A method of manipulating boxes includes receiving a minimum box size for a plurality of boxes varying in size located in a walled container. The method also includes dividing a grip area of a gripper into a plurality of zones. The method further includes locating a set of candidate boxes based on an image from a visual sensor. For each zone, the method additionally includes, determining an overlap of a respective zone with one or more neighboring boxes to the set of candidate boxes. The method also includes determining a grasp pose for a target candidate box that avoids one or more walls of the walled container. The method further includes executing the grasp pose to lift the target candidate box by the gripper where the gripper activates each zone of the plurality of zones that does not overlap a respective neighboring box to the target candidate box.

A method of manipulating boxes includes receiving a minimum box size for a plurality of boxes varying in size located in a walled container. The method also includes dividing a grip area of a gripper into a plurality of zones. The method further includes locating a set of candidate boxes based on an image from a visual sensor. For each zone, the method additionally includes, determining an overlap of a respective zone with one or more neighboring boxes to the set of candidate boxes. The method also includes determining a grasp pose for a target candidate box that avoids one or more walls of the walled container. The method further includes executing the grasp pose to lift the target candidate box by the gripper where the gripper activates each zone of the plurality of zones that does not overlap a respective neighboring box to the target candidate box.

The invention relates to a device for processing dust- and substantially air-tight sacks (1) filled with flowable or free-flowing materials, and for separating the sack material from the sack contents via a collection device (8), wherein the device comprises a sack supply track (4) with a sack removal point (56), a manipulation device (6) with a lifting frame (9) for picking up the filled sacks (1), a sack slitting device (16) for opening the filled sacks (1), a collection device (8) for collecting the sack contents, an empty sack store (12), and an empty pallet store (13).

The invention relates to a device for processing dust- and substantially air-tight sacks (1) filled with flowable or free-flowing materials, and for separating the sack material from the sack contents via a collection device (8), wherein the device comprises a sack supply track (4) with a sack removal point (56), a manipulation device (6) with a lifting frame (9) for picking up the filled sacks (1), a sack slitting device (16) for opening the filled sacks (1), a collection device (8) for collecting the sack contents, an empty sack store (12), and an empty pallet store (13).

An automated storage and retrieval system includes a storage array of storage locations for case units. An in-out case conveyor is capable of bi-directionally transporting case units to and from the storage array, and an in-out loaded pallet conveyor is capable of bi-directionally transporting loaded pallets towards and away from the storage array. A palletizer-depalletizer cell includes a bi-directional pallet transport system with more than one independently driven pallet transports, each with a different pallet holder independently movable relative to a cell frame. Placement of case units commissioning a pallet layer loading a pallet, and removal of case units decommissioning a pallet layer unloading another pallet are both effected at the common pallet layer interface at a predetermined level of the cell frame. The pallet transports independently index a first and a second of the different pallet holders, each independently holding the pallet loading at the common pallet layer interface.

An automated storage and retrieval system includes a storage array of storage locations for case units. An in-out case conveyor is capable of bi-directionally transporting case units to and from the storage array, and an in-out loaded pallet conveyor is capable of bi-directionally transporting loaded pallets towards and away from the storage array. A palletizer-depalletizer cell includes a bi-directional pallet transport system with more than one independently driven pallet transports, each with a different pallet holder independently movable relative to a cell frame. Placement of case units commissioning a pallet layer loading a pallet, and removal of case units decommissioning a pallet layer unloading another pallet are both effected at the common pallet layer interface at a predetermined level of the cell frame. The pallet transports independently index a first and a second of the different pallet holders, each independently holding the pallet loading at the common pallet layer interface.

A tool cart having a frame, a lifting device for lifting the frame, a locking device to lock the tool cart horizontally relative to a work station or a packaging machine (collectively referred to below as the “packaging machine”), and a stop element that may engage with an underside of the packaging machine when lifted. The lifting device and locking device operate independently. A method for transferring a tool component including one or more of the steps of: aligning the tool cart relative to the packaging machine; locking the tool cart in position relative to the packaging machine; lifting a frame of the tool cart by way of a lifting device until the stop element engages an underside of the packaging machine; and transferring the tool component between the tool cart and the packaging machine may be included.

A tool cart having a frame, a lifting device for lifting the frame, a locking device to lock the tool cart horizontally relative to a work station or a packaging machine (collectively referred to below as the “packaging machine”), and a stop element that may engage with an underside of the packaging machine when lifted. The lifting device and locking device operate independently. A method for transferring a tool component including one or more of the steps of: aligning the tool cart relative to the packaging machine; locking the tool cart in position relative to the packaging machine; lifting a frame of the tool cart by way of a lifting device until the stop element engages an underside of the packaging machine; and transferring the tool component between the tool cart and the packaging machine may be included.

A device for automatically handling storage units includes a support frame, at least one lifting unit, a gripper device configured to grip, convey, and discharge at least one storage unit, and at least one height adjustment device to which the gripper device is connected and is configured to be moved in the inner space of the support frame therewith. A storage arrangement which is configured to be charged from below for at least one storage unit is arranged above the gripper device so that the same support frame is configured by the lifting unit to convey and to store, by the storage arrangement, at least one storage unit. A method includes automatic handling of storage units via the device.

A device for automatically handling storage units includes a support frame, at least one lifting unit, a gripper device configured to grip, convey, and discharge at least one storage unit, and at least one height adjustment device to which the gripper device is connected and is configured to be moved in the inner space of the support frame therewith. A storage arrangement which is configured to be charged from below for at least one storage unit is arranged above the gripper device so that the same support frame is configured by the lifting unit to convey and to store, by the storage arrangement, at least one storage unit. A method includes automatic handling of storage units via the device.