This disclosure is directed to automated warehouse facilities that are configured to assemble mixed pallets. The warehouse facilities can include one or more layer handling devices that are configured to remove layers from pallets in a delayering operational mode, and to add layers to pallets in a palletizing operation mode. The warehouse facilities also may include one or more item retrieval devices that are configured to retrieve individual items from storage racks. The warehouse facilities can include other automated devices as well.

This disclosure is directed to automated warehouse facilities that are configured to assemble mixed pallets. The warehouse facilities can include one or more layer handling devices that are configured to remove layers from pallets in a delayering operational mode, and to add layers to pallets in a palletizing operation mode. The warehouse facilities also may include one or more item retrieval devices that are configured to retrieve individual items from storage racks. The warehouse facilities can include other automated devices as well.

This disclosure is directed to automated warehouse facilities that are configured to assemble mixed pallets. The warehouse facilities can include one or more layer handling devices that are configured to remove layers from pallets in a delayering operational mode, and to add layers to pallets in a palletizing operation mode. The warehouse facilities also may include one or more item retrieval devices that are configured to retrieve individual items from storage racks. The warehouse facilities can include other automated devices as well.

This disclosure is directed to automated warehouse facilities that are configured to assemble mixed pallets. The warehouse facilities can include one or more layer handling devices that are configured to remove layers from pallets in a delayering operational mode, and to add layers to pallets in a palletizing operation mode. The warehouse facilities also may include one or more item retrieval devices that are configured to retrieve individual items from storage racks. The warehouse facilities can include other automated devices as well.

A system for assembling layers of packages and for forming transport and storage units from the layers. A grouping station has a grouping table for arranging and grouping the packages in a predefined layer arrangement. A package delivery feeds the packages to the grouping table in a conveying direction. The package delivery has two row conveyors for transporting at least one row of packages each on either side of the grouping table. A transfer unit transfers the packages from the row conveyors to the grouping table by sliding them in a respective sliding direction over a slide-over buffer region between each row conveyor and the grouping table, in order to form the layer of packages. A layer stacker then slides the layer of packages from the grouping table over onto a plate provided in the layer stacker, while maintaining the layer arrangement, in order to form the transport and storage unit.

A system for assembling layers of packages and for forming transport and storage units from the layers. A grouping station has a grouping table for arranging and grouping the packages in a predefined layer arrangement. A package delivery feeds the packages to the grouping table in a conveying direction. The package delivery has two row conveyors for transporting at least one row of packages each on either side of the grouping table. A transfer unit transfers the packages from the row conveyors to the grouping table by sliding them in a respective sliding direction over a slide-over buffer region between each row conveyor and the grouping table, in order to form the layer of packages. A layer stacker then slides the layer of packages from the grouping table over onto a plate provided in the layer stacker, while maintaining the layer arrangement, in order to form the transport and storage unit.

A robotic system is disclosed. The system includes a communication interface configured to receive, from one or more sensors deployed in a workspace, sensor data indicative of a current state of the workspace, the workspace comprising a pallet or other receptacle and a plurality of items stacked on or in the receptacle. The system includes one or more processors that use a geometric model based at least in part on past item placements in combination with the sensor data to estimate a state of the pallet or other receptacle and one or more items stacked on or in the pallet or other receptacle, and use the estimated state to generate or update a plan to control a robotic arm to place a next item on or in, or remove a next item from, the pallet or other receptacle in a manner that avoids having the next item collide with any other item stacked on or in the pallet or other receptacle.

A robotic system is disclosed. The system includes a communication interface configured to receive, from one or more sensors deployed in a workspace, sensor data indicative of a current state of the workspace, the workspace comprising a pallet or other receptacle and a plurality of items stacked on or in the receptacle. The system includes one or more processors that use a geometric model based at least in part on past item placements in combination with the sensor data to estimate a state of the pallet or other receptacle and one or more items stacked on or in the pallet or other receptacle, and use the estimated state to generate or update a plan to control a robotic arm to place a next item on or in, or remove a next item from, the pallet or other receptacle in a manner that avoids having the next item collide with any other item stacked on or in the pallet or other receptacle.

The invention relates to a set-down belt for a palletizing apparatus, comprising a circulating conveyor belt that defines a conveying face for conveying goods, a first deflection roller that is rotatable about a first axis of rotation, and a tensioning roller that is rotatable about a tensioning axis and is movable in a tensioning direction (S). Here, a second deflection roller that is rotatable about a second axis of rotation is provided, wherein the second axis of rotation extends parallel to the first axis of rotation. The tensioning roller is movable such that the tensioning axis extends in an inclined manner with respect to the first axis of rotation and in an inclined manner with respect to the second axis of rotation. The invention also relates to a palletizing apparatus that comprises at least one set-down belt according to the invention.

The invention relates to a set-down belt for a palletizing apparatus, comprising a circulating conveyor belt that defines a conveying face for conveying goods, a first deflection roller that is rotatable about a first axis of rotation, and a tensioning roller that is rotatable about a tensioning axis and is movable in a tensioning direction (S). Here, a second deflection roller that is rotatable about a second axis of rotation is provided, wherein the second axis of rotation extends parallel to the first axis of rotation. The tensioning roller is movable such that the tensioning axis extends in an inclined manner with respect to the first axis of rotation and in an inclined manner with respect to the second axis of rotation. The invention also relates to a palletizing apparatus that comprises at least one set-down belt according to the invention.