After the gripper has been positioned, it can grab the bundles of a row, pull them out of the layer and deposit them on the conveyor system. For this purpose, the presented gripper was developed, which can remove a complete row of bundles from the layer in one step and sets the system apart from the state of the art. The gripper consists of three individual [...]
After positioning the gripper, it can grab the packages of a row, pull them out of the layer and deposit them on the conveyor system. The gripper consists of three individual segments, which in turn combine several vacuum grippers and thus enable the gripper to remove a complete row of packages from the layer in one step. To grip the packages, the segments are moved forward. Based on the identified packing pattern and the derived unloading strategy, the individual suction grippers are then activated individually to grip either individual packages or the entire row of packages from the layer.
The packages are then pulled out and deposited on the conveyor rollers by interrupting the vacuum. Next, the segments are moved back to their initial position. The middle segment is lowered and clears the way for the parcels to be conveyed away via the integrated rollers.
Click here for the complete process description and basic functionality of the entire system:
http://www.sciencedirect.com/science/article/pii/S235197892032179X
English 
German