The problem of potentially damaging a pallet layer that is gripped by clamps of a depalletizing tool is solved i) by detecting the real position of the layer using a pad on the tool that is movable with the clamps towards the pallet layer and whose detected stopping position determines the real position of the layer, and ii) while the layer is gripped by the clamp, by inserting under the layer curtains; the pressure on the layer by the clamps being adapted to the ease to go underneath the layer.

A control apparatus includes a first information acquiring section that acquires three-dimensional information of a first region of surfaces of a plurality of objects, the information being obtained by imaging or scanning the plurality of objects from a first location; a second information acquiring section that acquires three-dimensional information of a second region of surfaces of the plurality of objects, the information being obtained by imaging or scanning the plurality of objects from a second location; and a combining section that generates information indicating three-dimensional shapes of at least a portion of the surfaces of the plurality of objects, based on the three-dimensional information of the first region acquired by the first information acquiring section and the three-dimensional information of the second region acquired by the second information acquiring section.

A control apparatus includes a first information acquiring section that acquires three-dimensional information of a first region of surfaces of a plurality of objects, the information being obtained by imaging or scanning the plurality of objects from a first location; a second information acquiring section that acquires three-dimensional information of a second region of surfaces of the plurality of objects, the information being obtained by imaging or scanning the plurality of objects from a second location; and a combining section that generates information indicating three-dimensional shapes of at least a portion of the surfaces of the plurality of objects, based on the three-dimensional information of the first region acquired by the first information acquiring section and the three-dimensional information of the second region acquired by the second information acquiring section.

The method of transporting a piece of fabric material using a Morton™ picker comprises the steps of aligning a weight vector of the piece of fabric material being lifted, from the gap between the toothed wheel and the pressing foot of the picker and into a region between a tangent to the toothed wheel and a right angle to the pressing surface of the pressing foot; and lifting and transporting the piece of fabric material while maintaining the alignment of the weight vector in that region. In another aspect, there is provided robotic installation comprising a robotic arm and a Morton™ picker for manipulating pieces of fabric material. The robotic arm is configured for simultaneously rotating an axis of the picker and moving the picker along a hyperbolic trajectory, in a single complex motion without jitter, while maintaining the aforesaid alignment of the weight vector.

The method of transporting a piece of fabric material using a Morton™ picker comprises the steps of aligning a weight vector of the piece of fabric material being lifted, from the gap between the toothed wheel and the pressing foot of the picker and into a region between a tangent to the toothed wheel and a right angle to the pressing surface of the pressing foot; and lifting and transporting the piece of fabric material while maintaining the alignment of the weight vector in that region. In another aspect, there is provided robotic installation comprising a robotic arm and a Morton™ picker for manipulating pieces of fabric material. The robotic arm is configured for simultaneously rotating an axis of the picker and moving the picker along a hyperbolic trajectory, in a single complex motion without jitter, while maintaining the aforesaid alignment of the weight vector.

A stabilizer can include an attachment surface and a non-stick surface. Multiple stabilizers can be arranged in a stack, e.g., such that the attachment surface of one stabilizer is engaged with the non-stick surface of another stabilizer. A stabilizer can be removed from the stack and attached to an item having a curved surface along the length of the item. The item, with the stabilizer attached, can be positioned on a conveyance surface, e.g., such that the stabilizer is between the conveyance surface and the item.

A stabilizer can include an attachment surface and a non-stick surface. Multiple stabilizers can be arranged in a stack, e.g., such that the attachment surface of one stabilizer is engaged with the non-stick surface of another stabilizer. A stabilizer can be removed from the stack and attached to an item having a curved surface along the length of the item. The item, with the stabilizer attached, can be positioned on a conveyance surface, e.g., such that the stabilizer is between the conveyance surface and the item.

A product unpacking system includes a work surface at a first height and a product unloading position at a second height. An adjustable cutter is positioned adjacent to the work surface and configured to cut a plurality of sides of each case. A case movement device, such as a robot or manual mover, is configured to retrieve a case from a group of cases and move the case to the cutter to cut a plurality of sides of the case. The case movement device may then move the cut case to an unload position over a product container to allow products within the case to drop into the product container. A system of conveyors may be used to convey empty product containers toward the work surface and to convey filled product containers away from the work surface. The system may be automated to receive recipe information for each case to be unloaded and modify parameters of the system based on the case.

The disclosure relates to a device for the automated transfer of an elastomeric block between a first position, where it is installed on a flexible support, and a second position. The device comprises a gripper that is able to take hold of the block and a manipulator that is able to move and orient the gripper so as to set the block in motion.

The disclosure also relates to a method for running such a device.

A storage system and a load handling device for lifting and moving containers stacked in the storage system are described. The storage system includes a plurality of rails or tracks arranged in a grid pattern above the stacks of containers. The grid pattern can include a plurality of grid spaces and each stack is located within a footprint of only a single grid space. The load handling device is configured to move laterally on the rails or tracks above the stacks. The load-handling device includes a container-receiving space located above the rails or tracks in use and a lifting device arranged to lift a container from a stack into the container-receiving space. The load handling device has a footprint that, in use, occupies only a single grid space in the storage system.