Abstract:
This machine can automatically load packages of various sizes and shapes into containers in a variety of pack patterns. The machine has a package infeed system that transfers the package to a package locating system that locates the package at a stationary package placement location. A package placement vertical drive picks up the package from the stationary package placement location and can rotate the package about a vertical axis as well as lowering the package into the container and releasing it at the proper location. The package placement vertical drive grips the package by vacuum. It includes a quick attach and detach vacuum head which enables the rapid change-over of the system. The machine includes a case conveyor that moves the container along the longitudinal axis of the machine as well as to the left or right in a direction normal to the longitudinal axis of the machine. This machine, along with the method performed by this machine, has the ability to perform several functions simultaneously which enables it to operate at high speeds.

Description:
[0001]    This nonprovisional application claims the benefit of provisional application No. 60/318,102 that was filed on Sep. 7, 2001.  
         BACKGROUND OF THE INVENTION  
         [0002]    The invention relates to a pick-and-place machine and method for packaging products, such as filled, sealed packages, into cases. More specifically, the invention relates to a system that can pick up packaged products of any size or shape and then place the package into a case of any size or shape in a selected packaging sequence or patterns. Packages of products, for example, potato chips or other snack foods, are of a general pillow-shape rather than square or rectangular, and the product contained in the packages are delicate and breakable. The delicate products contained in these packages can be damaged if when conveying the package horizontally the package is accelerated or decelerated excessively. The packing order or patterns for such packages must be designed to prevent the packages from shifting around within the closed cases. Successful pack patterns frequently require the packages to overlie or overlap, and alternate layers to be different. A machine for packaging packages such as this is disclosed in U.S. Pat. No. 6,003,286. Although the machine disclosed in this patent has been very successful, it is a large machine, its speed is limited, and change-over from one package and container to a different package and container is time-consuming.  
         SUMMARY OF THE INVENTION  
         [0003]    This invention comprises a pick-and-place robotic machine that will load and unload packages into containers and the method for loading and unloading packages into containers in a way that overcomes the limitations of the prior art machines. This machine and method conveys the packages horizontally to a position under a robotic head in a motion having no abrupt accelerations or decelerations and thus minimizes damage to the delicate products. This machine and method move the container into position under a robotic head while the robotic head remains stationary. As a result, the machine of this invention is very stable and the size or “footprint” of the machine is smaller than existing machines that pick up a package, move the package horizontally and then place the package vertically into the container. Several motions occur simultaneously during the operation of applicant&#39;s machine and contribute to the improvement of this machine over the prior art machines.  
           [0004]    It is important that pick and place machines of the type disclosed herein are versatile to enable them to process a large variety of products, place the products in containers of various sizes and in selected pack patterns.  
           [0005]    The machine and method of this invention include a container or case conveyor that is capable of moving the container in either direction along the longitudinal axis of the conveyor as well as shifting the container to the left or right in a direction normal to the longitudinal axis of the conveyor.  
           [0006]    The machine and method of this invention also include a package infeed system including a constant motion band conveyor and a vacuum transfer mechanism which lifts the package from the band conveyor and transfers it horizontally to a stationary package placement location. The speed of the band conveyor is adjustable, and the vacuum transfer mechanism is programmed to accommodate packages of the size being processed. The vacuum transfer mechanism functions to lift the package off the band conveyor and thus transfers control of a package from the band conveyor to the vacuum transfer mechanism.  
           [0007]    The machine of this invention further includes a package placement vertical drive which rotates the package about a vertical axis as well as lowers the package into the container and releases it at the proper elevation. The package placement vertical drive grips the package by vacuum and includes a quick attach and detach vacuum head which enables the rapid change-over of the system.  
           [0008]    The machine and method of this invention have a smaller footprint that requires less floor space than prior art machines of comparable capacities. Also, the machine is very stable and durable. The machine and method of this invention can place packages into containers in predetermined patterns faster than the prior art machines, as a result of the ability to perform several motions simultaneously. Another advantage of this machine over the prior art is that it can be quickly and easily changed over between different size packages, different patterns and different containers, and it has the ability to place the packages in a container in any pack pattern. In addition, the machine is designed for the sanitary conditions necessary in the food industry. Its construction of aluminum and stainless steel enables the machine to be washed down. 
