Abstract:
A bundling system can convert a shingled stream of goods into successive bundles of goods. The system has a conveyor assembly with an upstream and a downstream section for (a) longitudinally passing the shingled stream of goods from the upstream to the downstream section, and (b) repeatedly interrupting passage of goods for creating a gap in the shingled stream of goods. The system also includes a reciprocatable table located downstream of the conveyor assembly for detaining and collecting goods there into a stacked bundle. Also included is a pusher for extending and pushing the stacked bundle off the table. The reciprocatable table is arranged to rise past the pusher without interference when the pusher is extended.

Description:
BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     The present invention relates to bundling systems, and in particular, to systems that can convert a shingled stream of goods into successive bundles of goods. 
     2. Description of Related Art 
     Goods made of flexible sheets are often produced in a shingled stream. For example, printed cards or labels may be printed on a web and cut by a rotary die that delivers successive sheets onto a relatively slow conveyor belt. Because of this relatively slow speed, successive sheets are placed atop one another to form a staggered or shingled stream. Other types of equipment can also produce shingled streams. For example, booklets can be produced in a shingled stream by a stapling machine or by other binding machines. Other non-paper goods are also produced in a shingled stream. 
     These shingled streams usually need to be stacked into bundles having a predetermined number of units. Manually counting and separating the stream into a predetermined count is inefficient and impractical, because these shingled streams are delivered too quickly for human handlers. 
     Accordingly, automated machines have been designed to separate the shingled stream into predetermined bundles, but even these machines have had difficulty accommodating high flow rates. One known bundling technique allows the shingled stream to fall onto a table and form a stack. After reaching a certain height, the stack is pushed toward an automatic banding machine that ties a band around the stack. 
     Several difficulties exist with this type of machine. The incoming shingled stream continues to fall onto the table while the stack is being pushed away. Goods delivered during this transition period can get caught in the pushing mechanism. Therefore the pushing mechanism must be made extremely fast, but this increases the likelihood of damage to the goods. Also, separating the stream into bundles having a precise count is rather difficult when the shingled stream flows at a relatively high rate and the pusher must act very quickly. 
     Accordingly, there is a need for a bundling system that can quickly and accurately separate the shingled stream into stacked bundles having an accurate number of units per stack. 
     SUMMARY OF THE INVENTION 
     In accordance with the illustrative embodiments demonstrating features and advantages of the present invention, there is provided a bundling system that can convert a shingled stream of goods into successive bundles of goods. The system has a conveyor assembly with an upstream and a downstream section for (a) longitudinally passing the shingled stream of goods from the upstream to the downstream section, and (b) repeatedly interrupting passage of goods for creating a gap in the shingled stream of goods. The system also includes a reciprocatable table located downstream of the conveyor assembly for detaining and collecting goods there into a stacked bundle. Also included is a pusher for extending and pushing the stacked bundle off the table. 
     According to another aspect of the present invention, a bundling system can also converting a shingled stream of goods into successive bundles of goods. The system has a conveyor assembly for longitudinally passing the shingled stream of goods in a downstream direction. Also included is a reciprocatable table located downstream of the conveyor assembly for detaining and collecting goods there into a stacked bundle. The bundling system also has a pusher for extending and pushing the stacked bundle off the table. The reciprocatable table is arranged to rise past the pusher without interference when the pusher is extended. 
     By employing equipment of the foregoing type, an improved bundling system is achieved. In a preferred embodiment a shingled stream of goods is conveyed between different sections of a conveyor assembly. The shingled goods are conveyed by the assembly to form a stack on a table that lowers as the stack builds. 
     Preferably, a gap is formed in the shingled stream by temporarily accelerating the downstream conveyor section and temporarily decelerating the upstream conveyor section. At the same time a blade is inserted into the shingled stream to prevent goods from crossing over to the downstream conveyor section. As the blade descends, a nip roller is also placed at the downstream conveyor section to ensure that goods are positively accelerated. 
     When the gap in the shingled stream is detected at the table, the preferred table quickly descends. Preferably, a pair of implements are thrust into the position vacated by the retreating table to catch the stream of goods that will resume after the gap. A pusher then pushes the stacked goods off the table. The preferred table has a forked structure that can straddle the pusher mechanism and rise while the pusher is still extended. Thus the table is able to quickly return and is not delayed by the cycling of the pusher. 
