of the present disclosure, rapid swapping of a broken support member with another frangible support member is a substantially tool-less removal of the broken support member from the support assembly and a substantially tool-less insertion of the other support member into the support assembly.

[0192] According to one or more aspects of the present disclosure, the predetermined indicia has a predetermined marking that allows an operator to identify a breach that renders the support surface unsuitable for seating a product thereon.

[0193] According to one or more embodiments of the present disclosure, the frangible support member defines a predetermined indicia that provides a predetermined indication, the predetermined indicia being characteristic of failure of the frangible support member.

[0194] According to one or more embodiments of the present disclosure, a frangible support member is connected to a frame using a joint that has at least partial compliance, and the frangible support member breaks upon impact with an obstacle that exceeds the compliance of the joint.

[0195] According to one or more aspects of the present disclosure, the frangible support member is configured to not substantially deform and the support surface to remain substantially unchanged from a predetermined reference position and orientation upon collision of the support assembly with an obstacle as the tool is moved along a path by the robot in accordance with a predetermined duty cycle of the robot to palletize pallets in a palletizer.

[0196] According to one or more aspects of the present disclosure, the frangible support member is configured to be substantially undeformed and the support surface substantially unchanged from a predetermined reference position and orientation upon impact of the support assembly with an obstacle as the tool is moved along a path by the robot in accordance with optimal trajectory movement of the tool along the path between different product picking and placement positions of the tool within the palletizer.

[0197] It should be understood that the foregoing description is merely illustrative of aspects of the present disclosure. Various alternatives and modifications may be contemplated by those skilled in the art without departing from the aspects of the present disclosure. Accordingly, the aspects of the present disclosure are intended to embrace all such alternatives, modifications, and variations that are within the scope of any claims appended hereto. Moreover, the mere fact that different features are recited in mutually different dependent or independent claims does not indicate that a combination of these features cannot be used to advantage and that such combination remains within the scope of the aspects of the present disclosure.

Claims

1. A tool for palletizing mixed-load products, the tool comprising: a frame for attaching the tool to a robot; a support assembly movably coupled to the frame, the support assembly having a support member that forms a support surface disposed in a predetermined reference orientation so as to support a product seated on a support surface; a gripping assembly attached to the frame and having an actuator and a gripper press operably coupled to the actuator, the gripper press being movable relative to the frame in an operating direction opposite the support surface so as to clamp the product between the support surface in the predetermined reference orientation and the gripper press; and a support assembly connection to the frame is configured to fix the support member relative to the frame in the operating direction with the support surface in the predetermined reference orientation, and the support member is movably released in at least another direction such that the support surface is substantially free to move away from the predetermined reference orientation.

2. The tool according to claim 1, wherein the at least another direction is a release direction, and the support surface is substantially free to move in the release direction by contact of an object with the support member in a contact direction at least partially aligned with the release direction, and the contact of the object with the support member is generated by relative movement between the support member and the object.

3. The tool according to claim 2, wherein the contact between the support member and the object that results in substantially free movement of the support surface is generated by a palletizing operation of the robot that moves the tool.

4. The object is The product itself, or a product pick station that holds the product for picking by the tool, and a different product disposed in at least one of a part of the palletizer cell, or The tool according to claim 2, which is a structure from at least one of the structure of the product pick station that holds the product for picking by the tool, the structure of the palletizer cell, and the structure seated on at least a part of the palletizer cell.

5. The tool according to claim 1, wherein the other direction is oriented substantially opposite to the operating direction.

6. The tool according to claim 1, wherein the support assembly connection has a movable release configuration such that the support member is substantially freely movable relative to the frame in the at least another direction in a state other than a clamped state where the gripping assembly grips the product by the support surface and the grip press.

7. The tool according to claim 1, wherein the gripping assembly has a position tracking device, and the position tracking device is arranged such that the operation of the grip press that clamps the product between the support surface and the grip press follows the displacement position of the support surface away from the predetermined reference orientation.

8. A pusher assembly including a pusher attached to the frame for longitudinal movement along the support member, A pusher actuator having position tracking, The tool according to claim 1, further comprising.

9. The tool according to claim 1, wherein the support assembly connection has a pivot disposed between the support member and the frame that defines the operational release of the support assembly connection such that the support member is movable relative to the frame in the other direction.

