Automated palletising of mixed sized parcels
Automatisches Palettieren von Paketen verschiedener Größe
The paper describes a solution of the problem of palettizing parcels of mixed sizes. The IPA has developed a palettizing system for mixed sized parcels which will rise the rate of automation of distribution centers in mail order houses, post offices, railways and in the food industry. The system was presented at the Hannover Fair 1991 in April. The whole system consists of a small 6-parcel-buffer in front of the industrial robot (gantry robot), a robot control unit and a PC serving a s cell controller and it can therefore substitute any manual palettizing station. Beside the hardware equipment the most important part to speak about is the fast on-line palettizing algorithm. We reach an average filling rate of about 74 % which is nearly the same as if done by hand.