     In the preferred embodiment, the stacked bundle is straightened by a side jogger before being grappled by a robotic arm. This arm has a carriage that moves in an upstream/downstream direction by riding with a linear bearing on a horizontal rail. A preferred scoop can be lowered from the carriage and inserted under the bundle. A preferred gripper can then descend from the carriage onto the top of the stacked bundle, which is then moved forward to, for example, a banding machine. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     The above brief description as well as other objects, features and advantages of the present invention will be more fully appreciated by reference to the following detailed description of presently preferred but nonetheless illustrative embodiments in accordance with the present invention when taken in conjunction with the accompanying drawings, wherein: 
     FIG. 1 is side elevational view of a bundling system in accordance with principles of the present invention; 
     FIG. 2 is a plan view of the conveyor assembly of FIG. 1; 
     FIG. 3 is a detailed plan view of a portion of the assembly of FIG. 2; 
     FIG. 4 is a detailed, axonometric view of portions of the conveyor assembly of FIG. 1 with portions removed for illustrative purposes; 
     FIG. 5 is a schematic illustration of the downstream end of the system of FIG. 1; 
     FIG. 6 is a detailed, fragmentary, axonometric view of the table of FIG. 1 partially extending through a span; 
     FIG. 7 is a detailed, fragmentary, axonometric view of the robotic arm and implement of FIG. 1; 
     FIG. 8 is an end, elevational view of the robotic arm of FIG. 1; 
     FIG. 9 is a schematic diagram of a controller associated with the system of FIG. 1; 
     FIGS. 10A-10D are schematic illustrations of the handling of goods by the system of FIG. 1 discharged from the conveyor assembly. 
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     Referring to FIGS. 1-4, the illustrated bundling system has beams  10  supported on caster legs  12  and leveling legs  14 . Vertical supports  16 ,  18  and  20  on beams  10  support a conveyor assembly having an upstream section  22  and a downstream section  24 . Sections  22  and  24  are driven by upstream drive motor  26  and downstream drive motor  28 , respectively. Motors  26  and  28  are attached to right angle drives  30  and  32 , respectively, which are mounted on beam  10 . Motors  26  and  28  are normally driven at a speed that corresponds to the rate of delivery of goods onto the conveyor assembly. For this purpose, a speed encoder signal from an upstream process drives a digital to analog converter (not shown) to supply a control signal to an associated frequency inverter (not shown) that controls the speed of the motors. 
     Drive  30  circulates endless belt  34 , which rotates pulley  36  of conveyor section  22  and pulley  38  of loading section  40 . The angle of elevation of loading section  40  can be adjusted by air cylinder  42 , acting through strut  44 , which is attached to the frame of section  40  to rotate therewith. Conveyor section  40  can rotate upwardly to the position illustrated in phantom in order to avoid receiving the stream of shingled goods that will be described presently. 
     Drive  32  circulates endless belt  46  to drive idler pulley  48  in order to circulate endless belts  50 . Belts  50  rotate pulleys  52  to drive conveyor section  24 . Endless conveyor belts  66  (FIG. 2) circulate on pulleys  68  and  70 . Pulleys  68  are driven by previously mentioned drive pulleys  52 . 
     Conveyor section  22  has axles  54  and  56  rotatably mounted in parallel frame members  58  (FIG.  3 ). Axle  54  is driven by pulley  36  to rotate pulleys  60 . Endless parallel conveyor belts  62  circulate around pulleys  60  and  64 , the latter being attached to axle  56 . 
     Conveyor section  40  has axles  72  and  74  rotatably mounted in parallel side frame members  76 . Axle  72  is driven by previously mentioned pulley  38 . Endless conveyor belts  82  circulate on pulleys  78  and  80 , which are mounted on axles  72  and  74 , respectively. 
     A pair of upright supports  84  (FIG. 1) attached to side frames  58  support cantilevered arms  86 . A support shaft  88 , mounted between arms  86 , supports central column  90  and a pair of side columns  92  (FIGS.  3  and  4 ). Columns  92  support cantilevered arms  94  which extend in the downstream direction and support dependent air cylinder  96 . Lever  98  is rotatably supported on shaft  88  and is reciprocated by the air cylinder  96 . Lever  98  supports on its distal end a nip roller  100 . 
