Abstract: An apparatus for transferring articles is disclosed herein. The apparatus includes a layer formation table. The apparatus also includes means for supplying articles to the layer formation table. At least one row of the articles is formed at a first end of the layer formation table. The apparatus also includes a programmable robot including an end of arm tool for transferring the at least one row of the articles towards a second end of the layer formation table. The programmable robot is configured to form a plurality of rows of articles on the layer formation table. Each of the rows comprises a plurality of articles in side by side contact creating a void between adjacent articles in each of the rows. The programmable robot is configured to nest the articles of one of the rows in the voids of an adjacent row. The end of arm tool includes a multiplicity of guides which form lanes. The rows of articles fill the lanes.

Abstract: The vision aided case/bulk palletizer system of this invention is a process and apparatus for: providing a camera positioned over the dunnage supply line; initiating a frame grab of the dunnage supply line with the camera; using the frame grab to determine the position of the dunnage; using the frame grab to position the programmable robot over the dunnage; feeding the dunnage from the dunnage supply line to the load building area; and controlling the steps with the single programmable robot, microprocessor and software. This system provides for transfer of the dunnage when the position of the dunnage is skewed by using the frame grab to position the programmable robot over the skewed dunnage. In another embodiment, the camera is used to determine any void in the tier of product during the build of a tier of product, and also provides for error-proofing the transfer of dunnage.