Automated palletizing system
First Claim
1. A method for automatically palletizing cartons on a pallet without a priori knowledge of the cartons to be palletized, using a robot to pick cartons from a conveyor carrying the cartons to the robot, said method comprising the steps of:
- detecting each carton as said carton moves onto the conveyor;
recording an entry time for each carton entering the conveyor;
computing a location of each carton on the conveyor from the entry time of said carton;
weighing each carton as said carton moves onto the conveyor to produce weight data;
measuring the dimensions of each carton as said carton moves onto the conveyor to obtain dimensional data;
building and continuously maintaining a computer file of location, weight data, and dimensional data of each carton on the conveyor;
utilizing an expert system to continuously map the best loading sequence and optimal location of the cartons on a pallet;
reordering up to a predetermined number of the cartons on the conveyor to permit the sequence of loading mapped by said expert system; and
loading the cartons onto a pallet with the robot in the sequence and locations mapped by the expert system.
1 Assignment
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Accused Products
Abstract
An automatic palletizer system loads a random set of different size and weight boxes onto a pallet without a prior knowledge of the boxes to be loaded. As the boxes pass along a conveyor belt on the way to the pallet, a weighing, dimensioning, and scanning station determines the weight, dimensions and contents of each box. A processor uses this information to continuously remap the optimal pallet configuration for the loading of the remaining boxes as the pallet is loaded. A queuing station, under direction of the processor, reshuffles the sequence of a limited number of boxes to improve the final pallet configuration. The pallet is loaded by a robot arm under direction of the processor.
216 Citations
12 Claims
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1. A method for automatically palletizing cartons on a pallet without a priori knowledge of the cartons to be palletized, using a robot to pick cartons from a conveyor carrying the cartons to the robot, said method comprising the steps of:
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detecting each carton as said carton moves onto the conveyor; recording an entry time for each carton entering the conveyor; computing a location of each carton on the conveyor from the entry time of said carton; weighing each carton as said carton moves onto the conveyor to produce weight data; measuring the dimensions of each carton as said carton moves onto the conveyor to obtain dimensional data; building and continuously maintaining a computer file of location, weight data, and dimensional data of each carton on the conveyor; utilizing an expert system to continuously map the best loading sequence and optimal location of the cartons on a pallet; reordering up to a predetermined number of the cartons on the conveyor to permit the sequence of loading mapped by said expert system; and loading the cartons onto a pallet with the robot in the sequence and locations mapped by the expert system. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for automatically palletizing cartons on a pallet without a priori knowledge of the cartons to be palletized, using a robot to pick cartons from a conveyor carrying the cartons to the robot, said method comprising the steps of:
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detecting each carton as said carton moves onto the conveyor; weighing each carton as said carton moves onto the conveyor to produce weight data; measuring the dimensions of each carton as said carton moves onto the conveyor to obtain dimensional data; building a computer file of weight data and dimensional data of each carton on the conveyor; utilizing an expert system to continuously map the best loading sequence and optimal location of the cartons on a pallet; reordering up to a predetermined number of the cartons on the conveyor to permit the sequence of loading mapped by said expert system; and loading the cartons onto a pallet with the robot in the sequence and locations mapped by the expert system. - View Dependent Claims (9, 10, 11, 12)
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Specification