Abstract: A control unit executes first loading control if it 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.

Abstract: This disclosure is directed to automated warehouse facilities that are configured to assemble mixed pallets. The warehouse facilities can include one or more layer handling devices that are configured to remove layers from pallets in a delayering operational mode, and to add layers to pallets in a palletizing operation mode. The warehouse facilities also may include one or more item retrieval devices that are configured to retrieve individual items from storage racks. The warehouse facilities can include other automated devices as well.

Abstract: A sequencing station includes a buffer including a plurality of positions, each position being configured to receive an item. An industrial robot is configured to place items to the positions and pick items from the positions, and a transport device is configured to move items into and out of a work area of the robot. The robot has at least four degrees of freedom. A robot with four degrees of freedom manages both sequencing and restacking tasks faster and with lower investment than conventional machines dedicated to specific tasks.

Abstract: A food products packaging automatic plant can have at least a first food products packaging conveying line having a plurality of first connection areas. The plant further comprises a plurality of operative units. Each operative unit has a movable base able to move at the connecting areas; a processing device placed on the movable base and connectable to the conveying line at the connection areas; a plurality of sensors; and a wireless communication device. The plant further includes a maintenance station of the operative units; a preparation station of the operative units; and a control and managing central unit. The control and managing central unit commands the operative units so that they move from and towards the first food products packaging conveying line and from and towards the operative units maintenance and preparation stations.

Abstract: A positioning device, in particular a wafer transportation container positioning device, for positioning a wafer transportation container in a loading and/or unloading position of a loading and/or unloading station which is configured at least for loading and/or unloading wafers from the wafer transportation container. The positioning device, in particular the wafer transportation container positioning device, comprises a positioning mechanism which is configured for contactless positioning of the wafer transportation container in a coupling process between the wafer transportation container and the loading and/or unloading station.

Abstract: An automatic tire loader/unloader for stacking/unstacking tires in a trailer is disclosed. In one embodiment, a mobile base structure provides a support framework for a drive subassembly, conveyance subassembly, an industrial robot, a distance measurement subassembly, and a control subassembly. Under the operation of the control subassembly, tires advance through a powered transportation path to an industrial robot which places the tires within the trailer in a vertical stacking pattern or a rick-stacking pattern, for example. The control subassembly coordinates the selective articulated movement of the industrial robot and the activation of the drive subassembly based upon the distance measurement subassembly detecting objects, including tires, within a detection space, dimensions of the trailer provided to the control subassembly, and dimensions of the tires provided to the control subassembly.

Abstract: A moving position control system for a moving apparatus includes an embedded PC, a position control board, a servo driver, a servo motor, and a barcode scanner. The embedded PC sends a positioning instruction to the position control board, which processes the positioning instruction and then sends a signal to the servo driver to drive the servo motor. The barcode scanner collects absolute positions of the moving apparatus on a moving track thereof. The position control board, the servo driver, and the servo motor form a closed-loop control circuit that includes a position loop control circuit, a speed loop control circuit, and a current loop control circuit. Improved operational efficiency is achieved by locating the position loop control circuit at the position control board.

Abstract: An automatic tire loader/unloader for stacking/unstacking tires in a trailer is disclosed. In one embodiment, a mobile base structure provides a support framework for a drive subassembly, conveyance subassembly, an industrial robot, a distance measurement subassembly, and a control subassembly. Under the operation of the control subassembly, tires advance through a powered transportation path to an industrial robot which places the tires within the trailer in a vertical stacking pattern or a rick-stacking pattern, for example. The control subassembly coordinates the selective articulated movement of the industrial robot and the activation of the drive subassembly based upon the distance measurement subassembly detecting objects, including tires, within a detection space, dimensions of the trailer provided to the control subassembly, and dimensions of the tires provided to the control subassembly.

Abstract: An automatic tire loader/unloader for stacking/unstacking tires in a trailer is disclosed. In one embodiment, a mobile base structure provides a support framework for a drive subassembly, conveyance subassembly, an industrial robot, a distance measurement subassembly, and a control subassembly. Under the operation of the control subassembly, tires advance through a powered transportation path to an industrial robot which places the tires within the trailer in a vertical stacking pattern or a rick-stacking pattern, for example. The control subassembly coordinates the selective articulated movement of the industrial robot and the activation of the drive subassembly based upon the distance measurement subassembly detecting objects, including tires, within a detection space, dimensions of the trailer provided to the control subassembly, and dimensions of the tires provided to the control subassembly.

