A container with an alignment correcting end is provided. The alignment correcting end has angled side walls that extend from parallel flat square or rectangular sides of the container. Each angled side wall extends at an angle between 5 and 70 from one of the parallel walls towards the center of the container. Nubs may be disposed about an exterior of the angled side walls. Also, a passive displacing robotic element for performing misaligned or off-axis placement of the container with the alignment correcting end is provided. The passive displacing robotic element provides displacement of the one or more robotic actuators that are used to engage and place the container into the slot in response to the alignment correcting end of the container contacting the slot edge, wall, or other barrier.

The application relates to a carrying robot including a fork. The fork includes a telescopic arm and a temporary storage tray. The telescopic arm includes a fixed arm and a movable arm connected to the fixed arm. The movable arm is telescopically movable relative to the fixed arm. The temporary storage tray is mounted to the fixed arm and is configured to temporarily store goods. The temporary storage tray is able to extend relative to the fixed arm. An extending direction of the temporary storage tray is consistent with an extending direction of the movable arm. When the fork pulls in or pushes out the goods, containers can be stably transferred between a stationary rack and the temporary storage tray.

An autonomous transport vehicle for transferring a goods unit for filling a shipping tote or container, the autonomous transport vehicle comprising, a frame configured so that the autonomous transport vehicle traverses, as a unit, on at least one of a transfer deck and a ramp, a controller connected to the frame and configured to effect movement of the autonomous transport vehicle on the at least one of the transfer deck and the ramp so that the autonomous transport vehicle roams freely via autonomous navigation, from a first location to a different second location, wherein the first location is a supply of the goods unit, and the second location is a tote fill location based on an order, and a payload connected to the frame for holding the goods unit loaded on the autonomous transport vehicle, the payload having an end effector arranged to extend and unload the goods

The application relates to a carrying robot including a fork. The fork includes a telescopic arm and a temporary storage tray. The telescopic arm includes a fixed arm and a movable arm connected to the fixed arm. The movable arm is telescopically movable relative to the fixed arm. The temporary storage tray is mounted to the fixed arm and is configured to temporarily store goods. The temporary storage tray is able to extend relative to the fixed arm. An extending direction of the temporary storage tray is consistent with an extending direction of the movable arm. When the fork pulls in or pushes out the goods, containers can be stably transferred between a stationary rack and the temporary storage tray.

A system for management of packing articles on one or more cargo units, each for loading on one of a plurality of cargo vehicles, is provided. The system comprises a registration station to identify and communicate freight data characterizing each of the articles, thereby facilitating registration thereof, wherein the freight data comprises physical attributes and shipping information, and wherein the registration station comprises one or more computer-controlled sensors to identify at least some of the physical attributes; a build-up station configured for packing the articles on the cargo units, the build-up station comprising a robotic arm for carrying an article while supporting it from below; and a controller to receive the freight data from the registration station, and to direct operation of the system.

A conveyance apparatus (carriage main part) includes a link mechanism that advances and retreats a holding unit horizontally with respect to a link mechanism support unit, and includes a pair of multi-joint arms that connects the link mechanism support unit and the holding unit. The cable is fixed to the link mechanism support unit by extending from a portion thereof fixed to the holding unit in a retreating direction of an advancing and retreating direction, and then, being bent back in an advancing direction, and as the holding unit advances, the bent-back position F of the cable also advances.

A transfer device includes: a pusher configured to push a container during a delivery operation; a lockable portion lockable to the container during a pick-up operation; a transfer drive unit configured to cause the pusher and the lockable portion to reciprocate in the transfer direction; and a lock drive unit configured to drive the lockable portion separately from the pusher and causes the lockable portion to change in orientation. The transfer device performs a delivery operation by moving, toward a delivery side in the transfer direction, the pusher in contact with a container rear face portion with use of the transfer drive unit, and performs a pick-up operation by moving the lockable portion in the locking orientation toward a pick-up side in the transfer direction with use of the transfer drive unit.

A doffing apparatus can be configured to couple to an automatically guided vehicle (AGV). The doffing apparatus can comprise at least one elongate arm, each elongate arm having a proximal end, a distal end, and a length, and at least one driver, each driver being configured to move along a respective elongate arm to move a bobbin toward the distal end of the elongate arm. The doffing apparatus can further comprise at least one alignment device. The doffing apparatus can further comprise a processor, wherein the processor is configured to: receive feedback from the at least one alignment device, provide a control signal to cause the AGV to align the elongate arm with a receptacle at a loader, and move the driver a select distance along the length of the elongate arm.

The present invention relates to a system, comprising: a transport device 100 comprising a transport vehicle 110 which can be moved freely on a base area and a handling device 150 provided on the transport vehicle 110, a carrier for goods in transport 200 which can be received by the handling device 150 and includes at least one first alignment element 220, and a receiving apparatus 300 for receiving the carrier for goods in transport 200 which can be set up on the base area or arranged on a machine set up on the base area, wherein the handling device 150 is configured to hold the carrier for goods in transport 200 in such a way that, when the carrier for goods in transport 200 is inserted and/or exchanged on the receiving apparatus 300 by the handling device 150, the carrier for goods in transport 200 is kept movable relative to the handling device 150, and the receiving apparatus 300 includes at least one second alignment element 320 which, when the carrier for goods in transport 200 is inserted and/or exchanged, is configured to interact with the at least one first alignment element 220 of the carrier for goods in transport 200 for aligning the carrier for goods in transport 200 with the receiving apparatus 300.

An object is to enhance conveyance performance of a hand that places an article on a base with a hand and conveys the article. A hand includes: a base; a first holder that is supported to be movable in a predetermined first direction with respect to the base and holds an article; a second holder that is aligned with the first holder in a second direction intersecting with the first direction, is supported to be movable in the first direction with respect to the base, and holds the article; a first driver that moves the first holder and the second holder in the first direction; and an adjustor that adjusts a position of one of the first holder and the second holder in the first direction independently of the other.