     Column  90  supports cantilevered arm  102  which extends in the upstream direction and supports dependent air cylinder  104 . Cylinder  104  is connected to the upstream end of rocker  106 , which rotates about shaft  88 . The downstream end of rocker  106  is connected to a reciprocating blade  108 . 
     A shingled stream of goods  110  is shown riding on conveyor belt  82  in FIG.  4 . In this view, blade  108  has been lowered to stop the flow of goods  110 , allowing the stream of shingled goods  112  to continue to flow downstream on conveyor belts  62 . Infrared sensor  99  is shown located in the vicinity of blade  108  below and between conveyor belts  82  in order to sense the arrival of, as well as gaps in, the shingled streams. Sensor  99  has an infrared radiator that sends a beam upwardly between the conveyor belts  82  toward a reflector (not shown) which can return the beam to a detector in sensor  99 . 
     Referring to FIGS.  1  and  5 - 8 , endless conveyor belts  62  are shown overlaid by downstream nip rollers  114 , which are mounted on articulated arms  116 . A gap sensor  117  is located below conveyor belts  62 . Sensor  117  has an infrared radiator that sends a beam upwardly between the conveyor belts  62  toward a reflector (not shown) which can return the beam to a detector in sensor  117 . As described further hereinafter, the beam is interrupted when the shingled goods are flowing on conveyor belts  62 , except when a gap arrives in the vicinity of sensor  117 . 
     A guide  118  is shown as a blade having a converging upstream section leading to a horizontal midsection, followed by a vertical section. The upstream/downstream position of guide  118  can be adjusted to accommodate the specific size of the stock being delivered by conveyor belts  62 . Essentially, guide  118  causes the incoming goods to descend and form a stacked bundle, as will be described presently. As this bundle grows it eventually reaches a height that is detected by capacitive sensor  119 . This stacked bundle is jogged on the side by a chrome plate vibrated by a continually operating air motor (neither plate nor motor are shown). The bundle is also jogged from behind by two fingers (not shown) that are spring-loaded away from the bundle. These fingers are periodically driven toward the bundle by a cam (not shown) mounted on the axle of conveyor pulley  70 . 
     Underneath conveyor belts  62  is an air cylinder  120  supported on the structure of conveyor section  24  by plate  121 . Cylinder  120  has attached to its piston arm a parallel pair of reciprocating implements  122 . Implements  122  horizontally reciprocate between the extended position illustrated in FIG. 5 to a retracted position wherein the implements  122  are completely underneath endless conveyor belts  62 . 
     A vertically reciprocatable table  124  is shown in FIG. 5 in an elevated position, downstream from and slightly below conveyor belts  62 . Table  124  has the fork-like structure shown in FIG.  6  and includes a parallel pair of plate-like supports  124 A and  124 B. Table  124  is raised and lowered by the piston arm  126 A of hydraulic cylinder  126 . This cylinder is connected to an air/oil tank. The control media is air, and the motion media is non-compressible hydraulic oil. Table  124  is raised and lowered by the piston arm  126 A of air cylinder  126  (FIGS. 1,  5  and  6 ) to cause supports  124 A and  124 B to slide through openings  126  in span  129 . Cylinder  126  is supported on block  125  which is attached through plate  127  to beam  128  (FIG.  1 ). In turn, beam  128  is cantilevered from support  20 . Span  129  is a steel gang plank with a central longitudinal groove  130 . Span  129  extends downstream from a position below implement  122  to a tapered downstream end. 
     A pusher is shown herein as a vertical plate  132 , which is horizontally reciprocated by air cylinder  134 . Cylinder  134  is supported by block  135 , which is attached to support  20  (FIG.  1 ). Pusher  132  is shown in its retracted position in FIGS. 1 and 5, but can extend and effectively ride along the top of span  129  in a manner to be described presently. 
