A method for palletizing by a robot includes positioning an object at an initial position adjacent to a target object location, tilting the object at an angle relative to a ground plane, shifting the object in a first direction from the initial position toward a first alignment position, shifting the object in a second direction from the first alignment position toward a second alignment position, and releasing the object from the robot to pivot the object toward the target object location.

An apparatus and method for maintaining a pattern of non-rigid objects in a desired position and orientation. The first surface, second surface, and third surface are mutually orthogonal and meet at a point to form a lowest corner. The second and third surfaces are supported by, attached to and extend at least somewhat vertically from the apparatus. The first surface is oriented at an angle to a plane running through a bottom of the apparatus and thereby provides the lowest corner.

An apparatus and method for maintaining a pattern of non-rigid objects in a desired position and orientation. The first surface, second surface, and third surface are mutually orthogonal and meet at a point to form a lowest corner. The second and third surfaces are supported by, attached to and extend at least somewhat vertically from the apparatus. The first surface is oriented at an angle to a plane running through a bottom of the apparatus and thereby provides the lowest corner.

A method for palletizing by a robot includes positioning an object at an initial position adjacent to a target object location, tilting the object at an angle relative to a ground plane, shifting the object in a first direction from the initial position toward a first alignment position, shifting the object in a second direction from the first alignment position toward a second alignment position, and releasing the object from the robot to pivot the object toward the target object location.

The present invention relates to a method for the formation of stacks of packagings (152) by stacking infusion bags (140), in which the infusion bags (140) are removed from a conveying stretch (100) on which the infusion bags (140) provided one behind the other are supplied to a removal station (102) in which the infusion bags (140) are removed from the conveying stretch (100) and are arranged resting against one another to form the stack of packaging (100) in a stack holding device (122; 300) which is emptied when a number of infusion bags (140) forming the stack of packagings (152) has been reached, where the removal of the infusion bags (140) from the conveying stretch (100) is not interrupted when the stack holding device (122; 300) is being emptied and at least one infusion bag (140) removed there is arranged upstream of the stack holding device (122; 300).

A method for palletizing includes receiving a target box location for a box grasped by the end-effector, the box having a top surface, a bottom surface, and side surfaces. The method also includes positioning the box at an initial position adjacent to the target box location and tilting the box at an angle relative to a ground plane where the angle is formed between the ground plane and the bottom surface. The method further includes shifting the box from the initial position in a first direction to a first alignment position that satisfies a threshold first alignment distance, shifting the box from the first alignment position in a second direction to the target box location that satisfies a threshold second alignment distance, and releasing the box from the end-effector. The release of the box causes the box to pivot toward a boundary edge of the target box location.

A packing cell for packing products in boxes includes a picking system for picking products and stacking them according to a stacking pattern, a support unit for the stacking process, with a rotatable horizontal shaft for placing a support platform in a predetermined angular position for the stacking process, and a box handling robot to transfer empty boxes towards the support unit and full boxes away from the support unit. A method includes placing the support platform in a predetermined angular position adjacent a product picking system, picking and stacking a number of products according to a stacking pattern on the support unit, and removing from the support unit, with a box handling robot, a box containing the stacked products.

A packing cell for packing products in boxes includes a picking system for picking products and stacking them according to a stacking pattern, a support unit for the stacking process, with a rotatable horizontal shaft for placing a support platform in a predetermined angular position for the stacking process, and a box handling robot to transfer empty boxes towards the support unit and full boxes away from the support unit. A method includes placing the support platform in a predetermined angular position adjacent a product picking system, picking and stacking a number of products according to a stacking pattern on the support unit, and removing from the support unit, with a box handling robot, a box containing the stacked products.

The present invention relates to a method for the formation of stacks of packagings (152) by stacking infusion bags (140), in which the infusion bags (140) are removed from a conveying stretch (100) on which the infusion bags (140) provided one behind the other are supplied to a removal station (102) in which the infusion bags (140) are removed from the conveying stretch (100) and are arranged resting against one another to form the stack of packagings (100) in a stack holding device (122; 300) which is emptied when a number of infusion bags (140) forming the stack of packagings (152) has been reached, where the removal of the infusion bags (140) from the conveying stretch (100) is not interrupted when the stack holding device (122; 300) is being emptied and at least one infusion bag (140) removed there is arranged upstream of the stack holding device (122; 300).

The present invention relates to a method for the formation of stacks of packagings (152) by stacking infusion bags (140), in which the infusion bags (140) are removed from a conveying stretch (100) on which the infusion bags (140) provided one behind the other are supplied to a removal station (102) in which the infusion bags (140) are removed from the conveying stretch (100) and are arranged resting against one another to form the stack of packagings (100) in a stack holding device (122; 300) which is emptied when a number of infusion bags (140) forming the stack of packagings (152) has been reached, where the removal of the infusion bags (140) from the conveying stretch (100) is not interrupted when the stack holding device (122; 300) is being emptied and at least one infusion bag (140) removed there is arranged upstream of the stack holding device (122; 300).