EP2845653B1 - Bottle sorting installation and method for sorting bottles - Google Patents

Description

Field of the invention

• eine Förderstrecke zur Förderung unbestimmt bestückter Flaschenkästen,
• eine Steuereinheit mit einer Schnittstelle, über die von einer Bestückungserkennungseinrichtung ermittelte Bestückungsmuster jedes Flaschenkastens an die Steuereinheit übermittelbar sind,
• eine Flaschenspeicheranordnung und
• eine Umsetzvorrichtung zum Umsetzen von Flaschen,

wobei die Steuereinheit eingerichtet ist, die Umsetzvorrichtung anzusteuern, Flaschen zwischen den Flaschenkästen und der Flaschenspeicheranordnung umzusetzen.The invention relates to a bottle sorting system comprising

• a conveyor line for conveying indefinitely stocked crates,
• a control unit having an interface via which assembly patterns of each bottle crate determined by an assembly detection device can be transmitted to the control unit,
• a bottle storage arrangement and
• a transfer device for transferring bottles,

wherein the control unit is set up to control the transfer device, to convert bottles between the bottle crates and the bottle storage device.

• Fördern von unbestimmt bestückten Flaschenkästen auf einer Förderstrecke, wobei für jeden Flaschenkasten ein mittels einer Bestückungserkennungseinrichtung ermitteltes Bestückungsmuster in einer Steuereinheit hinterlegt ist oder wird,
• Umsetzen, mittels einer Umsetzvorrichtung nach Vorgabe der Steuereinheit, von Flaschen zwischen den Flaschenkästen und einer außerhalb der Förderstrecke angeordneten Flaschenspeicheranordnung.

The invention further relates to a method for sorting bottles, comprising the steps:

• Conveying of indefinitely stocked crates on a conveyor line, wherein for each crate an assembly pattern determined by means of a component identification device is or is stored in a control unit,
• Implementing, by means of a transfer device according to specification of the control unit, of bottles between the bottle crates and arranged outside the conveyor line bottle storage arrangement.

State of the art

Such bottle sorting systems and methods for their operation are known from the DE 103 05 072 B3 ,

In the field of empties logistics, especially for the beverage industry, it is necessary to use different types of bottles, which are indefinitely, i. arbitrarily populated bottle crates are delivered, first automatically categorized according to different criteria, such as bottle geometry, bottle color, labels, etc. and then sorted, so as a result, each bottle crate is as completely as possible equipped with only one type of bottles, usually each box type one or a few Bottle types are assigned. Bottles of one sort, associated with a type of box, are referred to in the context of this description as boxes for boxes of this type. Bottles of other types of bottles are referred to herein as false bottles for boxes of this type of box.

From the aforementioned generic document, it is known, first the pattern of a box, i. to determine the distribution of good bottles, false bottles and blanks in the box and then make an automated bottle sorting, in which the false bottles are removed from the box and stored in a bottle storage, so then the empty spaces in the box are filled with good bottles from the cache. For this purpose, a gripper head is provided which has a plurality of ordered individual gripper. The order of the single gripper corresponds to the order of bottle positions in the bottle crate, i. of positions in the bottle crate where bottles can be positioned. The gripper head moves specifically over the provided on the conveyor line bottle crate, takes with its individually controllable single grippers the respective associated false bottles, drives to a provided next to the conveyor line bottle memory and sets the faulty bottles there. He then takes according to the pattern of defects now present in the box, the bottle memory a corresponding number of bottles of good, goes back to the bottle crate and fills the gaps in the bottle crate with bottles of good.

The problem here is that in a limited bottle memory neither the presence of voids in a required for receiving the false bottles pattern still the presence of good bottles can be guaranteed in a required for filling the bottle crate pattern. Accordingly, it will be necessary that the gripper head, although fundamentally adapted to the box geometry, must be moved and rotated several times in order to grasp or Repacking bottles must start again, and if need be even repeatedly between the bottle crate and the bottle memory reciprocate. This is energy and time consuming. A typical gripper head weighs several hundred kilograms, so that considerable forces are required for its acceleration and deceleration. In addition, in order to allow for any required, multiple back and forth; the bottle crate remain within reach of the gripper head during the sorting process, so that a discontinuous conveyor line is absolutely necessary. Here, too, results from the constant startup and deceleration a significant energy demand.

