Patent ID: 8554371
Filing Date: 2013-10-08
Classification: B25J,B65G,G05B

Abstract:
1. A process for palletizing a load comprising the steps of: providing a dunnage supply line; providing a load building area; providing a single programmable robot including a microprocessor and software configured to build a load by sequentially feeding dunnage from the dunnage supply line as necessary to the load building area; providing a camera positioned over the dunnage supply line; initiating a frame grab of the dunnage supply line with the camera; using the frame grab to determine the position of the dunnage; using the frame grab to position the programmable robot over an individual piece of dunnage; feeding the dunnage from the dunnage supply line to the load building area; initiating a frame grab at each step of sequentially feeding dunnage from the dunnage supply line into the load building area; error proofing the feeding at each step of feeding dunnage by comparing the frame grab to a standard frame grab; correcting the placing of the dunnage into the load building area in response to the error proofing; and controlling the steps with the single programmable robot, microprocessor and software.