Abstract: An automatic tire loader/unloader for stacking/unstacking tires in a trailer is disclosed. In one embodiment, a mobile base structure provides a support framework for a drive subassembly, conveyance subassembly, an industrial robot, a distance measurement subassembly, and a control subassembly. Under the operation of the control subassembly, tires advance through a powered transportation path to an industrial robot which places the tires within the trailer in a vertical stacking pattern or a rick-stacking pattern, for example. The control subassembly coordinates the selective articulated movement of the industrial robot and the activation of the drive subassembly based upon the distance measurement subassembly detecting objects, including tires, within a detection space, dimensions of the trailer provided to the control subassembly, and dimensions of the tires provided to the control subassembly.

Abstract: An inventory transfer station is provided in connection with a workspace of an inventory management system. At the inventory transfer station, items are transferred from container holders to empty containers thereby generating containers that may fulfill orders for items. The inventory transfer station may be semi-automatically configured to transfer items from the container holders to the empty containers utilizing a vertical reciprocating conveyor that feeds empty containers to the inventory transfer station via an inbound conveyor lane associated with the inventory management system. Containers that have received items from the container holder may be transferred to an outbound conveyor lane that may, via the vertical reciprocating conveyor, feed fulfilled containers to a shipping area of the workspace.

Abstract: The present invention provides apparatus and a method for transporting at least one media item along a transport path, comprising locating a bunch of media items between at least one support surface and at least one clamp surface, and selectively moving said clamp surface towards or away from said support surface to apply a predetermined clamp force to the bunch of media items, wherein a predetermined angle of said clamp surface relative to said support surface is substantially constant when said clamp surface is moved towards or away from said support surface.

Abstract: An apparatus for forming bundles of printed products includes a lift element that moves vertically inside a holding area. The printed products are deposited on the lift element when the lift element is in an upper position. The lift moves the deposited printed products downward into the holding area so that the printed products are in position to subsequently be compressed into a bundle by pressing the printed products with an upward movement against a pressing element. The lift transports the compressed bundle to a lower position in the holding area where the lift element moves out of the holding area to a position in which the bundle is released to drop onto a support element. The lift element thereafter is moveable from the lower position to the upper position for the depositing of additional printed products. An ejection element conveys the compressed bundle out of the holding area.

Abstract: Automatic loading/unloading apparatus (1) for automatically loading flat articles (200) stacked on edge into storage trays (300) and for automatically unloading flat articles (200) stacked on edge therefrom, each of the storage trays (300) having a bottom plate (301) provided with a through window (306), said automatic loading/unloading apparatus having a stationary actuator (4) in register with said window and a moving actuator (5) that receives said storage tray (300) and that is mounted to move between: a waiting position in which said stationary actuator (4) is set back from said moving actuator (5) and is not in contact with said flat articles (200); and an unloading position in which said stationary actuator (4) passes through said window (306) while carrying said flat articles (200) until it comes flush with said stacking zone (3) suitable for receiving said flat articles (200) without said storage tray (300) being interposed between said flat articles (200) and said stacking zone (3).

Abstract: A robot programming device capable of reducing the operation of a robot in the field required for generating a program for palletizing operation, and shortening a time to generate the palletizing program. The robot programming device includes a storing part for storing three-dimensional models of the plurality kinds of units, a conveyor, a recognition device, a robot and a plurality of pallets; a layout making part for making a layout, in a virtual space, of the three-dimensional models stored in the storing part; a displaying part for displaying the layout made by the layout making part; an information setting part for setting information regarding each component displayed on the displaying part; and a program generating part for generating a palletizing program for the robot based on the layout of the three-dimensional models and the information set by the information setting part.

Abstract: A system for transferring and moving elements removably associable with a packaging machine comprises at least a transferring unit provided with a movement arrangement suitable for receiving and supporting the elements, the movement arrangement being movable for transferring and/or removing the elements to and/or from the machine; a method for transferring and moving elements removably associable with a packaging machine provides supporting and conveying the elements using at least a transferring unit and transferring and/or removing the elements to and/or from the packaging machine using the movement arrangement of the transferring unit.

Abstract: Embodiments of the invention relate to a system for storing and/or transporting platforms of pipette tips. The system includes packaging in which a stacked tower of platforms may be transported. Embodiments of the present invention further include a loader for transferring platforms from the packaging to a rack for holding pipette tip platforms. The loader transfers the platforms by accessing the uppermost platform in the stack.