From the DE 102 44 804 B3 Using identical gripper heads, a system with destination storage boxes transported on different, parallel conveyor belts is disclosed. This allows a cascade-like removal of faulty bottles of different provenance and their sorted classification in the target storage boxes each one of the conveyor belts.

From the EP 0 569 689 A2 Also known is a bottle sorting system with a plurality of parallel conveyor belts, each transporting destination storage boxes for one of a plurality of defective bottle types. The bottles are individually removed or inserted by means of a single gripper, which can be moved on a bridge transversely to the conveyor belts or installed on the arm of an industrial robot. Especially with a variety of Fehlflaschensorten this system requires considerable space and also works relatively slowly.

task

It is the object of the present invention to develop a generic bottle sorting system and a generic method for their operation such that the energy and time required is reduced.

Presentation of the invention

This object is achieved in conjunction with the features of the preamble of claim 1, characterized in that the transfer device a plurality of functionally similar, includes independently controllable and arranged in the conveying direction of the conveyor line one behind the other gripper heads, each having exactly two individually controllable single gripper and each associated with a arranged outside the conveyor line bottle memory.

• genau eine Falschflasche im Flaschenkasten gegen genau eine Gutflasche im zugeordneten Flaschenspeicher austauschen oder
• eine oder zwei Falschflaschen aus dem Flaschenkasten in den jeweils zugeordneten Flaschenspeicher umsetzen oder
• eine oder zwei Gutflaschen aus dem jeweils zugeordneten Flaschenspeicher in den Flaschenkasten umsetzen.

The object is further achieved in conjunction with the features of the preamble of claim 6, characterized in that the transfer device comprises a plurality of functionally similar, independently controllable and arranged in the conveying direction of the conveyor line one behind the other gripper heads, each having exactly two individually controllable single gripper and each one outside associated with the conveyor line arranged bottle memory,
wherein the gripper heads for each bottle crate perform at most one cyclic movement between their respective associated bottle memory and the conveyor line, in the context of which they

• replace exactly one bottle in the bottle case with exactly one good bottle in the associated bottle store or
• Transfer one or two false bottles from the bottle crate into the respectively assigned bottle storage or
• Transfer one or two bottles of good from the respective associated bottle memory in the bottle crate.

The basic idea of the present invention is to split the large box-shaped gripper head comprising a plurality of individual grippers into a series of gripper heads with the smallest possible design. Each of these minimalist gripper heads has exactly two individually controllable single grippers. Each gripper head is suitable and in the context of the method according to the invention also intended to make only a minimal contribution to the entire sorting process. It may be a pure false bottle removal, a pure good bottle filling or an exchange of a false bottle against a good bottle in bottle crates. When pure removal or filling process can be handled according to the number of individual gripper per rapier head, two or even a single bottle. During a replacement process, exactly one wrong bottle is exchanged for exactly one good bottle. Each of these three alternative elementary sorting steps can be carried out in a single cyclic movement of the gripper head, ie during one Drive from the bottle store to the bottle crate on the conveyor line and back or from the bottle crate on the conveyor line to the bottle store and back.

Due to the splitting of the gripper head as well as the sorting process according to the invention into elements or elementary steps, it is necessary to position a plurality of such elementary stations one behind the other along the conveying path in order to be able to fulfill even more complex sorting tasks. This initially means a constructive and spatial overhead both in terms of the length of the conveyor line and in terms of the space required next to the conveyor line, since each elementary station must be kept accessible for the respective gripper head bottle memory or bottle storage section. However, the benefits of this extra effort are overwhelming and the extra work actually required is less than it might seem at first glance.

