The problem of potentially damaging a pallet layer that is gripped by clamps of a depalletizing tool is solved i) by detecting the real position of the layer using a pad on the tool that is movable with the clamps towards the pallet layer and whose detected stopping position determines the real position of the layer, and ii) while the layer is gripped by the clamp, by inserting under the layer curtains; the pressure on the layer by the clamps being adapted to the ease to go underneath the layer.

A workpiece transfer apparatus includes a mounting surface, a non-contact chuck, and an extracting mechanism. The mounting surface receives workpieces stacked one above the other. The non-contact chuck is located above the workpieces to draw the uppermost workpiece. The extracting mechanism extracts the uppermost workpiece drawn by the chuck by laterally sliding the uppermost workpiece in a predetermined extracting direction.

An automated lumber handling system laser-scans the top profile of multiple stacks of lumber, each of which contain boards of a unique size. Based on the scanned profiles, the system determines the order in which individual boards from a chosen stack should be transferred to a saw. The saw cuts the boards to size and in proper sequence to facilitate orderly assembly of roof trusses or prefabricated walls. Some example systems lift individual boards by driving two screws, or some other piercing tool, down into the upward facing surface of the board. A track mounted cantilever, holding the screws and a laser unit, translates over the lumber stacks to retrieve and deliver individual boards and, while doing so, the laser repeatedly scans the stacked lumber profiles on-the-fly to continuously update the profiles. The open cantilever design facilitates replenishing the stacks of lumber.

The problem of potentially damaging a pallet layer that is gripped by clamps of a depalletizing tool is solved i) by detecting the real position of the layer using a pad on the tool that is movable with the clamps towards the pallet layer and whose detected stopping position determines the real position of the layer, and ii) while the layer is gripped by the clamp, by inserting under the layer curtains; the pressure on the layer by the clamps being adapted to the ease to go underneath the layer.

The problem of potentially damaging a pallet layer that is gripped by clamps of a depalletizing tool is solved i) by detecting the real position of the layer using a pad on the tool that is movable with the clamps towards the pallet layer and whose detected stopping position determines the real position of the layer, and ii) while the layer is gripped by the clamp, by inserting under the layer curtains; the pressure on the layer by the clamps being adapted to the ease to go underneath the layer.

An automated lumber handling system laser-scans the top profile of multiple stacks of lumber, each of which contain boards of a unique size. Based on the scanned profiles, the system determines the order in which individual boards from a chosen stack should be transferred to a numerically controlled saw. The saw cuts the boards to proper size and in the proper sequence to facilitate orderly assembly of a roof truss or prefabricated wall. In some examples, the system lifts individual boards by driving two retractable screws, or some other piercing tool, down into the upward facing surface of the board. A track mounted cantilever, holding the screws and a laser unit, translates over the lumber stacks to retrieve and deliver individual boards and, while doing so, the laser repeatedly scans the stacked lumber profiles on-the-fly to continuously update the profiles. The open cantilever design facilitates replenishing the stacks of lumber.

A sliding layer gripping device includes an anthropomorphic robot and a gripping head mounted on the robot for picking a first layer of products of a pallet. The gripping head includes a main frame, an upper compaction unit and an intermediate translation plane. The frame is connected to the intermediate translation plane and to the upper compaction unit with two pairs of linear translation guides arranged parallel to each other on the inner side of the sides of the main frame. A pair of belts moved by a brushless motor controlled by the robot is arranged between the main frame and the upper compaction unit for relative sliding of the main frame and the upper compaction unit with respect to the intermediate translation plane. The intermediate translation plane has a loading side of the layer opposite to an unloading side of the layer.

An unloading apparatus for unloading cargo items from a cargo group on a cargo bed includes a cargo bed lifting and lowering mechanism, a first detection unit that measures heights of cargos items and detects positions of cargo items forming the upper surface of the cargo group, a moving device that moves the cargo items to an unloading position, a second detection unit that detects whether a lower end of a cargo item being held by the moving device is above a position that is higher than the highest position of the cargo items at the upper surface of the cargo group, and a controller. The controller controls the raising and lowering of cargo bed in conjunction with the lifting of cargo items. The controller also controls the moving of the cargo items to the unloading position.

A workpiece transfer apparatus includes a mounting surface, a non-contact chuck, and an extracting mechanism. The mounting surface receives workpieces stacked one above the other. The non-contact chuck is located above the workpieces to draw the uppermost workpiece. The extracting mechanism extracts the uppermost workpiece drawn by the chuck by laterally sliding the uppermost workpiece in a predetermined extracting direction.

A method for unloading a container having packages with a rail device comprising a rail having a hand element displaceable in the longitudinal direction. The hand element has a plurality of finger elements having two flexible flank elements extending jointly from one end to the opposite end of the finger element. Each are connected flexibly to each other via a plurality of webs. The finger elements adjustable from a curved position into an extended position and back. The packages are stacked in the container forming a front face in which the rail device is brought close to the front face of the stacked packages. One hand element grips one package from the stack of packages and removes it from the stack. Following the removal, it is displaced along the rail and following the displacement grips one further package and removes it from the stack of packages.