Abstract: In a method and system for depalletizing tires using a robot, wherein the tires are randomly located on a carrier, the position and orientation of outer tires on the carrier are detected using a sensor, and a processor, using a signal from the sensor, determines a tire that can be gripped by a gripping tool of an industrial robot, and calculates a movement path for the gripping tool for that tire. If the calculated path is not collision-free, another tire from among the outer tires is selected, and a movement path for depalletizing that tire is determined. The procedure is repeated until a collision-free movement path for a tire from among the outer tires is established. The gripping tool is then guided according to this collision-free movement path to depalletize the tire having the collision-free path associated therewith.

Abstract: Apparatus (1) for manufacturing solar cell matrices includes several stringers (2) for forming strings from solar cells, a lay-up and interconnection station (5) for arranging and interconnecting the strings to form a solar cell matrix, and a transportation system (3) for transferring the strings from the stringers (2) to the lay-up and interconnection station (5), wherein the stringers (2) are arranged perpendicular to the direction of flow of the transportation system (3), or in an acute angle to an axis perpendicular to the direction of flow of the transportation system (3). Furthermore, a process for operating such apparatus (1), wherein the several stringers (2) are controlled such that collision between different strings is avoided in the transportation system (3).

Abstract: A system (1), a method and an operating unit (62) for the creation of mixed layers for pallets (81, 82, 83, 84) are disclosed. A storage (10) is provided in which at least two different pack types are stored on a plurality of pallets (81, 82, 83, 84), including a plurality of layers of homogenous packs. The packs are intermediately stored in a plurality of individual, parallel conveyors (301, 302, . . . 30N) in a homogenous state. Based on the input of a user (5) on a touch panel (62), the packs are supplied to a grouping table (50) via a supply conveyor (40) in a predetermined sequence. A controller (60) is associated with the system (1) so that, in the grouping table (50), individual different pack types are allocated to the predefined positions of the different pack types as a function of predefined positions of the different pack types in a layer pattern (14) of a layer (24) of a production pallet (12).

Abstract: A method for automated commissioning of bundles includes providing different source palettes and palettizing at least one target palette, with bundle layers of different source palettes being individualized and/or magazined in alternation and/or with variable predetermination, and/or bundles or bundle groups being magazined and/or demagazined in stacks before palettizing of the target palette, and/or the target palette is selectively palettized with at least one non-individualized bundle layer of a source palette.

Abstract: A sheet bundle with storage tags, a method for producing the sheet bundle and a sheet transport mechanism in an image forming apparatus are provide. The sheet bundle includes a plurality of sheets stacked to one another, each sheet being attached with a storage tag at an attachment position and having a thickness larger at the attachment position than other positions thereof. The plurality of sheets includes a plurality of kinds of sheets which have different attachment positions when the sheet bundle is viewed from a direction orthogonal to a surface of the sheets.

Abstract: A storage-access apparatus includes a first support device including a first base; at least one first storage-access device and at least one first storage device, disposed on the first base and arranged in a first circle; a second support device including a second base; at least one second storage-access device and at least one second storage device, disposed on the second base and arranged in a second circle; and a transporting device, wherein the first storage-access device, the first storage device, the second storage-access device and the second storage device each has plural compartments, the transporting device corresponds to the compartments, and the first storage-access device and the first storage device can rotate relative to the second storage-access device and the second storage device. Accordingly, the storage-access apparatus can be employed in depositing and picking up products independently. Also disclosed is a storage system including, among others, the storage-access apparatus.

Abstract: A bonding apparatus for conducting bonding on substrates comprises a first substrate holding device for clamping a first substrate during bonding and a second substrate holding device for clamping a second substrate during bonding. Each substrate holding device is operative to move sequentially between its respective onloading position for receiving substrates, bonding position whereat substrates are bonded and offloading position whereat bonded substrates are removed from the substrate holding device. A first actuator is operative to drive the first substrate holding device along a first feeding path from its onloading position to its bonding position and from its offloading position to its onloading position along a first return path. A second actuator is operative to drive the second substrate holding device along a second feeding path from its onloading position to its bonding position and from its offloading position to its onloading position along a second return path.

Abstract: Method for feeding fasteners to a fastening tool that can be moved by a programmable handling device and on which is mounted a magazine for accommodating at least one fastener. The method comprises: moving the magazine to a filling station, wherein the filling station has an always continuously open tube section with an outlet opening; orienting the magazine with respect to the outlet opening; opening an air seal of the magazine; and conveying at least one fastener to the tube section in such a manner that the fastener travels through the tube section and the outlet opening to reach the magazine.