Namely, at first glance, those skilled in the art will suppose that a number of elementary stations corresponding to the (rounded up) half of the bottle positions in the type of bottle to be handled are required to perform any sorting tasks. This theoretically correct consideration, however, goes past the practice. In fact, the vast majority of crates to be sorted have a relatively small amount of misfiring. As a rule, only one or two bottles are missing or there are one or two false bottles in the box. A more than fifty percent misfire is extremely rare. It is therefore sufficient in practice to provide only as many elementary stations as are necessary to completely sort the vast majority of bottle crates to be sorted. Where this is the practically relevant limit, the expert has to decide on a case-by-case basis on the basis of the empties typical for the particular installation as well as on the basis of economic considerations. However, more heavily populated boxes can still be sorted completely by being fed back to the sorting system after a first, incomplete sorting and being completely sorted in one or more further passes.

An essential advantage of the invention is that the comparatively simple movement which the comparatively small and light gripper heads execute in the context of an elementary process have only a few braking and acceleration phases, where only small forces are required due to the small masses to be accelerated. As a result, considerable amounts of energy can be saved; In addition, the structural design of bearings, carriers, etc. may be smaller and thus cheaper.

Another advantage of the invention is that a variety of crates can be sorted on a plant according to the invention. As is known, bottle crates vary considerably both in the number and shape and size of their bottle positions. A box-shaped gripper head is extremely inflexible in this respect and can only cope with a fraction of the possibly resulting empties. However, a sorting system according to the invention works completely independent of the specific box shape and can handle boxes of any box shape in any order, as long as only the respective stocking pattern is transmitted from an upstream placement detection device to the control unit.

Conveniently, the conveyor line is designed as a clamping conveyor. This has the advantage that in their bottle position jammed bottles can be solved by increased force of the respective single gripper, without changing the position of the crate on the conveyor line.

From the reduction of the sorting process to elementary sorting steps, each of which can be carried out much faster than a complete sorting process, the possibility follows, as provided in a preferred embodiment of the invention, that the crates are continuously conveyed or promoted on the conveyor line and each gripper head is synchronized within a conveyor section associated therewith with the conveying movement of the conveyor track is moved parallel to this or is moved. The continuous operation of the conveyor blocks avoids acceleration and deceleration processes, which in turn can lead to energy savings and smaller, ie cheaper design of bearings and carriers. In the case of a continuously operating conveyor line, however, it is necessary for the movement of the gripper head to be controlled in such a way that the pure sorting movement is tracked in accordance with the conveying path movement is superimposed. The aforementioned synchronized movability of the gripper heads is used for this purpose.

In order to realize the synchronization, it is preferably provided that the conveying path is equipped with a barrier sensor detecting a starting time of each bottle crate and a clock synchronized with the conveying movement of the conveying path, both of which are connected to the control unit in an information-transmitting manner. Thereby, the start time of each bottle crate can be detected by means of the cabinet sensor and transmitted as well as a clock signal synchronized with the conveying movement of the conveyor line clock to the control unit, which calculates the trajectories of the bottle positions of the bottle crate and the movement of the bottle crate from the stored stocking pattern of the bottle crate Gripper heads controls accordingly. In principle, it is also conceivable to provide each gripper head with an imaging sensor system and to let the control unit calculate the respective bottle positions by image processing from the sensor material obtained. However, this variant is - at least in the current state of the art - expensive and more prone than the preferred, non-imaging sensor. In this example, the time is determined by means of a light barrier, at which the bottle crate passes a defined position on the conveyor line. Of course, other, for example, tactile barrier sensors can be used here. Together with the clock signal representing the conveying movement of the conveyor line, the true position of the bottle crate on the conveyor line can be calculated at any time. By additionally incorporating the assembly pattern, which indicates the distribution of the bottle positions and their occupation with bottles or false bottles or their non-occupation, exactly those information can be generated, which requires the gripper to specifically remove bottles from the box or in the Box.

Further features and advantages of the invention will become apparent from the following specific description and the drawings.

Brief description of the drawings

Figur 1:

eine stark schematisierte Darstellung eines Ausschnitts einer erfindungsgemäßen Flaschensortieranlage in verschiedenen Ansichten,

Figur 2:

eine stark schematisierte Darstellung der Topografie einer Ausführungsform einer erfindungsgemäßen Flaschensortieranlage,

Figur 3:

eine stark schematisierte Darstellung von erfindungsgemäßen Verfahrensschritten zur Sortierung eines Flaschenkastens.

