A method of stacking goods by a robot, a system of controlling the robot to stack the goods, and the robot are provided in the field of robot control. The method includes: acquiring a current pose and a target pose of the goods; obtaining a collision-free motion trajectory of the robot and/or an end effector of the robot based on the current pose and the target pose of the goods; and controlling the robot to place the goods in the target pose in accordance with the collision-free motion trajectory. The method of stacking goods by the robot, the system of controlling the robot to stack the goods, and the robot are configured to realize a process of fully automated stacking the goods in the scenario of logistically loading or unloading the goods. The efficiency of loading or unloading the goods can be improved, and the labor cost can be reduced.

A method of stacking goods by a robot, a system of controlling the robot to stack the goods, and the robot are provided in the field of robot control. The method includes: acquiring a current pose and a target pose of the goods; obtaining a collision-free motion trajectory of the robot and/or an end effector of the robot based on the current pose and the target pose of the goods; and controlling the robot to place the goods in the target pose in accordance with the collision-free motion trajectory. The method of stacking goods by the robot, the system of controlling the robot to stack the goods, and the robot are configured to realize a process of fully automated stacking the goods in the scenario of logistically loading or unloading the goods. The efficiency of loading or unloading the goods can be improved, and the labor cost can be reduced.

A confection mold conveying system and methods for manufacturing of confection products, the system including a first conveyor segment and a second conveyor segment. The first conveyor segment has a first pusher bar and a series of spaced apart first pusher fingers extending therefrom. The first pusher fingers are oriented to engage confection mold trays while the first pusher bar is translated in a first direction. The first pusher fingers are re-oriented to avoid engagement with the confection mold trays while the first pusher bar is translated in a second direction opposite the first direction. The second conveyor segment receives the confection mold trays from the first conveyor segment and can include a first rotatable shaft with a first helical channel to receive a first tab of one of the confection mold trays. Rotation of the rotatable shaft thereby continuously advances the respective confection mold tray in the first direction.

A block stacking arrangement having multiple container stacking slots and a loading space arranged below the container stacking slots in a direction of gravity, a pass-through opening being arranged between each container stacking slot and the loading space, via which a container can be moved out of the loading space into the container stacking slot or from the container stacking slot into the loading space and which has a holding device. Good flexibility of the block stacking arrangement is achieved at least because at least two pass-through openings have different sizes.

A block stacking arrangement having multiple container stacking slots and a loading space arranged below the container stacking slots in a direction of gravity, a pass-through opening being arranged between each container stacking slot and the loading space, via which a container can be moved out of the loading space into the container stacking slot or from the container stacking slot into the loading space and which has a holding device. Good flexibility of the block stacking arrangement is achieved at least because at least two pass-through openings have different sizes.

The invention concerns an automated storage and retrieval system (1), a storage container handling vehicle (3) and a method for operating such a system. The system (1) comprises one or more vehicle (3) configured to lift and move storage containers (106) stacked in the system (1). Each vehicle (3) comprises a storage container lifting device (16), a drive system (18) with a wheel arrangement (19, 20) configured to drive and maneuver the vehicle (3) along the track system (108), abase (31) onto which the wheel arrangement (19, 20) is connected, a rotational part (30) rotationally connected via a swivel device (32) to the base (31) and a rotational drive system (34) for rotating the rotational part (30) relative to the base (31).

The invention concerns an automated storage and retrieval system (1), a storage container handling vehicle (3) and a method for operating such a system. The system (1) comprises one or more vehicle (3) configured to lift and move storage containers (106) stacked in the system (1). Each vehicle (3) comprises a storage container lifting device (16), a drive system (18) with a wheel arrangement (19, 20) configured to drive and maneuver the vehicle (3) along the track system (108), abase (31) onto which the wheel arrangement (19, 20) is connected, a rotational part (30) rotationally connected via a swivel device (32) to the base (31) and a rotational drive system (34) for rotating the rotational part (30) relative to the base (31).

The present invention relates to an auxiliary battery and an auxiliary battery rental device, and the auxiliary battery rental device according to the present invention comprises: a battery port allowing an auxiliary battery to be discharged therefrom or returned thereto; a battery queue in which auxiliary batteries are vertically stacked and loaded; a carrier for discharging an auxiliary battery loaded in the battery queue to the battery port, or loading an auxiliary battery returned to the battery port in the battery queue; a lift for lifting at least some of the auxiliary batteries loaded in the battery queue; a charging unit for charging at least some of the auxiliary batteries loaded in the battery queue; and a control unit for controlling an operation of the rental device such that lending and returning operations of the auxiliary batteries are automatically performed. According to the present invention, lending, returning, charging, and lending of auxiliary batteries can be circularly and automatically performed.

A system for moving payloads is described. It uses one or more mobile robots. Each mobile robot comprises a payload bearing platform with a transfer mechanism with multiple degrees of freedom of movement. The system includes one or more stack exchangers having a set of alignment mechanisms, and at least one payload transfer ramp. The mobile robots pass through the stack exchanger and pick up a payload or drop off a payload.

A system for moving payloads is described. It uses one or more mobile robots. Each mobile robot comprises a payload bearing platform with a transfer mechanism with multiple degrees of freedom of movement. The system includes one or more stack exchangers having a set of alignment mechanisms, and at least one payload transfer ramp. The mobile robots pass through the stack exchanger and pick up a payload or drop off a payload.