A method for palletizing by a robot includes positioning an object at an initial position adjacent to a target object location, tilting the object at an angle relative to a ground plane, shifting the object in a first direction from the initial position toward a first alignment position, shifting the object in a second direction from the first alignment position toward a second alignment position, and releasing the object from the robot to pivot the object toward the target object location.

A method for palletizing by a robot includes positioning an object at an initial position adjacent to a target object location, tilting the object at an angle relative to a ground plane, shifting the object in a first direction from the initial position toward a first alignment position, shifting the object in a second direction from the first alignment position toward a second alignment position, and releasing the object from the robot to pivot the object toward the target object location.

One or more specific embodiments disclosed herein may include an end-of-arm tool for moving payloads or pallet stacks from one location to another, comprising a mast system comprising a mast, a plurality of mast gussets, and a mast plate; a frame; a clamp system comprising a plurality of clamp plates and a plurality of ball screws; and a vacuum system comprising a vacuum plate and one or more vacuum cups. Further, 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.

Disclosed is a transfer device for transferring preformed layers of products between an external conveyor and a pallet on which layers can form a stack, the transfer device including a support structure including at least one vertical guide column, a tray, mounted on the at least one guide column and receiving the pre-formed layer, a tool, mounted on the support structure, for transferring a layer between the tray and the pallet or the stack. This transfer device includes an object detector with a wide detection angle, for detecting products at the same vertical level in a wide horizontal field of observation, the detector being movable in the vertical direction along the support structure. Also disclosed is a corresponding method.

Disclosed is a transfer device for transferring preformed layers of products between an external conveyor and a pallet on which layers can form a stack, the transfer device including a support structure including at least one vertical guide column, a tray, mounted on the at least one guide column and receiving the pre-formed layer, a tool, mounted on the support structure, for transferring a layer between the tray and the pallet or the stack. This transfer device includes an object detector with a wide detection angle, for detecting products at the same vertical level in a wide horizontal field of observation, the detector being movable in the vertical direction along the support structure. Also disclosed is a corresponding method.

A device for automatically stacking packages on a support comprising at least one feeding conveyor; a lifting and lowering unit for lifting and lowering a pallet; a position conveyor embodied as a travel container, which is arranged horizontally and longitudinally to one side of the storage place, in order to position the packages in the X-direction; at least one sliding plate and a pusher in order to transport the packages from the travel path in the Z-direction to the predetermined position in the stack. The at least one sliding plate may comprise a flat, strip-like plate that can move horizontally and longitudinally on the side of the storage place and transversally thereto, in order to remove packages from the positioning conveyor in the X direction when pushed by the pusher and arranging on the pallet in the Z-direction. The travel container contains pivotable stops and can be moved on rails.

The object of the present invention is to improve the efficiency of an apparatus for palletizing which serves a plurality of conveyors transporting respective successions of cases, realising a storage means on the unloading area of each conveyor, so that during the period of storage of the cases coming from the same conveyor, the palletizer is transferred in correspondence of another conveyor wherein the respective storage has already been completed, so as to use a sole palletizer for a plurality of distinct conveyors.

This apparatus for palletizing a plurality of cases comprises a conveyor with an unloading area, an open structure composed of a plurality of support planes basically identical and arranged vertically one on top of the other, and separated by respective hollow spaces, first pushers which displace the cases from said unloading area of said mobile conveyor, towards and into a respective one of said hollow spaces, a transferring plate in a position adjacent to said open structure, displacement means, in particular second pushers apt at transferring said cases contained in respective one of said hollow spaces from it towards and on a palletizing means.

The object of the present invention is to improve the efficiency of an apparatus for palletizing which serves a plurality of conveyors transporting respective successions of cases, realising a storage means on the unloading area of each conveyor, so that during the period of storage of the cases coming from the same conveyor, the palletizer is transferred in correspondence of another conveyor wherein the respective storage has already been completed, so as to use a sole palletizer for a plurality of distinct conveyors.

This apparatus for palletizing a plurality of cases comprises a conveyor with an unloading area, an open structure composed of a plurality of support planes basically identical and arranged vertically one on top of the other, and separated by respective hollow spaces, first pushers which displace the cases from said unloading area of said mobile conveyor, towards and into a respective one of said hollow spaces, a transferring plate in a position adjacent to said open structure, displacement means, in particular second pushers apt at transferring said cases contained in respective one of said hollow spaces from it towards and on a palletizing means.

Disclosed is a palletizing device (10) with a vertically mobile transfer station (14) which is in conveying communication with upstream conveying equipment (18) for conveying items, packaged goods, packages (20), or the like, to be palletized. The transfer station (14) is followed in the conveying direction (22) by a vertically mobile loading station (16) which is in conveying communication with a stacking position (28) for palletizing the items, packaged goods, and/or packages (20). The transfer (14) and loading stations (16) which are independently adjustable in the vertical positions thereof are associated with a common support structure, having separate guide devices (30) for vertically mobile guiding and drive devices for vertical position adjustment of the transfer (14) and loading stations (16), respectively. In addition, a method for handling such a palletizing device (10) is disclosed wherein the base planes (26, 48) of the transfer (14) and loading stations (16) are approximately flush at least while a layer of items, packaged goods, and/or packages (21) is pushed over between the two stations (14, 16).

Disclosed is a palletizing device (10) with a vertically mobile transfer station (14) which is in conveying communication with upstream conveying equipment (18) for conveying items, packaged goods, packages (20), or the like, to be palletized. The transfer station (14) is followed in the conveying direction (22) by a vertically mobile loading station (16) which is in conveying communication with a stacking position (28) for palletizing the items, packaged goods, and/or packages (20). The transfer (14) and loading stations (16) which are independently adjustable in the vertical positions thereof are associated with a common support structure, having separate guide devices (30) for vertically mobile guiding and drive devices for vertical position adjustment of the transfer (14) and loading stations (16), respectively. In addition, a method for handling such a palletizing device (10) is disclosed wherein the base planes (26, 48) of the transfer (14) and loading stations (16) are approximately flush at least while a layer of items, packaged goods, and/or packages (21) is pushed over between the two stations (14, 16).