Abstract: A product collation and loading system collates products into a proper pack pattern and loading the product into a load station or container. The system includes a grouping robot for separating group counts and holding incoming product while the sweep arm begins its cycle. The grouping robot may be positioned upstream of the sweeping robot. The sweeping robot pushes groups of product from the loading station and may act as overhead containment where the product is decelerated. The sweeping robot may be positioned between the grouping robot and a dynamic backstop. The dynamic backstop may be used to position the leading product in the correct location for the sweeping robot and may also decelerate the product to reduce impact. The dynamic backstop may be positioned directly downstream of the sweeping robot. The system may also include a reject cylinder for lifting an arm of the dynamic backstop to allow improperly oriented/located product to pass.

Abstract: A loading device includes a feeder having a cutout and a sensor. When a sensor detects that an item is positioned in the cutout, a motor slides the feeder out of a first component to remove the item from the first component for delivery to a second component. Alternatively, the loading device is a pivotal arm which pivots to slide the item out of the first component.

Abstract: The present invention relates to a method and a device for automatically stacking tires (4) on a support (1). According to the method, geometrical data of the tires (4) and/or a digital model of the tires (4) is provided, based on the geometrical data and/or the tire model and a predefinable size of the support (1), an algorithm calculates a stacking pattern for the tires (4) on the support (1) by taking into account a predefined size of the support, said stacking pattern making it possible to store the largest possible number of tires (4) in a stable manner on the support (1). Positional data of the tires (4) are adopted from the stacking pattern and associated trajectories of a handling device for stacking the tires (4) are generated and stored according to the stacking pattern.

Abstract: Provided is a method of manufacturing a glass substrate efficiently via prevention of foreign matter adhesion to a glass substrate as to chemical strengthening. Disclosed is a method of manufacturing a glass substrate for a recording medium possessing the step of conducting a chemical strengthening process by which a glass substrate held by a holding jig and the holding jig are immersed in a chemical strengthening solution, and 1st alkali metal ion on a surface of the glass substrate is substituted by 2nd alkali metal ion having a larger ion diameter than that of 1st alkali metal ion contained in the chemical strengthening solution, wherein the holding jig possesses a member of material made of a metal comprising an alkali metal element, or a metal film comprising an alkali metal element to cover a surface of the holding jig from the very beginning of the chemical strengthening process.

Abstract: A targeted product distribution system is described herein with respect to an exemplary management of product flow through a distribution center. Specifically, the system and method described herein is directed to the management and display of direct and easily-understood instructions, such that average individuals, as well as those with mental disabilities, will be able to contribute equally to the overall process.

Abstract: A dryer rack for use with an apparatus for drying an object inside a drum is disclosed, wherein the dryer rack includes a platform for having an upper surface for supporting the object. The platform may include at least one grip for loading and unloading the dryer rack into an interior space of the drum. The at least one grip is flush with the upper surface of the platform. The at least one grip is formed in a forward portion of the platform, to be near an access point of the drum.

Abstract: In a control method for a power assist apparatus, a pressing force acting on a workpiece held by a workpiece holding apparatus is detected, a determination is made as to whether or not the detected pressing force exceeds a preset threshold, a determination is made as to whether or not a dead man switch provided on the workpiece holding apparatus is ON, and a determination as to whether or not to release a rotation restriction applied to a joint portion for connecting the workpiece holding apparatus rotatably to an arm is made in accordance with a result of the determination as to whether or not the detected pressing force exceeds the preset threshold and a result of the determination as to whether or not the dead mean switch is ON.

Abstract: Increasing in size of a reaction force cancel system is suppressed. The reaction force cancel system is provided in a stage device including: a surface plate having a plurality of plate surfaces with different heights from each other, and installed on a floor via a vibration-isolating spring; and stages disposed on the plate surfaces respectively, and moving on the plate surfaces, and cancels reaction forces generated on the surface plate upon movements of the stages. In addition, the reaction force cancel system includes a first and a second reaction force canceling actuator that apply counter-thrusts to the surface plate, and a control section that controls the magnitudes of the counter-thrusts. In the reaction force cancel system, the heights of action points of counter-thrusts in the surface plate are different from each other, and the control section controls the counter-thrusts so as to counterbalance the reaction forces as resultant forces and resultant moments.