       
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS  
       [0009]    [0009]FIG. 1 is a front schematic view of the machine.  
         [0010]    [0010]FIG. 2 is a right-side schematic view of the machine.  
         [0011]    [0011]FIG. 3 is a back schematic view of the machine.  
         [0012]    [0012]FIG. 4 is a left-side schematic view of the machine.  
         [0013]    [0013]FIG. 5 is a cross-sectional view taken along lines  5 - 5  of FIG. 1.  
         [0014]    [0014]FIG. 6 is an isolated isometric view of the vacuum transfer mechanism.  
         [0015]    [0015]FIGS. 7 through 12 and FIGS. 7A through 12A are a series of schematic views representing the handling sequence of a package after it has been received by the package infeed system.  
         [0016]    [0016]FIGS. 13 and 13A are side and top views of the machine showing containers that have been filled.  
         [0017]    FIGS.  14 - 20  disclose a second embodiment of the invention.  
         [0018]    [0018]FIG. 14 is a view, similar to FIG. 5, of another embodiment of the invention.  
         [0019]    [0019]FIG. 15 is an isolated view of the package locating system that includes a different embodiment of the horizontally extending members than shown in FIG. 14.  
         [0020]    [0020]FIG. 16 is an isolated side view of the package infeed system used with the embodiment shown in FIG. 14.  
         [0021]    [0021]FIG. 17 is an isolated front view of the package infeed system shown in FIG. 16.  
         [0022]    [0022]FIG. 18 is a right-side view of the machine showing the mechanism for opening and closing the package slide members.  
         [0023]    [0023]FIG. 19 is an isolated plan view of the vacuum stop and placement member.  
         [0024]    [0024]FIG. 20 is a right-side view of the machine showing the vacuum stop and placement member. 
     
    
     DETAILED DESCRIPTION OF THE INVENTION  
       [0025]    Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings; however, the present invention can be implemented in a number of ways and is not limited to the embodiments described below.  
         [0026]    Referring now to FIG. 1, wherein a front view of the pick and place robotic machine  100  of this invention is shown. The machine  100  has a main frame  10  that supports a detection system  50 , container or case conveyor  200 , a package infeed system  300  and a package placement vertical drive system  400 . The container or case conveyor  200 , package infeed system  300  and a package placement vertical drive system  400  are each driven by servo motors or pneumatic activators that are, along with the detection system  50 , operatively associated with a programmable logic controller (PLC)  60  that controls the sequential operation of the operative components.  
         [0027]    The container or case conveyor  200 , has a horizontal belt conveyor  202  carried by a frame  204 . The horizontal belt conveyor  202  functions to move containers or cases  20  in either direction along its longitudinal extent that extends from the front to the back of the machine  100 . The servo motor  214  for driving the horizontal belt conveyor is best seen in FIG. 3, which is a back view of the machine  100 . The frame  204  for the case conveyor is supported at the front and back of the machine  100  by pairs of links  205  and  206 . Links  205  and  206  are pivotally connected to the main frame  10  at their lower extremity and to the frames  204  at their upper extremity, such that the links  205 ,  206  and frames  10  and  204  function as a four-bar linkage, allowing the frame  204  to move to the right or left of its central location while being maintained horizontal. As best seen in FIG. 1, the movement of the container or case conveyor between its extreme left, central and extreme right locations is controlled by a servo motor  208  that is carried by the main frame  10 . Servo motor  208  has a lever  210  rigidly secured to its output shaft, the free end of which is pivotally connected to an adjustable length bar  212 . The other end of adjustable length bar  212  is pivotally connected to link  205 . As a result of this mechanism, the servo motor  208  can, in response to a signal from the PLC  60 , move the location of the container or case conveyor  200  to any location between its extreme left position and its extreme right position. The extreme left and right positions of the container or case conveyor  200  are within the confines of the main frame  10 . As seen in FIG. 1, the case conveyor  200  is at a central location between the right and left extreme locations. As a result, the container or case conveyor  200  is capable of locating a container or case  20  anywhere along its longitudinal extent and between its left and right extreme locations.  