     Referring to FIGS. 1,  5 ,  7  and  8 , an engagement assembly is shown having a carriage assembly  136 . Carriage assembly  136  has a flaf-shaped carriage plate  138  riding by means of linear bearing  140  on rail  142 . Rail  142  is an elongate member attached to a fence  144  supported by previously mentioned support  20  and strut  146 . Strut  146  is attached to previously mentioned cantilevered beam  128 . A bridging arm  148  attached to the top of the carriage plate  138  carries a pair of rollers  150  that straddle fence  144  to prevent carriage plate  138  from rotating about rail  142 . Brackets  147  are attached to fence  144  to support channel beam  152  and a number of position sensors  154 , whose support brackets  156  can be unclamped to slide within channel  152  and thereby allow longitudinal repositioning of the sensors  154 . Sensors  154  may employ Hall-effect crystals, although other transducer types may be used as well. Bridging arm  148  supports an upright probe  158  that can come into alignment with and sequentially trigger each of the sensors  154  as carriage plate  138  rides along rail  142 . To accommodate electrical connections as the carriage moves, a cable shield  160  containing cables  162  extends from shelf  164 , loops up, and attaches to bridging arm  148 . 
     Carriage assembly  136  is moved along rail  142  by drive motor  166  (FIG.  1 ), which is attached to right angle drive  168 , which is in turn supported by fence  144 . Output pulley  170  of drive  168  circulates endless loop  172  around idler pulley  174  on bracket  147 . Carriage  136  is attached to and longitudinally driven by endless loop  172 . 
     The carriage assembly  136  also has a two-part mounting block  174  (FIGS. 7 and 8) for guiding slide bars  176 , whose lower ends are attached to a footer  178 , which supports a scoop  180 . An upright slider  182  is attached in a position perpendicular to scoop  180 , and adjacent to the downstream face of footer  178 . An air cylinder  184  in block  174  has its piston rod  186  attached to footer  178  to vertically reciprocate scoop  180  relative to carriage plate  138 . 
     A bracket  188  attached to block  174  supports an air cylinder  190  whose piston rod  192  is attached to a gripper  194  having on its underside a pair of elastomeric gripping bumpers  196 . Gripper  194  is a plate having a C-shaped proximal end designed to slidably embrace upright slider  182 . 
     An cylinder  198  (FIGS. 1 and 5) are attached by support plate  200  to cantilevered support beam  128 . Their piston rods  202  are attached to stops  204  and act as vertically reciprocating stops. Stops  204  extend and retract through slots in span  129  on either side of groove  130 . 
     A vertical guide plate  206  (FIGS. 1 and 8) extends along the length of span  129 . Plate  206  has a fixed plate  206 A adjacent to a jogger plate  206 B. Fixed plate  206 A is supported on a standard  208 , which supports an adjustable support arm  210 . Arm  210  also supports an electrically actuated jogging mechanism  212 , which supports jogger plate  206 B. Accordingly, jogging mechanism  212  and jogger plate  206 B act as a jogger to laterally tap and straighten a stacked bundle arriving there. 
     The tapered, distal end of span  129  extends to the top of an automatic banding machine  214 . Machine  214  has an arch  216  that can wrap a band (not shown) around a stacked bundle  218 . An air cylinder  220  attached to the top of arch  216  has a presser  224  in the shape of a bar that can be vertically pressed upon bundle  218  to compress and steady it in preparation for banding. 
     Referring to FIG. 9, programmable logic controller  228  is a commercially available device that can be programmed with a variety of instructions that can perform logical operations on various inputs to produce control outputs. The control outputs may exist only for as long as the logical prerequisites prevail, or can be latched until reset by the onset of some other logical prerequisite. Instead of an immediate output, some instructions will produce a delayed output to incorporate a timing feature. The instructions can cause a response to the first occurrence (or conclusion) of a control input that follows some necessary, preceding event. Various process control systems are available to provide functions of this type. Alternatively, a microcomputer or other computing device can be used to monitor the control inputs and produce control outputs using any one of a variety of programming languages. 
     The previously mentioned robotic arm is moved longitudinally by previously mentioned motor  166  (FIG.  1 ). As shown in FIG. 9, motor  166  can be driven in either the forward (FWD) or reverse (REV) direction by outputs Y 2  and Y 3 , respectively, from controller  228 . Also, motor  166  can be driven at either one of two preset speeds (PS 1  and PS 2 ) by outputs Y 4  and Y 5 , otherwise the motor will run at a predetermined normal speed. 