Abstract: The bill storage device in an automated teller machine includes an input port through which a bill introduced in the automated teller machine is inputted perpendicularly; a pair of opening/closing plates for supporting both side surfaces of the bill inputted into the input port; first and second storage parts arranged at both sides of the input port; a push bar placed in the input port and stroke-operated selectively toward the storage part in which the bill is inputting; a push bar driving motor for performing a stroke-operation of the push bar; and a pair of push plates forcing a pressure toward the input port to support perpendicularly the bill stored by a stroke-operation of the push bar.

Abstract: In accordance with one aspect of the present exemplary embodiment, a printing system comprises a media feeder that receives and stores asymmetrically thick media from an outside source and outputs such media to the printing system via a feed mechanism. A conveyer system transports the asymmetrically thick media from the media feeder utilizing at least one linear belt wherein a sensor is employed to determine the presence of the asymmetrically thick piece of stock. A controller coupled to the conveyer determines the location and orientation of an image on a piece of the asymmetrically thick stock. An imaging system receives the asymmetrically thick media from the conveyer system and places an image on the media in the proper location and orientation based at least in part on information from the controller.

Abstract: An improved method and apparatus is used with a group of bales. The group of bales is gripped with a bale handling apparatus. A flexible strip is positioned around the group of bales. The group of bales is then moved while the group of bales is gripped by the bale handling apparatus and while the flexible strip extends around the group of bales. The flexible strip is positioned relative to the group of bales by a positioning member which is connected with the bale handling apparatus.

Abstract: In a method for palletizing packages using an automated manipulator, and a non-transitory computer-readable medium encoded with programming instructions for implementing the method, a sequence of grip positions is designated for accepting packages with the automated manipulator, and a supply of provided packages is automatically checked with regard to the grip positions of the packages in the supply. The supplied packages are palletized according to a predetermined initial palletizing pattern as long as the packages are supplied in the grip positions in the sequence. The packages are palletized by the manipulator according to an alternate palletizing pattern, different from the initial palletizing pattern, in the event that a package is not supplied to the manipulator in a grip position in the sequence.

Abstract: A device for moving containers or other objects relative to a surface such as a pallet includes a frame and a pin matrix movably attached to the frame. The pin matrix includes an array of pins and is housed in a plate having apertures for receiving the pins. The device further includes a pair of tracks that movably support the pin matrix. A method for moving containers or other objects relative to a surface includes the steps of moving the pin matrix over the objects, lowering the pin matrix, securing the objects within the pin matrix, moving the pin matrix and the objects relative to the surface, and raising the pin matrix.

Abstract: A method and apparatus for handling bill jams within a currency processing device is provided. The device includes a transport mechanism adapted to transport bills along a transport path, one at a time, from the input receptacle past an evaluation unit into a plurality of output receptacles. At least one of the output receptacles includes a holding area and a storage area. A plurality of bill passage sensors are sequentially disposed along the transport path that are adapted to detect the passage of a bill as each bill is transported past each sensor. An encoder is adapted to produce an encoder count for each incremental movement of the transport mechanism. A controller counts the total number of bills transported into each of the holding areas and the total number of bills moved from a holding area to a corresponding storage area after a predetermined number of bills have been transported into the holding area.

Abstract: A device for stacking an endless, folded web of corrugated cardboard comprises at least one guide member for supporting the folded web of corrugated cardboard and at least one stop member for depositing stacks of a folded web of corrugated cardboard, with the at least one stop member being guided for displacement along the guide member.

Abstract: The invention relates to a method for holding together an electrically non-conductive stack of objects, such as a stack of magazines or foil strips, comprising the steps of: i) forming the stack of objects; and ii) applying along at least one stack surface at a distance D at least two regions having a difference in static polarity such that the stack of objects is held together, to a device for holding together an electrically non-conductive stack of objects, such as a stack of magazines or foil strips, comprising a station for a stack of objects, and at least two electrodes for applying along at least one stack surface at a distance D at least two regions having a difference in static polarity such that the stack of objects is held together, and power supplies for the respective electrodes and to an electrode unit therefore.