         [0028]    A portion of an embodiment of the package infeed system  300  is seen in FIG. 1. A front end view of the constant motion band conveyor  302  and the motor  304  that drives it are seen in FIG. 1. The end of the constant motion band conveyor  302  seen in FIG. 1 includes a spool-like member  308  having grooves formed therein for receiving four bands  306 .  
         [0029]    A conveyor (not shown) feeds packages  30  to the front end of the constant motion band conveyor  302 , which packages are detected by the detection system  50  which sends a signal to the PLC  60  indicating the arrival of a package  30 .  
         [0030]    The package infeed system  300  has a package locating system  360  that in this embodiment includes a vacuum transfer mechanism  310  (see FIGS. 5 and 6), which grips the package by vacuum, lifts the package from the band conveyor  302  and then transfers it horizontally toward the back of the machine  100  to a stationary package placement location  500 . The vacuum transfer mechanism then releases its vacuum grip of the package  30 . The speed of the band conveyor  302  is constant but can be adjusted and the vacuum level of the vacuum transfer mechanism  310  can be adjusted to accommodate the size and weight of the packages  30  being processed. The vacuum transfer mechanism  310  functions to lift the package  30  off the band conveyor  302  and thus transfers control of a package from the band conveyor  302  to the vacuum transfer mechanism  310 . The servo motor  312  for moving the vacuum transfer mechanism  310  fore and aft of the machine  100  is shown in FIG. 2, which is the right side view of the machine  100 .  
         [0031]    Also seen in FIG. 1 is the package placement vertical drive system  400  which lifts the package  30  from the vacuum transfer mechanism  310 , rotates the package  30  about a vertical axis when required by the packaging pattern, and then lowers the package  30  into a container  20  and releases it at the proper elevation. The package placement vertical drive system  400  is carried by a support  12  that extends from the main frame  10 . The vacuum transfer mechanism  310  is returned to the front of the machine  100  after the package  30  is lifted by the package placement vertical drive system  400  at the stationary package placement location  500 . This allows the package placement vertical drive system  400  to lower the package into the container  20 . The servo motor  404  for raising and lowering the package placement vertical drive system  400  is shown in FIG. 4, which is the left side view of the machine  100 . The package placement vertical drive system  400  grips the package by vacuum and includes a quick attach and detach vacuum head  402  which enables a rapid change-over of the system. Vacuum heads  402  of various sizes and shapes can be quickly secured to the package placement vertical drive system  400 . The servo motor  404  drives a drive sprocket  406 , mounted on support  12 , that drives a timing belt  405  that also extends over an upper sprocket  408 . An arm  410  is secured to a portion of the timing belt  405 . Through this mechanism, the arm  410  can reciprocate vertically. The other end of arm  410  is connected to a spindle  401  that carries the vacuum head  402  at its lower end. The spindle  401  extends through a driven sprocket  414  that is mounted for rotation on the support  12 . The spindle  401  can slide vertically through the center of the driven sprocket  414 , however, the cross-section of the spindle and the opening in driven sprocket  414  are such that they must rotate together. The driven spindle  414  carries a timing belt  416  that is driven by a drive spindle  418  that, in turn, is driven by a pneumatic actuator or servo motor  420 . Thus, after a package  30  has been picked up by the vacuum head  402 , the spindle  401  can be rotated, which rotates the package  30 . The mechanism driven by servo motor  404  can then be energized to lower the spindle into the container or case and to deposit the package  30  at the appropriate level. A vacuum tube  413  is connected to the upper end of spindle  401 , the other end of which is connected to a vacuum source  602  that is best seen in FIGS. 1 and 2.  