     In this embodiment four position sensors  154  (FIG. 1) will be set at four unique positions along channel  152  (FIG.  8 ). One of the sensors  154  will be at a home position corresponding to the starting upstream position for the robotic arm in order to apply a HOME signal to input X 1  (FIG. 9) of controller  228 . Another one of the sensors  154  will be set at a maximum position corresponding to the maximum downstream position for the robotic arm in order to apply a MAX signal to input X 6  of controller  228 . Two other sensors  154  will be set at intermediate positions corresponding to locations of the robotic arm where it is desirable to adjust arm speed or lower and raise the previously mentioned gripper  194 / 196 , by sending a location signal DF and UF to inputs X 3  and X 4 , respectively, of controller  228 . 
     Previously mentioned scoop cylinder  184  (FIGS. 5 and 9) can be operated by output YB of controller  228 . Proximity sensors (not shown) detect whether scoop cylinder  184  is in the full up or full down position to apply corresponding signals to inputs XE or XD, respectively. 
     Goods being supplied to the apparatus of FIG. 1 are counted by device  226  which receives a COUNT pulse signal from an upstream process (for example a rotary die cutter) that is producing goods. Device  226  is pre-programmed to produce a batch pulse every time the count increases by a predetermined increment. Counting starts with the creation of a gap as sensed by previously mentioned sensor  99  (shown coupled to device  226  in FIG.  9 ). Also, previously mentioned sensors  119  and  117  (FIG. 5) apply their signals to inputs X 11  and X 12 , respectively, of controller  228 . 
     Previously mentioned implement cylinder  120  (FIGS. 5 and 9) can be operated by output Y 8  of controller  228 . Proximity sensors (not shown) detect whether implement cylinder  120  is in the fully extended or fully retracted (home) position to apply corresponding signals to inputs X 7  or X 8 , respectively. 
     Previously mentioned table cylinder  126  (FIGS. 5 and 9) can be operated to lower or lift table  124  by producing control signals on outputs Y 10  and Y 11 , respectively, of controller  228 . Proximity sensors (not shown) detect whether table cylinder  184  is in the full up or full down position to apply corresponding signals to inputs XB or XC, respectively. 
     Previously mentioned pusher cylinder  134  (FIGS. 5 and 9) can be operated to retract or extend pusher  132  by applying a signal to outputs Y 12  and Y 13 , respectively, of controller  228 . Proximity sensors (not shown) detect whether pusher cylinder  134  is in the fully extended or fully retracted (home) position by applying corresponding signals to inputs X 9  or XA, respectively. 
     Controller  228  also provides the following outputs: output signal YA to extend previously mentioned stop cylinder  198  (FIG.  5 ); output signal YD to operate presser cylinder  220  and lower presser bar  224  (FIG.  1 ); output signal Y 6  to operate automatic banding machine  214  (FIG.  1 ); output signal Y 7  to operate nip cylinder  96  and blade cylinder  104  (FIG.  1 ); output signal YE to operate gripper cylinder  190  (FIG. 5) and lower gripper  194 / 196 ; and output signal YF to operate jogger mechanism  212  (FIG.  1 ). 
     The upstream conveyor motor  26  and the downstream conveyor motor  28  (FIG. 1) normally operate at the same preselected speed (synchronized to incoming product flow rate). Controller  228  can produce a signal Y 1  that is applied to the preset-speed input PS 1  to decelerate motor  26  to a predetermined lower speed. Controller  228  can also produce a signal Y 0  that is applied to the preset-speed input PS 1  to accelerate motor  28  to a predetermined higher speed. 
     To facilitate an understanding of the principles associated with the foregoing apparatus, its operation will be briefly described with reference to the foregoing Figures as well as the schematic diagrams of FIGS. 10A-10D. In the following description goods are being produced by a rotary cutter or other machine (not shown) upstream of conveyor section  40  (FIG.  1 ). Initially, section  40  is elevated to the position shown in phantom so that goods do not reach the system of FIG.  1  and are diverted as a waste stream. When an operator is ready to count and bundle goods, cylinder  42  is operated to lower section  40  to the position shown in full in FIG.  1 . Consequently, a stream of shingled goods  227  arrives on conveyor section  40 . 
     With motors  26  and  28  operating at the same speed, the shingled stream of goods flow across section  40  to section  22  and then onto section  24 . Specifically, motor  26  circulates belt  34  to drive pulleys  36  and  38 , which circulates conveyor belts  82  and  62  (FIGS.  1  and  2 ). Motor  28  circulates belt  50  to drive pulleys  52 , which circulates conveyor belts  66 . 