Show it:

FIG. 1:

a highly schematic representation of a section of a bottle sorting system according to the invention in various views,

FIG. 2:

a highly schematic representation of the topography of an embodiment of a bottle sorting system according to the invention,

FIG. 3:

a highly schematic representation of method steps according to the invention for sorting a bottle crate.

Description of preferred embodiments

Like reference numerals in the figures indicate like or analogous elements.

FIG. 1 shows a highly schematic representation of a section of a bottle sorting system 10 according to the invention. The detail shown extends along a section of a conveying path 12, which may be formed, for example, as a conveyor belt or, preferably, as a clamping conveyor. The conveying direction of the conveyor line is indicated by the directional arrow 14. The conveyor line 12 serves the preferably continuous promotion of crates 16, which are determined by a basically undetermined assembly pattern, which, however, determined by an upstream, not shown Bestückungsmustererkennungseinrichtung and transmitted to a control unit, also not shown, in the conveying path. The assembly pattern of each bottle crate 16 and its exact position on the conveyor line 12, which is detected with suitable sensors, can therefore be assumed to be known in the control unit. It follows that the coordinates of each individual bottle position of each bottle crate 16 on the conveyor line can be assumed to be known at virtually any time.

Along the conveyor line 12 are a plurality (five in FIG. 1 ) arranged by sorting elementary stations 18 in the conveying direction one behind the other. Each sorting elementary station includes a side of the conveyor line 12 arranged bottle memory 20 and a gripper head 22, which is mounted along a transverse to the conveying direction and the conveyor line 12 and the bottle memory 20 spanning traverse 24 linearly movable and driven by a motor. The mobility of the gripper head 22 is indicated by the movement arrow 26. The traverse 24 is, in turn, displaceable parallel to the conveying direction and driven by a motor mounted on a rail system 28. The mobility of the traverse 24 is symbolized by the movement arrow 30. The movement space of the traverse 24 along the conveying path 12 is limited, as indicated by the dash-dotted line pairs assigned to each sorting elementary station. In particular, each sorting elementary station 18 is assigned a conveyor section which does not overlap with the conveyor section of the adjacent sorting elementary station.

Each gripper head 22 has exactly two individual grippers 221, 222 which, in the embodiment shown, are arranged side by side in the conveying direction for better visibility. In fact, however, an arrangement is preferred transversely to the conveying direction, since this the required space in the longitudinal direction relative to the in FIG. 1 reduced variant shown. In any case, the individual grippers 221, 222 of each gripper head 22 are individually controllable, as symbolized by the vertical movement arrows 321, 322nd

For carrying out the method according to the invention, which is described below in connection with FIG. 3 described in more detail, each of the sorting elementary stations with a single cyclic movement of its gripper head 22 between the currently located in the associated conveyor section section bottle box 16 and the associated bottle memory 20 change the assembly pattern of the bottle crate by either a false bottle in the
Bottle case 16 is exchanged with a good bottle in the bottle memory 20 or by one or two false bottles removed from the bottle case 16 and converted into the bottle memory 20 or by one or two bottles of material removed from the bottle memory 20 and converted into the bottle crate 16. With the in FIG. 1 Thus, the five sorting elementary stations shown can be changed the assembly of up to ten bottle positions in a bottle crate 16. This corresponds to a change rate of approx. 42% in boxes with 24 bottle positions up to 100% for boxes with 10 bottle positions. The number of bottle positions of currently used in the beverage industry crates typically ranges between the specified values. In particular, boxes with 10,11,12, 20 and 24 bottle positions are common. In the vast majority of cases, the misfiring rate of the crates is below 30%, so that the vast majority of practically occurring sorting tasks can be solved with a sorting system 10 according to the invention with four to five sorting elementary stations 18.

