A station for feeding closing seals for containers includes at least one fixed magazine of seals which is provided with an outlet from which the seals can be taken individually. The station further includes a carousel for feeding seals which can rotate with respect to a first central rotation axis and is provided with pickers which are radially spaced apart from the first rotation axis. The pickers are individually rotatable about a second rotation axis which is not parallel to the first axis of the carousel. During rotation of the carousel, at least one picker is configured to rotate about the second axis from a position for taking the seal from the magazine to a position for releasing the seal.

A movement unit for moving a blank includes a drum, a blank with central and lateral panels, and a retention device for retaining the blank. The lateral panel has an end secured to the central panel by a folding zone and an opposite free end. The retention device is secured to the drum and includes a support, a first gripping portion secured to the support and having first retention elements configured to retain the central panel, and a second gripping portion secured to the support or to the first gripping portion and having second retention elements configured to retain the lateral panel.

A movement unit for moving a blank includes a drum, a blank with central and lateral panels, and a retention device for retaining the blank. The lateral panel has an end secured to the central panel by a folding zone and an opposite free end. The retention device is secured to the drum and includes a support, a first gripping portion secured to the support and having first retention elements configured to retain the central panel, and a second gripping portion secured to the support or to the first gripping portion and having second retention elements configured to retain the lateral panel.

A retention device for retaining blanks includes: a support, a first gripping portion secured to the support and provided with first retention elements of a blank, a second gripping portion secured to the support or to the first gripping portion and provided with second retention elements of the blank, and a movement mechanism for the second gripping portion with respect to the first gripping portion. The movement mechanism is configured to perform a pure rotation of the second gripping portion about a virtual rotation axis defined outside the retention device.

A banknote separation device includes a banknote separation wheel set and a reverse wheel set. The reverse wheel set includes a reverse wheel component, a reverse wheel set rotation shaft, a first fixing frame and a second fixing frame. Two ends of the reverse wheel set rotation shaft are fixed on two mounting side plates respectively, the first fixing frame and the second fixing frame are respectively fixedly connected at two ends of reverse wheel component. The first fixing frame is provided with two lash adjusting threaded holes and a first lash adjusting screw, the second fixing frame is provided with a second lash adjusting threaded hole and a second lash adjusting screw cooperating therewith, and radial clearances between two ends of the reverse wheel component and the banknote separation wheel set are adjusted respectively by the two lash adjusting screws.

A banknote separation device includes a banknote separation wheel set and a reverse wheel set. The reverse wheel set includes a reverse wheel component, a reverse wheel set rotation shaft, a first fixing frame and a second fixing frame. Two ends of the reverse wheel set rotation shaft are fixed on two mounting side plates respectively, the first fixing frame and the second fixing frame are respectively fixedly connected at two ends of reverse wheel component. The first fixing frame is provided with two lash adjusting threaded holes and a first lash adjusting screw, the second fixing frame is provided with a second lash adjusting threaded hole and a second lash adjusting screw cooperating therewith, and radial clearances between two ends of the reverse wheel component and the banknote separation wheel set are adjusted respectively by the two lash adjusting screws.

A robotic manipulator for handling an object is provided. The robotic manipulator includes a first robotic arm and a first end effector coupled to the first robotic arm. A movement of the first robotic arm orients the first end effector with respect to the object. The robotic manipulator includes a housing, a first conveyor operably coupled to the housing, a second conveyor operably coupled to the housing at an angle with respect to the first conveyor, and a first actuation mechanism. The first and second conveyors are arranged to form a top surface and the bottom surface respectively of a spatula-shaped base. The first actuation mechanism operates the first and second conveyors in one of a first direction and a second direction to manipulate the object. The operation of the first conveyor is independent of the operation of the second conveyor.

A robotic manipulator for handling an object is provided. The robotic manipulator includes a first robotic arm and a first end effector coupled to the first robotic arm. A movement of the first robotic arm orients the first end effector with respect to the object. The robotic manipulator includes a housing, a first conveyor operably coupled to the housing, a second conveyor operably coupled to the housing at an angle with respect to the first conveyor, and a first actuation mechanism. The first and second conveyors are arranged to form a top surface and the bottom surface respectively of a spatula-shaped base. The first actuation mechanism operates the first and second conveyors in one of a first direction and a second direction to manipulate the object. The operation of the first conveyor is independent of the operation of the second conveyor.

A feeding system for carton blanks is disclosed, comprising a pivotable linkage, a gripper head connected to the pivotable linkage at a first rotational axis. The feeding system comprises a magazine configured to store a plurality of stacked carton blanks in a stacking direction. The carton blanks are confined in a cassette being dimensioned so that the carton blanks are confined to extend between proximal and distal internal surfaces of the cassette along a cassette direction which is perpendicular to the stacking direction and the first rotational axis. The proximal internal surface is arranged to align proximal edges of the carton blanks in a proximal alignment plane being perpendicular to the cassette direction, the proximal alignment plane extending between the gripper head and said first rotational axis. The first rotational joint is positioned in relation to the magazine such that there is a separation distance between the proximal alignment plane and the first rotational axis.

A feeding system for carton blanks is disclosed, comprising a pivotable linkage, a gripper head connected to the pivotable linkage at a first rotational axis. The feeding system comprises a magazine configured to store a plurality of stacked carton blanks in a stacking direction. The carton blanks are confined in a cassette being dimensioned so that the carton blanks are confined to extend between proximal and distal internal surfaces of the cassette along a cassette direction which is perpendicular to the stacking direction and the first rotational axis. The proximal internal surface is arranged to align proximal edges of the carton blanks in a proximal alignment plane being perpendicular to the cassette direction, the proximal alignment plane extending between the gripper head and said first rotational axis. The first rotational joint is positioned in relation to the magazine such that there is a separation distance between the proximal alignment plane and the first rotational axis.