| 摘要 |
The method for repalletizing shrink-wrapped packs of plastic bottles (2) comprises the following steps: a. providing at least a source pallet (1) comprising at least one layer, made up of a plurality of shrink-wrapped packs (3) of bottles (2) and accessible from the top; b. providing at least a client pallet (4), on which a number of packs (3) of bottles (2) has to be loaded, taken from the source pallet (1); c. providing handling means comprising an anthropomorphous robot (9) and a gripper (11), carried by the robot (9) and equipped with two plate-shaped jaws (12, 13); d. identifying in the layer a pack (3) to pick up, which has opposite grip sides (16, 17); e. arranging the gripper (11) above the pack (3); f. lowering the gripper (11) and gripping the pack (3) with the gripper (11), according to the following rule: if the pack (3) to pick up has a first free grip side (16) and a second grip side (17) adjacent to a different pack (3), then a jaw (13) is forcibly fitted between the second side (17) and the different pack (3), and the other jaw (12) abuts against the first side (16), so as to clasp the pack (3) to pick up in the gripper (11); if the pack (3) to pick up has both grip sides (16, 17) free, then each jaw (12, 13) abuts a respective grip side (16, 17), so as to clasp the pack (3) in the gripper (11); g. lifting the pack (3) and carrying it by the client pallet (4); h. identifying a load position in the client pallet (4) where arranging the pack (3); i. placing the pack (3) in the load position; and j. if the number of packs (3) is more than one, repeating the steps from d. to i. until reaching the number. |
