According to one embodiment, a transfer apparatus includes an arm including a rotation fulcrum portion, and a grip mechanism turnable around the rotation fulcrum portion. The grip mechanism includes a first grip portion which grips a first surface of a grip target object, and a second grip portion which grips a second surface of the grip target object. The first grip portion includes a first pad including a first grip surface, and a first support member. The second grip portion includes a second pad including a second grip surface, and a second support member which moves the second pad in a direction crossing the second grip surface, and is connected to the rotation fulcrum portion together with the first support member.

A transfer device and a control device for controlling the transfer device are provided. The control device is configured to execute setting control to set a storing position, in a container, of each of a plurality of articles to be stored in the container, storage control to control the transfer device so as to store each of the articles at the storing position, and replacement control to replace one of a first holding portion and a second holding portion attached to the attachment portion with the other one. The setting control is control to set the storing position in accordance with an order of transferring the plurality of articles so as to sequentially place the articles from a reference position that is set at a position adjacent to a side wall portion.

A method of separating a blank from a stack of blanks is provided and includes grasping a first blank and moving the first blank away from a plurality of blanks. At least one additional blank from the plurality of blanks is adhered to the first blank to form a sub-stack of blanks and at least one impulse electrically generated force (EGF) is applied to separate the at least one additional blank from the first blank. The first blank may be grasped by a device with a force F1, and the at least one impulse EGF may be less than the force F1. Also, the at least one impulse EGF may be applied to separate the at least one additional blank from the first blank by passing a pulse of current through an EGF generator positioned adjacent the first blank and inducing an EGF within the plurality of blanks.

A control unit executes first loading control is determined that a loaded article is not present above a loading surface region based on captured image information and second loading control if it is determined that it is uncertain whether the loaded article is not present above the loading surface region based on the captured image information. The first loading control causing a holding unit to release a target article when the target article is directly above the loading surface region and the lower surface of the target article is higher than the upper surface of the loading surface region by a first specified distance, and the second loading control causing the holding unit to release the target article when the target article is directly above the loading surface region and the lower surface of the target article is higher, by a second specified distance, than a specified height.

A depalletizing device for depalletizing a transport container from a storage surface includes a frame, a belt conveyor unit, a drive unit, and a plurality of balls. The belt conveyor unit is disposed so as to be height-adjustable on the frame by the drive unit and the plurality of balls are integrated in and protrude from the belt conveyor unit, are rotatable by the drive unit, and form a bearing face for the transport container.

A depalletizing device for depalletizing a transport container from a storage surface includes a frame, a belt conveyor unit, a drive unit, and a plurality of balls. The belt conveyor unit is disposed so as to be height-adjustable on the frame by the drive unit and the plurality of balls are integrated in and protrude from the belt conveyor unit, are rotatable by the drive unit, and form a bearing face for the transport container.

A transfer device to transfer an article by moving the article in a front-rear direction includes a base portion, a support plate movable in the front-rear direction with respect to the base portion and able to support a bottom surface of the article, a front-rear actuator that actuates the support plate in the front-rear direction with respect to the base portion, a suction device that is provided on the base portion to be movable in a vertical direction to suction a side surface of the article, and a vertical actuator that actuates the suction device at least in an ascending direction with respect to the base portion and supports the suction device to be detachable from the suction device in a descending direction.

A transfer device to transfer an article by moving the article in a front-rear direction includes a base portion, a support plate movable in the front-rear direction with respect to the base portion and able to support a bottom surface of the article, a front-rear actuator that actuates the support plate in the front-rear direction with respect to the base portion, a suction device that is provided on the base portion to be movable in a vertical direction to suction a side surface of the article, and a vertical actuator that actuates the suction device at least in an ascending direction with respect to the base portion and supports the suction device to be detachable from the suction device in a descending direction.

Solar panels are prepared for installation on an array frame by initially tipping packages of palletized, bundled, vertically-oriented panels in a preparation area to form a vertical stack of horizontally oriented panel separated from the pallet and packaging material for placement on the upper supporting surface of the transport deck. The transport deck is displaced longitudinally alongside a rack of the array frame, together with a lifting machine having a lifting head on a lifting arm for transferring solar panels from a longitudinal row of stacked solar panels on the transport deck to the array frame. The lifting head may be adapted to support one panel from each of the stacks on the transport deck for simultaneous transfer from the transport deck to the array frame.

Solar panels are prepared for installation on an array frame by initially tipping packages of palletized, bundled, vertically-oriented panels in a preparation area to form a vertical stack of horizontally oriented panel separated from the pallet and packaging material for placement on the upper supporting surface of the transport deck. The transport deck is displaced longitudinally alongside a rack of the array frame, together with a lifting machine having a lifting head on a lifting arm for transferring solar panels from a longitudinal row of stacked solar panels on the transport deck to the array frame. The lifting head may be adapted to support one panel from each of the stacks on the transport deck for simultaneous transfer from the transport deck to the array frame.