         [0032]    [0032]FIG. 5 is a cross-section view taken along lines  5 - 5  of FIG. 1 and shows a top view of this embodiment of the package infeed system  300 . The motor  304  that drives the spool-like member  308  and the bands  306  are seen in this view. The bands  306  extend toward the back of the machine where they extend over aligned followers  318  that have groves that receive the bands  306 . There is a right and a left follower  318 , each of which has two groves for accepting two of the bands  306 . The followers  318  and the spool-like member  308  are mounted for rotation on an infeed frame  320  that is supported by the main frame  10 . As a result of this mounting arrangement, the constant motion band conveyor  302  is secured to the main frame  10  and does not move relative thereto. It should be noted that the followers  318  do not extend across the infeed system, and as a result, it is open between the two innermost bands  306 . The vacuum transfer mechanism  310  is located in this opening between the two innermost bands  306 . The vacuum transfer mechanism  310  is formed by a weldment  322  that is secured to a bat wing-shaped mounting plate  324  that is mounted to be slid along a pair of fore and aft extending bars  326 . The ends of mounting plate  324  are secured to timing belts  328 . The right timing belt  328 , as seen in FIG. 5 extends over a driven sprocket  330  that is carried by a mounting plate  332  secured to the main frame  10 . The right side timing belt extends over a follower sprocket  334  that is carried by a mounting plate  336  secured to the main frame  10 . The driven sprocket  330  is secured to a shaft  338  that is driven through a timing belt by servo motor  312  (see FIG. 2).  
         [0033]    In FIG. 5, the bat wing-shaped mounting plate  324  is shown in two locations. The first location is at the front of the machine  100  at which the vacuum transfer mechanism  310  is nested between the bands  306  of the constant motion band conveyor  302 . In the second location, it is shown toward the back of the machine. This second location is where the package placement vertical drive system  400  picks up the package  30  from the vacuum transfer mechanism  310 . At the second location a top view of the spindle  401  and vacuum head  402  are shown. It should be noted that, in FIG. 5, at the second location of the bat wing-shaped mounting plate  324 , in an effort to simplify the drawing, the vacuum transfer mechanism  310  is not shown; however, it is secured to the mounting plate  324  and is moved with mounting plate  324  to this location.  
         [0034]    [0034]FIG. 6 is an isolated isometric view of a weldment  322  for the vacuum transfer mechanism  310 . The weldment  322  includes bottom bar  340  that is welded to an end plate  342 . Welded to the bottom bar  340  are two upright members  344  that add support for larger packages. A pair of bars  346  are welded to the end plate at locations on either side of the bottom bar. An elbow-shaped tube  348  is welded to the bottom of the bottom bar  340  and communicates through an opening in the bottom bar  340  with a vacuum plenum device  350 . The vacuum plenum device  350  is carried on the upper surface of bottom bar  340  between the upright members  344 . Openings are provided in the upper surface of the vacuum plenum device  350  which enables packages to be grasped when vacuum is applied to the plenum. A flexible tube is connected to the elbow-shaped tube  348 , the other end of which is connected to vacuum source  600 , best seen in FIG. 2. The cylinder portion of a pneumatic cylinder  352  is secured to the bottom surface of bottom bar  340 . The pneumatic cylinder  352  is secured to the bat wing-shaped mounting plate  324 . When pneumatic cylinder  352  is energized, the entire weldment  322  is elevated and the package is lifted off the constant motion band conveyor. Pneumatic cylinder  352  is energized in response to the recognition by the detection system  50  that a package  30  is approaching. The PLC  60  is programmed to send a signal to energize cylinder  352  at a predetermined time after it receives a signal from the detection system  50  indicating that a package is approaching. The predetermined time is the elapsed time that it will take the package to travel from the location where it is detected by the detecting system  50  until it is over the perforations in the top of the vacuum plenum device  350 . The PLC  60  is also programmed to send a signal to the vacuum source  600 , at a predetermined time after a package is recognized to provide a vacuum to vacuum plenum device  350 . Openings are provided in the upper surface of the vacuum plenum device  350  which enables packages to be stopped and held after the weldment  322  is elevated, as a result of the expansion of cylinder  352  and the application of a vacuum to the vacuum plenum device  350 .  
         [0035]    [0035]FIGS. 7 through 13 and FIGS. 7A through 13A are a series of schematic views representing the handling sequence of a package after it has been sensed by the detection system  50 . FIGS.  7 - 13  are right side views of the machine  100 . FIGS. 7A through 13A are cross-section views taken along lines A-A of FIGS.  7 - 13 .  
