A transport device according to the present invention includes: a transport unit that transports a transport object; a moving unit that controls movement of the transport device; and a control unit that controls an operation of the transport unit and the moving unit according to an instruction. In a case that the instruction includes forming group transport, the control unit controls the moving unit to move to a position where a group for implementing the group transport is formed, and controls the transport unit to transport the transport object at the position. In a case that the instruction includes implementing individual transport, the control unit controls the moving unit to move from the transport source to the transport destination.

A transport device according to the present invention includes: a transport unit that transports a transport object; a moving unit that controls movement of the transport device; and a control unit that controls an operation of the transport unit and the moving unit according to an instruction. In a case that the instruction includes forming group transport, the control unit controls the moving unit to move to a position where a group for implementing the group transport is formed, and controls the transport unit to transport the transport object at the position. In a case that the instruction includes implementing individual transport, the control unit controls the moving unit to move from the transport source to the transport destination.

An arrangement for controlling the operation of a draper belt header of a combine harvester includes a central belt conveyor of the draper belt header having a drive for operably driving the conveyor and two outer belt conveyors attached to a feeder house of the combine harvester. The feeder house has a controllable height which may be controllably adjusted by an actuator. The arrangement further includes a control unit operable to stop the drive of the central belt conveyor or move it into a reversing mode if the feeder house is being raised by the actuator.

A method, system, and computer program for controlling operation of an automated storage and retrieval system during rebuilding a physical design. The method includes a planning and designing phase that establish a new design. Storage columns with a rail system that is affected by the rebuilding are excluded from a selection of available routes for container handling vehicles operating on the storage system. In a relocation phase, storage containers located in excluded storage columns are relocated to other storage columns. In a rerouting phase, traffic flow of container handling vehicles are rerouted according to available routes. A master controller is instructed to control the vehicles according to the available routes. In a rebuilding phase, the storage system is rebuilt according to the new physical design. In a final routing phase, the routing planner controls traffic flow of the vehicles according to available routes on the rail system of the rebuilt physical design.

The present invention provides a transferring unit traveling on a rail provided along a ceiling, the transferring unit including: a body provided with a traveling driver; traveling wheel rotated by receiving power from the traveling driver; a grip member configured to grip an article; a lifting member provided between the body and the grip member and configured to move the grip member in a vertical direction; and a controller, in which the controller lowers or raises the grip member while the transferring unit travels on the rail, in which the controller controls the lifting member and the traveling driver so that the lowering or raising of the grip member is performed in a constant speed section in which the transferring unit travels at a constant speed.

The present invention provides a transferring unit traveling on a rail provided along a ceiling, the transferring unit including: a body provided with a traveling driver; traveling wheel rotated by receiving power from the traveling driver; a grip member configured to grip an article; a lifting member provided between the body and the grip member and configured to move the grip member in a vertical direction; and a controller, in which the controller lowers or raises the grip member while the transferring unit travels on the rail, in which the controller controls the lifting member and the traveling driver so that the lowering or raising of the grip member is performed in a constant speed section in which the transferring unit travels at a constant speed.

A substrate working machine including: a conveyance device configured to convey a substrate; a holding device configured to hold the substrate conveyed to a work position by the conveyance device; and a control device configured to control operation of the conveyance device, wherein the control device is configured to control the operation of the conveyance device such that the substrate is conveyed at a conveyance speed calculated based on a preset setting time and a conveyance distance of the substrate from the work position by the conveyance device or a conveyance distance of the substrate to the work position by the conveyance device.

A substrate working machine including: a conveyance device configured to convey a substrate; a holding device configured to hold the substrate conveyed to a work position by the conveyance device; and a control device configured to control operation of the conveyance device, wherein the control device is configured to control the operation of the conveyance device such that the substrate is conveyed at a conveyance speed calculated based on a preset setting time and a conveyance distance of the substrate from the work position by the conveyance device or a conveyance distance of the substrate to the work position by the conveyance device.

The invention provides an end effector, comprising a mounting portion and an execution portion, and the execution portion including at least a package placement platform configured to movably coupled to the mounting portion. With the help of the package placement platform, the end effector of the invention can receive the packages of different types or different sizes or different material so as to sort and transport all kinds of packages.

A method to set up at least one moveable operating member of an automatic machine for manufacturing consumer articles and comprising the steps of defining a first motion profile of the movable operating member and defining a corresponding second motion profile of an electric actuator system, which moves the moveable operating member with the first motion profile. The method calls for the further steps of: determining possible imperfections in the processing of the articles caused by the movable operating member; correcting, by means of an interface device and on the basis of the possible imperfections, the first motion profile, thus obtaining a first changed profile of the moveable operating member; and calculating, through a control unit, a reverse kinematics of the first changed profile so as to obtain a corresponding second changed profile to be commanded to the electric actuator system.