More complex tasks, ie the sorting of boxes with a higher misfit quota, can be solved in different ways. In principle, it is conceivable to reduce the conveying speed in such a way that the gripper head 22 of each sorting elementary station 18 can perform more than one cyclic operation between the bottle memory 20 and the bottle crate 16. With discontinuous promotion, this can be accomplished by prolonging the life of the bottle crates 16 in the individual sorting elementary stations 18. In the preferred, continuous promotion, however, the conveying speed would have to be reduced, so that the traverse 24, which overlaps the working movement of the rapier head 22 synchronized with the conveying speed linear motion in the conveying direction, not outside the limits of her assigned conveyor section section device results in a delay in Operation of the entire system, which concerns not only the overly misfolded, but all located on the conveyor line 12 boxes. It is therefore cheaper, as in FIG. 2 dargestelit ausschlleusen an incompletely sorted box after passing through the last sorting elementary station 18 of the main conveyor line 12 and return via an annular secondary conveyor section 13 before the first sorting elementary station 18 and re-initiate the main conveyor line so that he can go through the sorting system according to the invention again. If necessary, this process can be repeated several times until complete sorting of the bottle crate 16 in question is achieved.

FIG. 3 shows an embodiment of the sorting method according to the invention using the example of a bottle crate 16 with 20 bottle positions and a loading pattern as in FIG. 3 shown at the top left, namely with 16 bottles of good 161, a false bottle 162 and 3 empty positions 163. This corresponds to a Fehlbestückungsquote of 20%. In the example shown it is assumed that in the bottle storage 20 of the first sorting elementary station 18, which is also preferably designed as a bottle crate, more preferably as a bottle crate of the same type as the bottle crate 16 to be sorted, sixteen goods bottles 161 (relative to the bottle crate 16 to be sorted) and four false bottles 162 according to the in FIG. 3 (Line 2 first field) shown mounting pattern are arranged. The bottle memory 20 is thus full, so that no pure implementation of bottles from the bottle case 16 in the bottle memory 20 is possible. In addition, the bottle memory 20 has an excess of good bottles 161, which is negative in terms of flexible responsiveness to different sorting tasks. Cheaper would be an approximate equal distribution of good and false bottles and the presence of at least some empty positions in the bottle memory 20. The control unit controls the sorting elementary station therefore so that a maximum number of good bottles 161, ie two pieces, converted from the bottle memory 20 in the bottle crate 16 become. In order to minimize the paths, the bottle stores 20 are preferably taken from the two food bottles in the same spatial relation as there are adjacent empty positions 163 in the bottle box 16 to be sorted. As a result, the time required for the cyclic traversing carried out by the gripper head 22 is minimized. As well as the number of braking and acceleration steps, which has an energy-saving effect. The resulting population pattern of the bottle crate 20 is in FIG. 3 shown in the bottom line on the far left. The resulting assembly pattern of the bottle crate 16 to be sorted is in FIG. 3 in line 1 shown as a second partial image.

This leaves the sorting tasks of exchanging a false bottle 162 for a good bottle 161 and filling an empty position 163 with a good bottle 161. This problem can be solved in different ways. In the illustrated variant, it is assumed that the bottle memory 20 of the second sorting elementary station 18 has an optimal storage population pattern, namely good bottles 161 and false bottles 162 in the same ratio and some empty positions 163. This is shown in FIG FIG. 3 in line 2, second field. It therefore makes sense to use this elementary station to carry out the complex process of bottle replacement. For this purpose, the gripper head 22 moves over the bottle memory 20 and removes with its first single gripper 221 a Good bottle 161. Then he drives to the bottle crate 16 in such a way that his second single gripper 222 take the local false bottle 162 and remove the box. With a slight position correction, the gripper head 22 then brings its first single gripper 221 over the resulting empty position 163 and sets the first gripper 221 located on the material bottle 161 there. Finally, the gripper head 22 moves back to the bottle memory 20 and sets with his second single gripper 222 from this held false bottle to an empty position in the bottle memory 20 from. It can basically be any empty position; Preferably, spatially contiguous clusters of bottles of the same type are formed. The resulting pop-up pattern of the bottle memory 20 is shown in FIG FIG. 3 in line 3, second partial image shown. The resulting assembly pattern of the bottle crate 16 to be sorted is in FIG. 3 shown in line 1 third field.
There remains the task of filling a remaining empty position 163 with a good bottle 161 from the bottle store 20. This works in an analogous manner to the above-described, first sorting step, but here only one bottle must be implemented. The result of these only three sorting steps performed by three sorting elementary stations is a bottle crate 16 completely filled with product bottles 161.