         [0036]    The packages are fed to the machine  100  by a conventional belt conveyor (not shown) and are sensed by the detection system  50  as they are about to be received by the constant motion band conveyor  302  of the package infeed system. The detection system  50  sends a signal to the PLC  60  which initiates a sequence that is illustrated in FIGS. 7 and 7A through  13  and  13 A. In this series of views, the main frame  10  of the machine  100  is shown in all views. The horizontal belt conveyor  202 , that supports the container or case  20 , is seen in side views FIGS.  7 - 13  and in top views FIGS.  7 A- 13 A. Side views of the constant motion band conveyor  302  and the vacuum transfer mechanism  310 , as well as the spindle  401  and vacuum head  402  of the package placement vertical drive system  400 , are shown in FIGS.  7 - 12 . A package  30  is also shown in FIGS.  7 - 12 . In an effort to simplify this series of views, the vacuum plenum device  350  and the pneumatic lifter cylinder  352  for the vacuum transfer mechanism  310  have not been shown in this series of views.  
         [0037]    As seen in FIGS. 7 and 7A, the pneumatic cylinder  352  has not been energized, the vacuum to the vacuum plenum device  350  has not been turned on, and the package  30  is at the left end of the constant motion band conveyor  302  and is being conveyed to the right. The pneumatic lifter cylinder  352  is in a waiting mode and has not been activated. The spindle  401  and vacuum head  402  are in their waiting or home positions. The container or case  20  is at the central or home position along the longitudinal axis of the horizontal belt conveyor  202  and the horizontal belt conveyor is at its home or central position.  
         [0038]    In FIGS. 8 and 8A, the package  30  is approaching the right end of the constant motion band conveyor and the pneumatic lifter cylinder  352  of the package lifter mechanism  352  is about to be activated causing the package  30  to be elevated above the surface of the constant motion band conveyor  302 . Also, a vacuum is about to be supplied to the vacuum plenum device  350 , which will stop the horizontal movement of the package and hold it in contact with the perforated surface of the vacuum plenum device  350 . The container or case has moved from its home position along the longitudinal axis of the horizontal belt conveyor  202  and is now located at its rear position. The horizontal belt conveyor  202  is shown at its home or central position but could, of course, be moved to the right or left positions depending on the pack pattern.  
         [0039]    In FIGS. 9 and 9A, the servo motor  312  has been energized, causing the timing belts  328  to shift the vacuum transfer mechanism  310  toward the back of the machine to a location at which the package  30  is located at the stationary package placement location below the vacuum head  402 . The vacuum to the vacuum plenum device  352  has been turned off. The constant motion band conveyor  302  is waiting for the next package to arrive. The spindle  401  and vacuum head  402  have the vacuum on and have been lowered to the pick up position. The container or case  20  has not been moved from its position in FIG. 8.  
         [0040]    In FIG. 10, the vacuum transfer mechanism  310  has been shifted back into its nested position within the constant motion band conveyor  302 . The vacuum for the vacuum plenum device  350  is off and a second package  30  has been recognized and is about to be received by the constant motion band conveyor  302 . Although the cycle for the first package has not been completed, a second cycle has been initiated for the second package  30 . The pneumatic lifter cylinder  352  has not been actuated at this stage and the vacuum for the vacuum plenum device  350  is off. However, the vacuum for the vacuum head  402  is on and the first package is held by the vacuum head  402 . The spindle  401  is indicated to be rotating, which allows the orientation of the first package  30  to be changed by 90° to facilitate various pack patterns. The position of the horizontal belt conveyor  202  has been changed through the four bar linkage mechanism that is best seen in FIG. 1. The container or case  20  is now in position to receive the first package  30  in accordance with the pack pattern, and will remain in this position until the first package  30  has been deposited in the container or case  20 .  
         [0041]    In FIG. 11, the spindle  401  has lowered to the proper depth in the container or case  20 . When the spindle  401  reaches the proper depth, the vacuum to the spindle is turned off and the package is released from the vacuum head  402 . The package  30  has been received at the left end of the constant motion band conveyor  302 .  
