Abstract: A gripper having jaws (11,12) is transported from a first position (FIG. 2) in which it grips a case blank (1) in a flat, folded condition to a second position (FIG. 4) in which the case (8) is erected. Gripping devices (13) on the jaws (11,12) are aligned with one another when the gripper is in its first position. The gripping devices (13) on the jaws (11,12) are oriented at right angles to one another when the gripper is in its second position. Mutual rotation is effected between the jaws (11,12) as the gripper is moved from its first to its second position, in order to unfold a case blank (1) gripped by the gripper jaws (11,12).

Abstract: Elongate packs of circular biscuits are fed at high speed from a wrapping output conveyor to a transverse indexing conveyor. The indexing conveyor has a series of compartments with inclined sides, each compartment receiving a pair of packs end to end. The conveyor indexes each time that it receives a pair of packs, the compartments holding the packs against movement longitudinally of the conveyor. The packs are removed in groups from the indexing conveyor and urged together on a tray of adjustable dimension. Orientation of the packs is maintained, for consistent presentation of printing ABCD.

Abstract: A collating conveyor (4, 6) receives products (2) sequentially from a delivery point and collates them into groups (8). A pusher (9) transfers groups (8) of products from the collating conveyor (4, 6) to a receiving trough (10), where they are turned through a predetermined angle B. The collating conveyor (4, 6) is inclined to the horizontal and is provided with lugs (5, 7), each of which supports a stack (8) of products under the effect of gravity. A pick-and-place head (11) picks up a group (8) of products from the trough (10) by gripping and clamping the products (2) together.

Abstract: Elongate packs (3) of circular biscuits are fed at high speed from a wrapping output conveyor (1) to a transverse indexing conveyor (2). The indexing conveyor (2) has a series of compartments (12) with inclined sides, each compartment (12) receiving a pair of packs (3) end to end. The conveyor (2) indexes each time that it receives a pair of packs (3), the compartments (12) holding the packs (3) against movement longitudinally of the conveyor (2). The packs (3) are removed in groups from the indexing conveyor (2) and urged together on a tray (19) of adjustable dimension. Orientation of the packs (3) is maintained, for consistent presentation of printing ABCD.

Abstract: A collating conveyor (4, 6) receives products (2) sequentially from a delivery point and collates them into groups (8). A pusher (9) transfers groups (8) of products from the collating conveyor (4, 6) to a receiving trough (10), where they are turned through a predetermined angle B. The collating conveyor (4, 6) is inclined to the horizontal and is provided with lugs (5, 7), each of which supports a stack (8) of products under the effect of gravity. A pick-and-place head (11) picks up a group (8) of products from the trough (10) by gripping and clamping the products (2) together.

Abstract: An indexing conveyor 1 travels at (90) degrees to a wrapping output conveyor (2), which conveys elongate packs (3) of circular biscuits at high speed with their diameter-ends leading. The indexing conveyor 1 receives the packs (3) and conveys them in an orthogonal direction, with their long-dimensions leading. The indexing conveyor (1) has a regular series of V-section lugs (11), which receive and center the packs (3) and can accommodate a range of diameters of circular packs (3) while maintaining a constant pitch. A pair of lifting bars (12) lifts a group (31) of packs (3) at a time during the dwell period of the index of the (10) conveyor (1). The packs (3) of each group (31) are moved together during the lift so that they are touching, to ensure that a robotic pick-and-place system can pick up the group (31) reliably.

Abstract: An indexing conveyor 1 travels at (90) degrees to a wrapping output conveyor (2), which conveys elongate packs (3) of circular biscuits at high speed with their diameter-ends leading. The indexing conveyor 1 receives the packs (3) and conveys them in an orthogonal direction, with their long-dimensions leading. The indexing conveyor (1) has a regular series of V-section lugs (11), which receive and centre the packs (3) and can accommodate a range of diameters of circular packs (3) whilst maintaining a constant pitch. A pair of lifting bars (12) lifts a group (31) of packs (3) at a time during the dwell period of the index of the (10) conveyor (1). The packs (3) of each group (31) are moved together during the lift so that they are touching, to ensure that a robotic pick-and-place system can pick up the group (31) reliably.

Abstract: By moving supports A and C along respective tracks (3) and (4), the free end B of robot arm (2), with gripper (5), is caused to move along a path P, the locus of which may be varied by varying the movements of the supports A and C. Motors (6) and (7) are not carried on the robot arm (2), but are secured to the frame (10) of the device (1). The robot arm (2) may thus have very low mass, resulting in very high performance in terms of speed and efficiency. The path P may comprise a NURB curve, and the time-distance function of motion of end B of arm (2) along path P may comprise a polynomial function having first and second derivative (velocity and acceleration) continuous curves.