10. The tool according to claim 1, wherein the support assembly has a support base dependent on the frame, the support member projects from the support base dependent on the support base, and is connected to the frame by the support base.

11. The tool according to claim 10, wherein the support member is removably joined to the support base using a slide joint, and the slide joint is configured such that the support member and the support base slide relative to each other, and the support member is joined to and disengaged from the support base by a relative slide between the support member and the support base.

12. A tool for palletizing mixed-load products, the tool comprising: A frame for attaching the tool to a robot; A support assembly movably connected to the frame, the support assembly having a support member that forms a support surface arranged in a predetermined reference orientation so as to support a product seated on the support surface; A gripping assembly attached to the frame so as to move the gripper press in an operating direction opposite to the support surface in order to grip the product between the support surface in the predetermined reference orientation and the gripper press, the gripping assembly having an actuator and a gripper press operably connected to the actuator; Comprising: The tool, wherein the connection of the support assembly to the frame is positionally decisive such that the support assembly connection positions the support member determinatively in a predetermined position in the operating direction where the support surface is in the predetermined reference orientation with respect to the frame, and the support member is movably released in a release direction different from the operating direction so as to be substantially freely movable with respect to the frame away from the predetermined position.

13. A pusher assembly including a pusher attached to the frame for longitudinal movement along the support member. A pusher actuator having position followability, The tool according to claim 12, further comprising

14. The tool according to claim 12, wherein the support assembly has a support base subordinate to the frame, the support member projects from the support base subordinate to the support base, and is connected to the frame by the support base.

15. The support member is removably joined to the support base using a slide joint, and the slide joint is configured such that the support member and the support base slide relative to each other, and the support member is joined to and disengaged from the support base by relative sliding between the support member and the support base. The tool according to claim 14.

16. The support member is removably joined to the support base by a slot joint, and the slot joint defines a guideway interface between the support base and the support member such that the support base and the support member slide relative to each other to effect mutual connection and disconnection between the support member and the support base. The tool according to claim 15.

17. The tool according to claim 16, wherein the guideway interface has a reference datum arranged to define a predetermined reference orientation of the support surface that substantially coincides with the joining of the support member and the support base.

18. The tool according to claim 16, wherein the guideway interface defines a running clearance between the support member and the support base such that the support member and the support base slide substantially freely relative to each other during connection and disconnection.

19. The guideway interface has an orientation in a direction transverse to the release direction with the support assembly connection fixing the support surface in the predetermined reference orientation, and the support assembly connection has a pivot for at least partially reorienting the guideway interface downward, the tool according to claim 16.

20. A tool for palletizing mixed-load products, the tool comprising A frame for attaching the tool to a robot, A support assembly having a support member, the support member being movably connected to the frame via a follow-up connection and forming a support surface arranged in a predetermined reference orientation so as to support a product seated on the support surface, the support assembly, A gripping assembly attached to the frame having an actuator and a grip press operably connected to the actuator, the grip press being moved relative to the frame in the operating direction on the opposite side of the support surface so as to grip the product between the support surface in the predetermined reference orientation and the grip press, comprising The follow-up connection has followability in the follow-up direction such that the support member has followability in the follow-up direction and is movable relative to the frame, and the follow-up connection is positionally decisive so as to position the support member determinatively in the operating direction at a predetermined position where the support surface is in the predetermined reference orientation relative to the frame, the tool.

21. The follow-up direction is different from the operating direction, and the follow-up connection is configured to move the support surface away from the predetermined position in the follow-up direction by following of the support member relative to the frame, the tool according to claim 20.

22. The following tracking connection part is configured such that the support member has followability regardless of whether the tool is in a gripped state where the product is gripped by the support surface and the grip press or in a non-gripped state. The tool according to claim 20.

23. The gripping assembly has a position adaptation device, and the position adaptation device is arranged such that the operation of the grip press for gripping the product between the support surface and the grip press adapts to the displacement position of the support surface away from the predetermined reference orientation. The tool according to claim 20.

24. The position adaptation device is a torque limiting device. The tool according to claim 23.

25. At least the tracking direction is the release direction, and the support surface moves substantially freely in the release direction by contact of an object with the support member in a contact direction at least partially aligned with the release direction. The contact of the object with the support member is generated by relative movement between the support member and the object. The tool according to claim 20.

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