A transfer device to transfer articles by removing the articles from a removal zone and depositing the articles in a discharge zone, wherein a support plane and a deposit direction substantially perpendicular to the support plane are defined at the discharge zone. The transfer device includes a gripping head with retention elements, each for retaining a respective article, and a movement mechanism configured to move at least one retention element with respect to at least one other retention element in a staggering direction having a non-null component parallel with the deposit direction.

One embodiment is directed to robotic package handling system, comprising: a. a robotic arm comprising a distal portion and a proximal base portion; b. an end effector coupled to the distal portion of the robotic arm; c. a place structure positioned in geometric proximity to the distal portion of the robotic arm; d. a pick structure in contact with one or more packages and positioned in geometric proximity to the distal portion of the robotic arm; e. a first imaging device positioned and oriented to capture image information pertaining to the pick structure and one or more packages; f. a first computing system operatively coupled to the robotic arm and the first imaging device, and configured to receive the image information from the first imaging device and command movements of the robotic arm based at least in part upon the image information; wherein the first computing system is configured to operate the robotic arm and end effector to conduct a grasp of a targeted package of the one or more packages from the pick structure, and release the targeted package to rest upon the place structure; and wherein the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operatively coupled to the first computing system, the first suction cup assembly defining a first inner capture chamber configured such that conducting the grasp of the targeted package comprises pulling into and at least partially

One embodiment is directed to robotic package handling system, comprising: a. a robotic arm comprising a distal portion and a proximal base portion; b. an end effector coupled to the distal portion of the robotic arm; c. a place structure positioned in geometric proximity to the distal portion of the robotic arm; d. a pick structure in contact with one or more packages and positioned in geometric proximity to the distal portion of the robotic arm; e. a first imaging device positioned and oriented to capture image information pertaining to the pick structure and one or more packages; f. a first computing system operatively coupled to the robotic arm and the first imaging device, and configured to receive the image information from the first imaging device and command movements of the robotic arm based at least in part upon the image information; wherein the first computing system is configured to operate the robotic arm and end effector to conduct a grasp of a targeted package of the one or more packages from the pick structure, and release the targeted package to rest upon the place structure; and wherein the end effector comprises a first suction cup assembly coupled to a controllably activated vacuum load operatively coupled to the first computing system, the first suction cup assembly defining a first inner capture chamber configured such that conducting the grasp of the targeted package comprises pulling into and at least partially

An article accumulating apparatus includes a transport part configured to place and transport an article on a transporting surface, and a transfer part configured to suction and hold the article on the transporting surface and move it. The transfer part suctions and holds the article to be in an inclined state in which the downstream side of the article in a transporting direction of the transport part is inclined higher than the upstream side thereof, and moves the article in the inclined state downstream in the transporting direction.

An article accumulating apparatus includes a transport part configured to place and transport an article on a transporting surface, and a transfer part configured to suction and hold the article on the transporting surface and move it. The transfer part suctions and holds the article to be in an inclined state in which the downstream side of the article in a transporting direction of the transport part is inclined higher than the upstream side thereof, and moves the article in the inclined state downstream in the transporting direction.

A system for grabbing and filling pills into a blister pack is provided and associated corresponding method. The system includes a vacuum pill-manipulator provided with prongs having holes at their tip to retain pills. The vacuum pill-manipulator is configured to transition from a pill-retaining configuration where suction is applied at the tip of each prong to hold the pills during movement, to a pill-releasing configuration where suction is released to drop the pills in corresponding pill-chambers. A robotized arm is provided with the vacuum pill-manipulator, and is controllable to: move the vacuum pill-manipulator from a pill-container rack, for grabbing a pill-container, to a pill-container retaining station, to suction pills at the tips of the prongs; and move, in the pill-retaining configuration, the vacuum pill-manipulator to the blister pack location, and position the vacuum pill-manipulator to align the tip of each prong with the corresponding pill-chamber for the pill-releasing configuration.

A food product handling device is provided. The food product handling device can include a movable loading head having a plurality of rails and a vacuum system operatively associated with the head. In addition, a plurality of suction devices carried by the head and configured to pick up and transport a food product as the head is moved can be provided. A plurality of mounting blocks can be slidably coupled to the rails where at least one suction device is coupled to each mounting block. An actuating device can be operatively associated with the mounting blocks such that each mounting block is configured to slide between a first position and a second position.

A food product handling device is provided. The food product handling device can include a movable loading head having a plurality of rails and a vacuum system operatively associated with the head. In addition, a plurality of suction devices carried by the head and configured to pick up and transport a food product as the head is moved can be provided. A plurality of mounting blocks can be slidably coupled to the rails where at least one suction device is coupled to each mounting block. An actuating device can be operatively associated with the mounting blocks such that each mounting block is configured to slide between a first position and a second position.

An improved robot for packing produce such as fruit or other produce is provided. The robot includes a plurality of longitudinal carriage arms arranged in an array, and cantilevered off a support unit such that each longitudinal carriage arm is independently movable between an extended condition and retracted condition. Each arm includes a head connected to it that is independently movable in a vertical direction to pick up, hold and/or drop off an item of produce. Each longitudinal carriage arm is further independently movable in a lateral direction to alter the relative spacing between the plurality of heads such that the heads can move across lanes of the robot. The cantilevered arrangement of each carriage arm allows for compact set-out and other advantages.

An improved robot for packing produce such as fruit or other produce is provided. The robot includes a plurality of longitudinal carriage arms arranged in an array, and cantilevered off a support unit such that each longitudinal carriage arm is independently movable between an extended condition and retracted condition. Each arm includes a head connected to it that is independently movable in a vertical direction to pick up, hold and/or drop off an item of produce. Each longitudinal carriage arm is further independently movable in a lateral direction to alter the relative spacing between the plurality of heads such that the heads can move across lanes of the robot. The cantilevered arrangement of each carriage arm allows for compact set-out and other advantages.