A device for picking up, shaping, and placing a thin glass pane, includes a frame with an upper side and a lower side, which is suitable to be directed at a glass pane with a thickness of less than 1 mm, and which is provided with a plurality of picking up pins that are arranged substantially parallel to one another and whose end directed at the glass pane is equipped with a suction cup, wherein the picking up pins are movable along their direction of extension independent of one another in order to adapt the arrangement of the suction cups to an intended shape of the glass pane.

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.

A support device supports a component gripping device including an engagement part to be engaged with a predetermined component. The component gripping device grips the component in a state in which the engagement part is caused to be engaged with the component. The support device contains a support body part, a first shift mechanism part, a second shift mechanism part, a third shift mechanism part, a first rotation mechanism part, a second rotation mechanism part, and a third rotation mechanism part.

A vacuum tube assembly for removing material is disclosed, including: a vacuum generator configured to generate a vacuum airflow; one or more tubes coupled to the vacuum generator and configured to channel the vacuum airflow; and an actuation mechanism coupled to the one or more tubes, wherein the actuation mechanism is configured to actuate at least one tube from a first position relative to a material stream to a second position relative to the material stream, wherein the first position is farther from the material stream than the second position.

Systems, methods, and computer-readable media are disclosed for concentric suction cup tools with parallel pistons. In one embodiment, an example picking assembly may include a first piston subassembly with a first air cylinder, a first sliding rail that slides relative to the first air cylinder, and a first suction cup. The example picking assembly may include a second piston subassembly comprising a second air cylinder, a second sliding rail that slides relative to the second air cylinder, and a second suction cup, where the first and second piston subassemblies may be configured to independently actuate from a retracted position to an extended position. The example picking assembly may include a first guide plate with a first aperture for the first piston subassembly and a second aperture for the second piston subassembly, a shell that forms a housing for the picking assembly, and an airflow coupler.

An object gripping mechanism is provided for use with a robotic arm. A robotic arm and method of manufacturing an object gripping mechanism are also provided. The object gripping mechanism includes an attachment modular configured to connect the object gripping mechanism to the robotic arm. The object gripping mechanism also includes a plurality of retractable arms each pivotably connected with the attachment modular. The object gripping mechanism also includes one or more movement mechanisms collectively configured to pivot the plurality of retractable arms to a desired position. The object gripping mechanism further includes a drive mechanism positioned within each of the plurality of retractable arms and configured to pivot the object engagement feature using a gear and timing belt configuration.

A calibration system includes a docking stand fixed within a three-dimensional coordinate system and an end effector supported by the docking stand. The end effector includes a frame received by the docking stand and an adjustable member movable along the frame. The adjustable member includes a clamp and a reference surface. The calibration system includes a computational system including at least one processor and at least one non-transitory computer-readable medium including instructions. The calibration system includes a measurement instrument in electronic communication with the computational system. The measurement instrument is movable and is arranged to interact with the reference surface and transmit a signal to the processor. The processor is programmed to analyze a location of the measurement instrument within the three-dimensional coordinate system and the interaction between the measurement instrument and the reference surface to determine a location of the adjustable member within the three-dimensional coordinate system.

A robot configured to use a gripper to grasp one or more tools is disclosed. In various embodiments, the robot comprises a robotic arm having a gripper disposed at a free moving end of the robotic arm, and a set of two or more tools configured to grasped or otherwise engaged by the gripper. Each tool in the set of two or more tools may be disposed in a corresponding tool holder, optionally attached to the robot or situated near the robot. The robot is configured to use the gripper to retrieve a selected tool from its tool holder to perform a task; use the tool to perform the task; and return the tool to its tool holder.

The invention relates to a device or tool (1) for gripping a liner in order to carry out a method of removing same from, and installing same in, the shell of a mill, which comprises a rigid structure or frame (2) forming a support for containing the components needed for the operation thereof, a coupling element (6) that allows the device to be secured or disposed on at least one end of a manipulation device, such as a robotic manipulator, comprises at least one claw or pincer (7) for holding at least one bolt by the head, the tool being designed to allow the adjustment of the relative position thereof in order to align the pincers to the positions of the holes of each liner, the at least one pincer (7) having a configuration allowing said claws to open and close so as to adjust the size thereof to the size of the bolt being gripped, wherein the at least one pincer or claw (7) has at least one sensor, thereby enabling mill liners to be installed and removed, the tool being based on the fastening elements that hold the liners in position.

An apparatus for gripping an object includes a base element and at least three gripping arms which are mounted on the base element. The at least three gripping arms are each movable independently of one another relative to the base element and the object can be picked up by the at least three gripping arms. The at least three gripping arms each have a hook-shaped gripping tool.