Abstract: A plate feeding apparatus of this invention includes a storage unit 10 for storing a plurality of plates P with end edges thereof arranged even by a stopper 11, a first and a second nip rollers 12 and 13, a suction device 45 disposed at a distal end of an arm 44 swingable about a moving unit 43 for sucking and holding an upper surface adjacent an end edge of each plate, a moving mechanism for moving the moving unit 43 along the surfaces of the plates, and for swinging the arm 44 about the moving unit 43, thereby to invert a portion adjacent the end edge of each plate sucked and held by the suction device 45, and subsequently to move the portion to a position to be pinched by the first nip roller or second nip roller, and a storage unit moving mechanism 26 for moving the storage unit 10 in directions perpendicular to the axes of the first and second nip rollers 12 and 13.

Abstract: An automatic pallet loading/unloading method for radioactive waste drums is disclosed, which comprises the steps of: (a) providing a conveying pallet accommodating six radioactive waste drums; (b) arranging the pallet on a specific importing carrier; (c) performing a two-dimensional fetching position adjustment upon the pallet by the importing carrier; and (d) using a grabber crane to grab and carry the radioactive waste drums in a specific order so as to apply an continuous inspection process upon each radioactive waste drum successively. In a preferred aspect, the two-dimensional fetching position adjustment uses a transverse positioning operation cooperating with a lengthwise positioning operation to successively place each radioactive waste drum in a specific position to be grabbed by the grabber crane and thus to be inspected by the inspection process.

Abstract: An apparatus for transferring and moving elements that are removably associable with an operating machine comprises a moving arrangement suitable for receiving and supporting the elements, the moving arrangement being movable for transferring to and/or removing from the operating machine the elements; the operating machine comprises a supporting arrangement configured for receiving from and giving to the apparatus the elements, the supporting arrangement in turn comprising hooking elements suitable for abutting and locking abutting elements of the elements.

Abstract: A system for transferring and moving elements removably associable with a packaging machine comprises at least a transferring unit provided with a movement arrangement suitable for receiving and supporting the elements, the movement arrangement being movable for transferring and/or removing the elements to and/or from the machine; a method for transferring and moving elements removably associable with a packaging machine provides supporting and conveying the elements using at least a transferring unit and transferring and/or removing the elements to and/or from the packaging machine using the movement arrangement of the transferring unit.

Abstract: A method and device is provided for multiaxial handling and guiding workpieces (9), particularly vehicle body subassemblies, in a processing station (2) relative to one or more processing devices (11). The workpieces (9) are placed on a supporting device (17) and, together with the supporting device (17), are handled by a number of multiaxially moving manipulators (15, 16) in common directions that are coordinated with one another, and are guided. The workpieces (9) are received by the manipulators (15, 16) together with the supporting device (17) at a receiving area (13) and are moved to a spatially separate processing area (14) and back again, whereby they are displaced relative to one or more processing devices (11) in the processing area (14) during the processing process.

Abstract: A bag supply apparatus for supplying bags onto a conveyer for transporting a bag bundle stacked such that an upper level bag is shifted forward, including a bag lifting device, which is provided with a pair of bag support members disposed facing one another on the left and right sides near the rear edge of a belt conveyor, and a rotation mechanism, which imparts translational motion of rotation in symmetric in a vertical plane with respect to the conveyance direction of the belt conveyor. The bag supporting portions of the bag support members contact the bag bundle from below to lift up the rear edge portion of the bag bundle and then separated from the bag bundle outwardly. While the bag supporting portions thus lifting the bag bundle, a new bag is fed into the space between the conveyance surface of the belt conveyor and the bag bundle.

Abstract: A grabber for automatically grabbing and placing packing units of different dimensions and configurations includes a frame with a support, a hold-down device and a stripper attached to the frame. The support supports a bottom portion of a respective packing unit, and is generally horizontally movable with respect to the frame. The hold-down device is downwardly movable toward the support to clamp the respective packing unit between the support and the hold-down device. The stripper is disposed above the support and is generally horizontally movable. The respective packing unit is substantially immobilized by the hold-down device and the stripper as the support is retracted.

Abstract: According to one embodiment of the invention, a method for auto-boating includes supporting a tape substrate having first and second end portions on a boat, sandwiching the first and second end portions between respective ones of a pair of end sleeves and the boat, coupling a boat clip to the boat, and removing the end sleeves from between the first and second end portions and the boat clip.

Abstract: A supporting device includes a support body for supporting a substrate and an auxiliary wing for supporting the corner of the substrate, so that the substrate is substantially horizontally disposed on the supporting device. Also disclosed is a substrate transportation equipment including the supporting device and a movable protruding member. The substrate transportation equipment can prevent the movable protruding member from hitting the edge of the substrate when the movable protruding member moves.