         [0042]    In FIG. 12, the spindle  401  and vacuum head  402  have been raised to their home or wait positions with the vacuum off. The horizontal belt conveyor  202  remains in the same position, as shown in FIG. 10. The pneumatic lifter cylinder  352  of the package lifter mechanism  352  is about to be activated, causing the package  30  to be elevated above the surface of the constant motion band conveyor  302 . Also, a vacuum is about to be supplied to the vacuum plenum device  350  which will stop the horizontal movement of the package and hold it in contact with the perforated surface of the vacuum plenum device  350 . The status shown in FIG. 12 is the same as shown in FIG. 8, except the container or case  20  is in a different location and the first package has been deposited in the container in accordance with the pack pattern.  
         [0043]    [0043]FIGS. 13 and 13A show side and top views of the horizontal belt conveyor  202  with a container that has been filled with packages in the desired pack pattern. The full container is fed by the horizontal belt conveyor  202  out the back of the machine  100  (to the right as seen in FIG. 13) to a removal conveyor, and an empty container or case  20  is fed to the horizontal belt conveyor  202  from the front of the machine  100 .  
         [0044]    Another embodiment of the package infeed system  300  is shown in FIGS.  14 - 20 . This embodiment includes a constant motion band conveyor  302  and a package detection system  50  similar to that used in the previous embodiment. The drive for band conveyor  302  in this embodiment differs from the drive disclosed in the previous embodiment. The drive input shaft  303  and motor support plates  305  are shown in FIGS. 14, 16 and  17 . As best seen in FIGS. 16 and 17, the motor support plates  305  support a horizontal motor mounting plate  307  on which is mounted the drive motor  311 . Drive is transmitted from the drive motor  311  to the drive input shaft  303  by a cog drive belt  313 .  
         [0045]    This embodiment of the package infeed system  300  is mounted on a machine  100 , having a main frame  10  of the type shown in the previous embodiment and functions in cooperation with the case conveyor system  200 , package placement vertical drive system  400 , and the stationary package placement location  500  of the type disclosed in the previous embodiment. For this reason, the case conveyor system  200  and the package placement vertical drive system  400  are not shown in this second embodiment of the invention. The package locating system  360  of this embodiment differs from that vacuum transfer mechanism  310  used in the prior embodiment.  
         [0046]    Referring now to FIG. 14, the constant motion band conveyor  302  receives packages  30  from a conveyor (not shown) in a random fashion. The conveyor  302  has a spool-like member  308  at its receiving end and a second spool-like member  309  at its discharge end over which bands extend. The conveyor  302  is driven by motor  311  for which the speed can be adjusted. Other types of adjustable speed constant motion conveyors could be used. The speed of conveyor  302  is adjusted such that it will propel or slide the package  30  horizontally from its discharge end toward the stationary package placement location  500 .  
         [0047]    A pair of package slide members  362  are located downstream of the discharge end of the conveyor  302 . The package slide members  362  are moveable between the positions shown in FIG. 14 and FIG. 15. When the package is discharged from the discharge end of conveyor  302 , the package slide members  362  are in their closed position shown in FIG. 15, but not engaging. Each of the package slide members  362  has a vertically extending flange  364  and a horizontally extending member  363 . As seen in FIG. 14, the horizontally extending members  363  has horizontally extending flanges formed by a plurality of horizontally extending fingers  365 , each of which supports a roller  366  that is mounted to freely rotate, thus providing a low friction surface for receiving the packages that are propelled or slid from the discharge end of conveyor  302 . As seen in FIG. 15, the horizontally extending flanges are in the form of flat plates formed from low friction plastic material. The FIG. 15 type of horizontally extending members are preferred for lighter packages  30 , and the FIG. 14 type of horizontally extending members are preferred for heaver packages  30 . Both versions of the package slide members  362  form a channel-shaped receptor for the packages  30 , having a low friction horizontal surface. The momentum of the packages causes them to continue to move toward the center of the stationary package placement location  500 . As will be further discussed, the leading end of a package  30  will encounter a vacuum stop and placement member  368  that is shown in FIG. 14 (but has not been shown in FIG. 15 in an effort to simplify that view).  
         [0048]    [0048]FIG. 15 is an isolated view of the package slide mechanisms  362  and the means for causing them to move back and forth between the positions, as seen in FIGS. 14 and 15.  
