Abstract: The invention relates to a method for producing a mixed drink, wherein a capsule (22) enclosing a powder-filled volume (27) is inserted into a receptacle of a mixing device, and is opened by closing a lid of the receptacle, and as a result, a cover film (26) of the capsule (22) is pierced by several hollow needles (12, 14). To this end, pressure is exerted thereon by means of a punch (9), which causes the piercing of a closure film (25) above an outlet (24) via mixing rods (32) and via skewers (29) arranged in the volume (27). Water is then injected through a portion of the hollow needles (12), and the mixture is discharged through the outlet (24). After a pause or introduction of air under positive pressure by means of a further hollow needle (14), water is injected again, and finally, air is introduced once again. During the entire process, the receptacle is put into a vibration by an electric motor via an eccentric pin, the frequency of which is about 42 Hz, and the amplitude of which is about 1.

Abstract: The invention relates to a carriage cart, which comprises a chassis frame with a front end and a rear end; a pair of front wheels mounted on the front end of the chassis frame; a pair of rear wheels mounted on the rear end of the chassis frame. The carriage cart according to example embodiments of the present invention may improve the performance of obstacle overcoming for robotic system.