     Eventually, the leading edge of the single shingled stream  227  reaches infrared sensor  99  (FIG. 4) to interrupt its infrared beam. Sensor  99  applies a signal to batch pulse generator  226  (FIG.  9 ), which then begins counting. In this embodiment the counting signal is supplied by a proximity sensor on the cutting head of the rotary cutter (not shown), which is supplying product to the system. 
     The shingled stream eventually passes under nip rollers  114  (FIGS. 1 and 5) and is stopped from further forward movement by guide  118 . Consequently, the goods form a bundled stack  230 B atop table  124  as shown in FIG.  10 A. Implements  122  are shown retracted since table  124  has recently reached its highest position. A previously stacked bundle  230 A is shown engaged by carriage assembly  136  of the engagement means. Scoop  180  is inserted under the stack while gripper  194  is pressed on the top of the stack. Stack  230 A is being moved downstream by the carriage assembly  136 . 
     As stack  230 B grows, sensor  119  (FIG. 5) detects an excessive height and applies an input signal to input X 11  of controller  228  (FIG.  9 ). Controller  228  produces an output signal on output Y 10  to lower table  124  until the input X 11  indicates that the stack height is no longer excessive. Consequently, the table  124  gradually descends as the stack grows. 
     Eventually, batch pulse generator  226  (FIG. 9) produces a pulse at input X 0 , indicating the desired count has been achieved for a bundle. One-half second later controller  228  changes the speeds of motors  26  and  28  by producing control signals at outputs Y 0  and Y 1 . Specifically, the speed of motor  26  and is halved, while the speed of motor  28  is doubled. Consequently, conveyor sections  22  and  40  decelerate while conveyor section  24  accelerates. At about the same time, controller  228  produces an output signal at output Y 7  to operate cylinders  96  and  104  (FIG.  4 ). In response, blade  108  descends to stop upstream stream  110 , while nip roller  100  descends onto conveyor  62  to help accelerate downstream stream  112 . The resulting gap shown in FIG. 4 is allowed to expand for about one-half second to create a 12 inch (30.5 cm) gap. Thereafter, cylinders  104  and  96  are released to allow blade  108  and nip rollers  100  to rise. Simultaneously, motors  26  and  28  are returned to their normal speed so that streams  110  and  112  travel at the same speed. 
     Eventually the gap between streams  110  and  112  reaches sensor  117  (FIG. 5) to apply a signal to input X 12  of controller  228  (FIG.  9 ). In response, controller  228  produces an output signal at output Y 10  to operate cylinder  126  and lower table  124  as shown in FIG. 10B, until fully lowered as indicated by a low signal at input XC. One-half second after table  124  begins its descent, controller  228  produces an output signal at output Y 8  to operate cylinder  120  and extend implements  122 ; until a maximum signal is received at input X 7 , indicating the implements  122  are fully extended. 
     As shown in FIG. 10C new stream  227 B now falls onto implements  122  to begin a new bundle. Also shown is the fully lowered position of table  124 . Controller  228  detects this lowered position from the low signal received at input XC and then produces a push signal at output Y 13  to operate cylinder  134  so that pusher  132  begins moving as shown in FIG.  10 C. At the same time, controller  228  produces an output signal at output YA to operate cylinder  198  and raise stops  204 , as also shown in this Figure. 
     Pusher  132  pushes stacked bundle  230 B along span  129  until it reaches stops  204 , which are now fully deployed at shown in FIG.  10 D. Controller  228  immediately reverses the direction of pusher  132  when a full pusher extension signal is detected at input X 9 . Simultaneously, controller  228  retracts stops  204  and also elevates table  124  (until a high signal is received at input XB). 
     Significantly, the two table supports  124 A and  124 B (FIG. 6) straddle the piston rod  134  of pusher  132 . Therefore, the top of table  124  can rise above the pusher  132 / 134  without interference. In fact, the distal pusher element  132  can itself slide between the supports  124 A and  124 B without interference. Thus, the table can return promptly because it need not await full retraction of the pusher. When table  124  has risen to its full height, controller  228  retracts implements  122  to return to the condition shown in FIG.  10 A. 
