| 摘要 |
The method concerns rectangular parallelepiped packages (1) that are received in bulk in a single layer in an accumulation container (2), the packages (1) being lifted from the accumulation container and moved onto a pallet (3). The method involves following, at all times, the position and angular orientation of each package (1) in the accumulation container (2), calculating the three dimensions of each package arriving in the container, selecting a next package (1) to be moved from the accumulation chamber on the basis of the dimensions thereof and the available space remaining on a current palletising level, determining the location to provide on the pallet (3) for the selected package, lifting the package and depositing same on the pallet using a rotatable gripping head (4) of a robot (5), arranging it parallel to the longitudinal or transverse axis of the pallet and, to the greatest extent possible, substantially aligning one of the sides of the package with one of the sides of the pallet. |
