Patent ID: 7861500

Claim:
A device comprising: a frame; an arm support frame, wherein the arm support frame is movably mounted to the frame; a plurality of fold grippers mounted to the arm support frame, wherein at least one of the plurality of fold grippers is movably mounted to the arm support frame; a plurality of bag grippers mounted to the arm support frame; a first actuator configured to close the plurality of bag grippers; a processor; and a computer-readable medium including computer-readable instructions stored therein that, upon execution by the processor, perform operations comprising closing the plurality of fold grippers on a plurality of folds of a first bag; moving at least one of the plurality of fold grippers from a first location relative to the arm support frame to a second location relative to the arm support frame thereby opening the first bag; moving the arm support frame from a first location on the frame to a second location on the frame so that the first bag covers an object; opening the plurality of fold grippers after moving the arm support frame to the second location on the frame; moving the arm support frame from the second location on the frame to the first location on the frame; moving the at least one of the plurality of fold grippers from the second location relative to the arm support frame to the first location relative to the arm support frame; causing the first actuator to close the plurality of bag grippers on the first bag; closing the plurality of fold grippers on the plurality of folds of a second bag attached to the first bag; and moving the at least one of the plurality of fold grippers from the first location relative to the arm support frame to the second location relative to the arm support frame to separate the first bag from the second bag and open the second bag.