         [0049]    The main frame  10  of the machine  100  includes a pair of fore-and-aft extending frame members  370  each of which has two guides  372  secured thereto. Each guide  372  has a horizontal bore formed therein that slidabably receives a rod  373  that is secured to the package slide members  362 . Each of the package catching members  362  has a pair of rods  373  that extend through the horizontal bores formed in the guides  372  thus guiding the package slide members  362  as they reciprocate between the positions, as shown in FIGS. 14 and 15.  
         [0050]    The mechanism for imparting sliding movement to the package slide members  362  will be discussed with reference to FIGS. 14, 15 and  18 . FIG. 18 is a partial right-side view of the machine  100 , similar to FIG. 2, but modified to show features of this embodiment. FIG. 15 is an isolated plan view of the package slide members  362  and mechanism for imparting sliding movement thereto. As best seen in FIG. 14, the main frame  10  of the machine  100  includes a horizontal supplemental frame member  371  that is secured at each free end to one of the fore-and-aft extending frame members  370 . A motor mount member  374  is secured centrally of the supplemental frame member  371 , and includes an upwardly extending portion  375 . A servo motor  376  is supported on the motor mount member  374  at the upper end of the upwardly extending portion  375 . The drive shaft  377  of the servo motor  376  extends through the upwardly extending portion  375  and through a central opening in the motor mount member  374 . A double-arm member  378  is secured to the free end of the drive shaft  377  and is caused to oscillate by the servo motor  376 .  
         [0051]    A pivot post  380  is secured to each of the fore-and aft extending frame members  370 , upon which an elongated pivot bar  381  is centrally mounted for pivoting about a vertical pivot axis  379 . A link member  382  is pivotally connected at one end to a free end of the double arm  378  and at its other end to a free end of one of the elongated pivot bars  381 . A second link member  383  extends between the other free end of the double arm  378  and a free end of the other elongated pivot bar  381 . The other free end of the elongated pivot bar  381  that is connected to link members  382  is connected by a link member  384  to the associated package slide member  362 . The other free end of the elongated pivot bar  381  that is connected to link member  383  is connected by a link member  385  to the associated package slide member  362 . Link member  378  can be rotated by the servo motor  376  such that package slide members  362  are set for any package width within the machine&#39;s range. Also, link  378  can be set, through servo motor  376 , to cause the package slide members  362  to open to a width that will allow the packages to be rotated while passing between the package slide members  362 .  
         [0052]    The assembly  386  for slidably mounting the vacuum stop and placement member  368  will be discussed with reference to FIGS. 19 and 20. FIG. 20 is a partial right-side view of the machine  100 , similar to FIG. 18, with portions of the drive mechanism for the package slide members  362  removed to better illustrate the vacuum stop and placement member  368  and its support assembly  386 . In FIG. 20, the assembly  386  is shown as a cross-section view taken along lines  20 - 20  of FIG. 19. FIG. 19 is an isolated plan view of the support assembly  386 , showing it secured to a horizontally extending portion of the main frame  10  by fasteners  387 . A pair of support legs  388  that are secured to the frame  10  by fasteners  387  extend horizontally toward the front of the machine  100 . The free ends of legs  388  are secured to plates  389 . A pair of support blocks  390  are secured to the support legs  388  and the surface of the plate  389 .  
         [0053]    The vacuum stop and placement member  368  has a flexible tube  391  connected thereto through which a vacuum is provided to an opening formed in its inclined face  392 . The opening in inclined face  392  is located to intercept and grasp packages  30  as they slide rearwardly through the channel-shaped package receptor supported by the package slide mechanism  362 . As seen in FIG. 20, a package  30  is supported on package slide mechanism  362  as the package moves toward the inclined face  392  of the vacuum stop and placement member  368 . A pair of slide rods  369  extend rearwardly from the vacuum stop and placement member  368  into bores formed in an air cylinder  393  that function to guide vacuum stop and placement member  368 , as it is caused to reciprocate by the air cylinder  393 . Air cylinder  393  is of the type called a linear thruster and has a reciprocating rod  394  and air fixtures  367 . Pressurized air is provided to the air cylinder  393  through fixtures  367  causing reciprocation of the rod  394 . The free end of rod  394  is secured to the vacuum stop and placement member  368 .  