     The foregoing described the handling of bundle  230 B, without fully commenting on the handling of prior bundle  230 A. FIG. 10D shows bundle  230 B pushed against stops  204 , which stops are in the process of descending. In FIG. 10A, prior bundle  230 A had already reached that position (and the stops were fully lowered). Accordingly, the handling of bundle  230 A illustrated in FIGS. 10A-10D also represents the handling that bundle  230 B would receive, even though that handling is not explicitly illustrated. It is significant to note, however, that these processes are occurring in parallel. This greatly enhances the throughput of the system. 
     Controller  228  moves carriage assembly  136  to the position shown in FIG.  10 A through several discrete motions. First, scoop  180  is lowered when full retraction of pusher  132  is detected by a home signal on input XA. The initial lowering of scoop  180  occurs at a position upstream of the location shown in FIG. 10A for bundle  230 A. Controller  228  allows this lowering of scoop  180  only when the robotic arm is in the home position as indicated by a home signal at input X 1 . This home signal is produced by the position sensor  154  (FIG. 1) that is located in the most upstream position. Also, when the scoop  180  is fully lowered as indicated by the signal at input XD, controller  228  operates jogger  212  for a predetermined interval (for example, until the robotic arm moves a predetermined distance). 
     Once the scoop  180  is fully lowered, controller  228  produces on output Y 2  a signal that commands motor  166  to send carriage assembly  136  forward (downstream direction). Eventually scoop  180 , traveling inside groove  130  goes under bundle  230 A. As carriage assembly  136  moves forward it eventually triggers another one of the position sensors  154  to apply signal DF to input X 3  (FIG.  9 ). In response, controller  228  produces a signal on output YE to activate cylinder  190  and bring gripper  194  down to the position shown in FIG.  10 A. Controller  228  keeps gripper  194  down for 0.2 seconds or until carriage assembly  136  reaches another overriding sensor  154 . 
     Carriage assembly  136  stops at a maximum forward position when a corresponding position sensor  154  applies a limit signal to input X 6 . This forward motion of the bundle can displace a prior bundle that may still be located in the automatic banding machine  214 . Around this time, controller  228  produces a signal on output YD to lower presser bar  224  to compress and remove air out of the bundle  230 A. Simultaneously, controller  228  produces a signal on output Y 6  to operate automatic banding machine  214 , which starts its operation after a predetermined, internal delay. 
     Controller  228  now sends a signal on output Y 3  to reverse the direction of motor  166  and move carriage  136  in an upstream direction. At the same time, gripper  194  is raised. Eventually, carriage assembly  136  returns to the home position shown in FIG.  10 D. Throughout these operations, the speed of motor  166  can be automatically adjusted. For example, the speed is reduced as the scoop  180  approaches the stacked bundle to avoid a hard impact. Other speed adjustments can be made by dictating a speed change as the longitudinal position of the robotic arm changes. 
     The foregoing cycle can repeat indefinitely to automatically produce multiple bundles of goods having a predetermined count. 
     It is appreciated that various modifications may be implemented with respect to the above described, preferred embodiment. Goods may be supplied by a variety of machines other than a rotary cutter. Also the final stage may be a machine other than an automatic banding machine; or no machine may be used at the end and the bundled goods may simply be collected. Furthermore, the various steps disclosed herein may be performed with a different sequence or timing, where steps may be delayed, accelerated, supplemented or eliminated. Also, the gap may be created by all or only some of the devices illustrated herein. These devices may be swung on arms as shown, may be vertically reciprocated, or moved in some other fashion. Furthermore, embodiments employing a pair of conveyors may change the speed of only one conveyor. Moreover, the robotic arm may have any one of a variety of carriages that are supported by chains, underlying rails, articulated arms, or other means. In still other embodiments the robotic arm may have a gripper that is supported on a lever, or may be eliminated completely. While a number of pneumatic cylinders are illustrated, in other embodiments these may be actuated electromagnetically, hydraulically, or by other means. While the illustrated conveyors each uses a pair of parallel belts, in other embodiments a different number of belts or a single belt may be employed. Also, the table may be cantilevered on a single support that may extend upwardly to an actuator, or may be elevated by a scissor mechanism, hoisting cables, etc. 
     Obviously, many modifications and variations of the present invention are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims, the invention may be practiced otherwise than as specifically described.