Patent ID: 8406917
Filing Date: 2013-03-26
Classification: B25J,G05B

Abstract:
1. A method for filling, on a pallet, an order for a plurality of goods packed in containers having various configurations and sizes from a product supply source, comprising the steps of: receiving, at a controller, the order for the goods; placing containers required to fill the order onto an accumulating path leading from the product supply source to a palletizing position; identifying each container placed on the accumulating path, by reading a barcode on the container, using a bar code reader associated with the controller, and removing from the accumulating path, if necessary, any container not bearing a barcode associated with the order; verifying that each identified container on the accumulating path conforms with length, width, height and weight parameters associated with the barcode in a memory accessible to the controller, using sensors associated with the controller, and removing from the accumulating path any non-conforming containers; determining, using an algorithm associated with the controller, a position and orientation for palletizing in layers each of the containers required to fill the order; receiving each identified and conforming container at the palletizing position; and assembling the order on the pallet at the palletizing position, based upon the determined palletization orientation and position, using an articulating or gantry robot associated with the controller, the assembling step comprising the substeps of: