An automated storage and retrieval system includes a storage array of storage locations for case units. An in-out case conveyor is capable of bi-directionally transporting case units to and from the storage array, and an in-out loaded pallet conveyor is capable of bi-directionally transporting loaded pallets towards and away from the storage array. A palletizer-depalletizer cell includes a bi-directional pallet transport system with more than one independently driven pallet transports, each with a different pallet holder independently movable relative to a cell frame. Placement of case units commissioning a pallet layer loading a pallet, and removal of case units decommissioning a pallet layer unloading another pallet are both effected at the common pallet layer interface at a predetermined level of the cell frame. The pallet transports independently index a first and a second of the different pallet holders, each independently holding the pallet loading at the common pallet layer interface.

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 picking facility is realized that can shorten the time required to transfer an article from a first support body to a second support body. Of a plurality of articles 50 supported by the first support body 51, the article 50 located at the highest position and the article 50 whose upper face T1 is present in a range of a set distance D downward from the upper face T1 of the article 50 located at the highest position are set as transfer-target articles 50A, and the control device performs a selection control to preferentially select, from the transfer-target articles 50A, a transfer-target article 50A in the normal orientation SC, and a transfer control to control the transfer device so as to transfer the transfer-target article 50A selected through the selection control from the first support body 51 to the second support body.

A picking facility is realized that can shorten the time required to transfer an article from a first support body to a second support body. Of a plurality of articles 50 supported by the first support body 51, the article 50 located at the highest position and the article 50 whose upper face T1 is present in a range of a set distance D downward from the upper face T1 of the article 50 located at the highest position are set as transfer-target articles 50A, and the control device performs a selection control to preferentially select, from the transfer-target articles 50A, a transfer-target article 50A in the normal orientation SC, and a transfer control to control the transfer device so as to transfer the transfer-target article 50A selected through the selection control from the first support body 51 to the second support body.

The present invention provides an automatic analysis device and an automatic specimen processing system having a component-rack supply mechanism that, in a state where a plurality of component racks each having a disposable component mounted thereon are stacked, separates only a component rack at the leading stage of the stack from the other component racks, and supplies the separated component rack to the automatic analysis device or the automatic specimen processing system. Specifically, the automatic analysis device and the automatic specimen processing system have a supply mechanism including a separation mechanism that, in a state where a plurality of component racks are stacked, separates only a component rack at the leading stage of the stack from the other component racks, where the separation mechanism includes a movable mechanism having a pair of downward-movement prevention members that can separate the leading stage from the second stage of the stacked component racks; and a correction mechanism having a pair of correction members that correct a positional deviation of the component racks in order to avoid an influence of the positional deviation of the stacked component racks.

A stacking storage arrangement and method of operating stacking storage arrangement. The stacking storage arrangement includes multiple container receiving spaces and a loading space arranged below the container receiving spaces. A loading vehicle that is movable in the loading space includes a chassis and a container seat that is height-adjustable relative to the chassis. A holding device is arranged between each container receiving space and the loading space and a hold-open device is arranged on the chassis separately from the container seat.

A parts supply apparatus includes a supply tray stacking portion where a supply tray containing parts is stacked; a tray raising/lowering unit for separating one of the supply trays from the supply tray stacking portion; a tray holding unit with which the tray raising/lowering unit is provided; and an empty tray stacking portion where an empty tray, which is the supply tray that is emptied after supply of the parts, is stacked. The empty tray stacking portion is disposed above the supply tray stacking portion in a vertical direction.

A parts supply apparatus includes a supply tray stacking portion where a supply tray containing parts is stacked; a tray raising/lowering unit for separating one of the supply trays from the supply tray stacking portion; a tray holding unit with which the tray raising/lowering unit is provided; and an empty tray stacking portion where an empty tray, which is the supply tray that is emptied after supply of the parts, is stacked. The empty tray stacking portion is disposed above the supply tray stacking portion in a vertical direction.

A lumber transfer system includes an overhead track and a lower conveyor for retrieving and delivering boards from multiple racks of lumber to a platform leading to a saw. In some examples of operation, a board picker travels along the track to pick up a chosen board from one of the racks. The board picker then releases the board onto the conveyor. The conveyor conveys the board underneath the other racks and delivers the board to the saw feed platform. While the conveyor is conveying the board toward the saw feed platform, the board picker returns to the racks for another board. The board picker traveling along the track and handling boards while the conveyor delivers them to the saw saves production time and increases throughput.