An apparatus for picking a product, including a control circuit, at least one vacuum cup arranged to adhere at least one sheet of material to the at least one vacuum cup, and at least one sensor configured to monitor an area proximate the at least one vacuum cup, and transmit at least one signal regarding a presence of at least one sheet of material in the area, wherein the apparatus is arranged to displace to a second location while continuously monitoring the area proximate the at least one vacuum cup, the at least one sensor is configured to transmit the at least one signal, and the control circuit is arranged to determine, responsive to the at least one signal, the sheet of material is not present in the area, and generate an error signal indicating that the at least one sheet of material is not present in the area.

The line comprises: an unwinding section (3) for unwinding parent reels (Ba, Bb, Bm) of web material (Na, Nb), with at least a first unwinding station (5; 7); at least a winding station (15) downstream of the unwinding section (3); a feed path from the unwinding section (3) toward the winding station (15); The unwinding section (3) is associated with a loading arrangement of the parent reels (Bm), which comprises: an upender (253; 306) configured to upend the parent reels (Bm) positioning them with their axis horizontal; and a loading robot (263; 313), configured to position a parent reel (Bm; Ba, Bb) on an unwinding mandrel (9) of the unwinding section (3).

When a remaining amount of a sheet on one original sheet roll is equal to or less than a predetermined remaining amount, a pair of holding pads is brought into a first posture where holding surfaces are opened, and the holding surface of one holding pad is pressed to a joining end portion from the outside of the original sheet roll in a radial direction of the other original sheet roll. Further, the holding pad is moved such that the joining end portion is separated toward the outside of the original sheet roll in the radial direction. Further, the posture of the pair of holding pads is changed into a second posture where the holding surfaces approach each other, and the joining end portion is conveyed to a joining part in a state where the joining end portion is sandwiched between the holding surfaces of the pair of holding pads.

An apparatus for picking a product, including: a control circuit; at least one vacuum cup arranged to adhere, with negative pressure and at a first location, at least one sheet of material to the at least one vacuum cup; and at least one sensor to monitor an area proximate the at least one vacuum cup and transmit at least one signal regarding a presence of at least one sheet of material in the area. The apparatus is arranged to displace to a second location. The control circuit is arranged to determine, responsive to the at least one signal, the at least one sheet of material is not present in the area and generate an error signal indicating that the at least one sheet of material is not present in the area.

Disclosed is a supply device for supplying cutouts to a machine from an inventory configured in several adjacent stacks of cutouts; the device includes a manipulator to transfer, by batch, the cutouts from the inventory to the machine. This device further includes a pressing unit to compress at least one stack that is adjacent to the one from which the manipulator removes cutouts. Also disclosed is a corresponding method.

A joining unit includes: a suction holding member having a suction surface configured to suction an end section of a sheet; a moving mechanism configured to move the suction surface toward an intermediate section of a sheet of a delivery-side original material roll along a path set in advance so that tension is applied to the sheet; and a regulating mechanism that is configured to switch between a regulated state in which a movement of the end section of the sheet with respect to the suction holding member due to the tension is regulated and an allowable state in which the movement of the end section of the sheet with respect to the suction holding member is allowed. The controller switches the regulating mechanism to the regulated state during the movement of the suction surface toward the intermediate section of the sheet of the delivery-side original material roll.

Gripping device adapted for gripping a stack of flat-folded cartons, where the gripping device comprises a first gripping jaw and a second gripping jaw arranged adjacent each other and enclosing a holding space, where the gripping device is provided with a first open state in which the distance between the gripping jaws is greater than the height of a flat-folded carton, and where the gripping device is provided with a second closed state in which the distance between the gripping jaws is less than the height of a flat-folded carton, and that the gripping device is adapted to displace one side of the stack of flat-folded cartons in a longitudinal direction, such that each flat-folded carton of the stack of flat-folded cartons will be held in an angled state by the gripping device. The advantage of the invention is that a stack of flat-folded cartons can be held in a secure way, where the height of the stack is reduced when the stack is held.

A sheet delivery system includes: a joining unit configured to join, to an intermediate section of a sheet being delivered from a delivery-side original material roll, an end section of a sheet of a standby-side original material roll; and an operation robot configured to retrieve the end section of the sheet from the standby-side original material roll and convey the end section of the sheet to the joining unit. The sheet delivery system is configured to set, in advance, a sheet retrieval position at which the sheet is retrieved from each of the original material rolls, for each of the original material rolls. The operation robot is configured to convey the end section of the sheet from each of the sheet retrieval positions to the joining unit.

The invention concerns a method of handling stacks of flexible substrates (14) by means of a gripper (8) as well as a robot cell (1) for carrying out the method. The gripper (8) is arranged on an arm (6) of a robot (2) and has a lower finger and a corresponding upper finger. The method comprises the steps of inserting said lower finger below a bottom substrate (14) of a stack resting on a base and said upper finger above a top substrate (14) of the stack, and gripping the stack by clamping it between said lower and upper finger. Then by means of the gripper (8) starting at a stack front the entire stack is lifted into a pendent state and moved to a support (16). There the stack is lowered such that a stack rear, which is opposite to said stack front, comes into contact with the support (16). Finally the entire stack is laid out on the support (16) with said bottom substrate (14) up by further lowering and while horizontally displacing the gripper (8) in a bottom-to-top substrate direction before letting the gripper (8) release the stack.

An unwinding assembly comprising first and second unwinding and handling units comprising respective robots having respective wrists movable under the control of at least one electronic control unit, wherein each of said unwinding and handling units comprises a respective unwinding device mounted on the wrist of the respective robot. The present invention also relates to an unwinding and handling unit capable of handling the reel carried by it with high freedom of movement, while maintaining small dimensions.