         [0054]    The air cylinder  393  is secured to a mounting member  395  that is slidably mounted on support rods  396 . The support rods  396  are secured to the main frame  10  at one of their ends and to the support blocks  390  at their other ends. This mounting arrangement allows the air cylinder  393  and its mounting member  395  to be moved forward and backward by sliding on the support rods  396 , and thus, permit forward and rearward movement of the location of the vacuum stop and placement member  368 . Adjustment of the location of the vacuum stop and placement member  368  is accomplished by turning a knurled knob  397 , which causes rods  398  that are threaded into threaded apertures formed in the mounting member  395  to move the air cylinder mounting member  395  fore and aft. The rods  398  are interconnected by a cog belt  399  that transmits the rotation of the rod  398  to which the knurled knob is secured to the other rod  398 , and thus, synchronizes the rotation of rods  398 .  
         [0055]    The operation of the embodiment disclosed in FIGS.  14 - 20  will now be discussed.  
         [0056]    Packages  30  are deposited on the constant motion band conveyor  302  in a random fashion from a conveyor (not shown). The constant motion band conveyor  302  moves at a faster speed than the conveyor that feeds packages to it. As a package  30  moves along constant motion band conveyor  302 , its presence is sensed by the package detection system  50  which initiates the cycle for that particular package  30 . A signal is sent to the PLC  60 , indicating that a new package  30  has been detected and a new cycle must be commenced. If the package slide mechanism  362  isn&#39;t already in the closed position, as shown in FIG. 15, then a signal is sent to servo motor  376  telling it to rotate clockwise, as seen in FIG. 14, which will cause the package slide members  362  to move from the position shown in FIG. 14 to the closed position shown in FIG. 15. Also, if the vacuum stop and placement member  368  is not already in its full forward position, a signal is sent to the valve for the air cylinder  393 , causing the reciprocating rod  394  to move to its fully extended position, as shown in FIG. 20. When a package  30  is discharged over the discharge end of constant motion band conveyor  302  with the package slide mechanism  362  in the position shown in FIG. 15, the package will land on the horizontally extending flanges of the package slide members  362  and slide along its upper surface. As the package  30  moves toward the rear of the machine  100 , it encounters the vacuum stop and placement member  368 . The package  30  is held by the vacuum stop and placement member  368 . The vacuum to the vacuum head  402  carried by the spindle  401  is turned on and the spindle  401  moves downward. The vacuum to the vacuum stop and placement member  368  is turned off, the vacuum stop member  368  moves back and the package is grasped by the vacuum head  402  on the spindle  401 . The spindle  401 , with the package  30  held by the vacuum head  402 , moves up and rotates if the program calls for this package to be rotated. The cycle that has been selected for a particular job includes a predetermined time period that is an estimation of how long the package will take to move from where it is detected on the constant motion band conveyor  302  to the vacuum stop and placement member  368 . When this time period plus some factor of safety has expired, the PLC  60  sends signals to the servo motor  376  and the valve for the air cylinder  393 . These signals cause package slide members  362  to open and the vacuum stop and placement member  368  to retract. While these members are moving out of the stationary package placement location  500 , the spindle  401  raises a short distance and then moves downward, after the area has been opened, and lowers the package  30  into the awaiting container  20 . Since the completion of the previous cycle, the container  20  may have moved to a new location, or if filled, it would have been replaced by an empty container. When the spindle  401  reaches its programmed level in the container, its vacuum is turned off. The package  30  is released and the spindle  401  and its vacuum head  402  are elevated to a location above the level of the package slide members  362 . All of the above-mentioned functions are initiated by signals from the PLC  60 . The next cycle begins when the next package is recognized by the detection system.  
         [0057]    It is intended that the accompanying drawings and foregoing detailed description are to be considered in all respects as illustrative and not restrictive. The scope of the invention is intended to embrace any equivalents, alternatives, and/or modifications of elements that fall within the spirit and scope of the invention, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.