One or more specific embodiments disclosed herein may include a method of moving materials using an end-of-arm tool comprising aligning the end-of-arm tool over a payload, wherein the end-of-arm tool comprises an undercarriage in a retracted position, a plurality of clamp plates in an extended position, and one or more vacuum cups; lowering the end-of-arm tool towards the payload; engaging the payload with the one or more vacuum cups; engaging the payload with the plurality of clamp plates; and raising the payload into the interior of the end-of-arm tool.

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 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.

An article transfer facility (100) includes a transfer device (3) that performs a first operation to take out an article (W) that are supported by a first container (C1), from the first container (C1), and a second operation to load the article (W) taken out from the first container (C1), onto a second container (C2); and an inclination device (5) that supports the second container (C2) at a predetermined position (P2), wherein the second container (C2) has a rectangular mounting surface (S) onto which the articles (W) are to be mounted, and is formed in a box shape with an open upper surface, and the inclination device (5) supports the second container (C2) in an inclined state such that a target corner portion (Sct) that is one of a plurality of corner portions (Sc) of the mounting surface (S) is located lower than the other corner portions (Sc).

An article transfer facility (100) includes a transfer device (3) that performs a first operation to take out an article (W) that are supported by a first container (C1), from the first container (C1), and a second operation to load the article (W) taken out from the first container (C1), onto a second container (C2); and an inclination device (5) that supports the second container (C2) at a predetermined position (P2), wherein the second container (C2) has a rectangular mounting surface (S) onto which the articles (W) are to be mounted, and is formed in a box shape with an open upper surface, and the inclination device (5) supports the second container (C2) in an inclined state such that a target corner portion (Sct) that is one of a plurality of corner portions (Sc) of the mounting surface (S) is located lower than the other corner portions (Sc).

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 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 transport device has a position detection portion, a holding portion attached to an arm, a driving portion to drive the holding portion and the arm, and a control portion. A control portion controls the position detection portion and the driving portion to perform, as one cycle, a procedure to detect a position of a parcel, select parcels based on a predetermined condition, and set priority for the selected parcels, and a procedure to refer to a result of the detection, and cause the holding portion to take out one or more parcels from the accumulation portion in accordance with the priority to transport the parcels to a predetermined location, and excludes, from parcels to be taken out, a second parcel that is present within a predetermined distance from a first parcel and has priority lower than the priority of the first parcel, during the one cycle.

A transport device has a position detection portion, a holding portion attached to an arm, a driving portion to drive the holding portion and the arm, and a control portion. A control portion controls the position detection portion and the driving portion to perform, as one cycle, a procedure to detect a position of a parcel, select parcels based on a predetermined condition, and set priority for the selected parcels, and a procedure to refer to a result of the detection, and cause the holding portion to take out one or more parcels from the accumulation portion in accordance with the priority to transport the parcels to a predetermined location, and excludes, from parcels to be taken out, a second parcel that is present within a predetermined distance from a first parcel and has priority lower than the priority of the first parcel, during the one cycle.

An apparatus for sorting and stacking slab-shaped elements (2), for example tiles, has an inlet line; a plurality of suction gripping units; a plurality of rotating arms which each bear a suction gripping unit; a plurality of seats for receiving the slab-shaped elements, forming stacks of slab-shaped elements; and a support crown which is solidly constrained to a frame. The rotating arms are mobile independently of one another; the rotating arms and the support crown are relatively dimensioned so that each rotating arm is supported by the support crown at or near the respective free end.