Of course, the embodiments discussed in the specific description and shown in the figures represent only illustrative embodiments of the present invention. A broad range of possible variations will be apparent to those skilled in the art in light of the disclosure herein. In particular, the criteria according to which the control unit determines the order of the individual sorting steps and distributes them to the different sorting elementary stations can be adapted by the person skilled in the art to the requirements of the individual case. Depending on the number of different bottle and box types, intended further treatment of the different bottle types and the size and population of the bottle memory, different strategies can be advantageous. Of course, the number of actually used sorting elementary stations is not limited in principle.

LIST OF REFERENCE NUMBERS

10

bottle sorting

12

conveyor line

13

In addition to conveyor line

14

arrow

16

bottle case

161

Gutflasche

162

wrong bottle

163

short position

18

Sorting individual station

20

bottle storage

22

gripper head

221

first single gripper of 22

222

second single gripper of 22

24

traverse

26

movement arrow

28

rail system

30

movement arrow

321

vertical motion arrow

322

vertical motion arrow

Claims (8)

1. Bottle sorting installation, comprising

   - a conveyor line (12) for conveying indeterminately filled bottle crates (16),

   - a control unit with an interface via which filling patterns of each bottle crate (16) can be communicated to the control unit,

   - a bottle storage arrangement, and

   - a transfer device to transfer bottles,

   wherein the control unit is set up to control the transfer device to transfer bottles between the bottle crates (16) and the bottle storage arrangement,
   characterised in that,
   the transfer device comprises a plurality of functionally identical, independently controllable gripper heads (22) arranged one behind the other in the conveyance direction of the conveyor line (12), each of which heads has precisely two individually controllable individual grippers (221, 222), and to each of which heads is assigned a bottle storage arrangement (20) located external to the conveyor line.
2. Bottle sorting installation according to
   Claim 1, characterised in that
   the control unit is set up to control the gripper heads (22) in such a manner that for each bottle crate (16) they perform a maximum of one movement cycle between the bottle storage arrangement (20) respectively assigned to them and the conveyor line (12), within the scope of which movement they

   - replace precisely one incorrect bottle (162) in the bottle crate (16) with precisely one correct bottle (161) in the assigned bottle storage arrangement (20), or

   - transfer one or two incorrect bottles (162) from the bottle crate (16) to the respectively assigned bottle storage arrangement (20), or

   - transfer one or two correct bottles (161) from the respectively assigned bottle storage arrangement (20) to the bottle crate (16).
3. Bottle sorting installation according to any of the above claims,
   characterised in that
   the conveyor line (12) is designed as a clamping conveyor.
4. Bottle sorting installation according to any of the above claims,
   characterised in that
   the bottle crates (16) are continuously conveyable on the conveyor line (12) and within a section of the conveyor line assigned to it each gripper head (22) is movable synchronously with and parallel to the conveyance motion of the conveyor line (16).
5. Bottle sorting installation according to any of the above claims,
   characterised in that
   the conveyor line (12) is equipped with a barrier sensor that detects a start time of each bottle crate (16) and with a clocking unit synchronised with the conveyance motion of the conveyor line (12),
   both of which are connected with the control unit in a manner that permits information transfer.
6. Method for sorting bottles, comprising the steps:

   - conveying indeterminately filled bottle crates (16) on a conveyor line (12), wherein for each bottle crate (16) a filling pattern determined by a filling detection device is or will be saved in a control unit,

   - transferring bottles, by means of a transfer device acting on instructions from the control unit, between the bottle crates (16) and a bottle storage arrangement located external to the conveyor line (12),
   characterised in that
   the transfer device comprises a plurality of functionally identical, independently controllable gripper heads (22) arranged one behind the other in the conveyance direction of the conveyor line (12), each of which heads has precisely two individually controllable individual grippers (221, 222) and to each of which heads is assigned a bottle storage arrangement (20) located external to the conveyor line (12), wherein the gripper heads (22) for each bottle crate (16) each perform a maximum of one movement cycle between the bottle storage arrangement (20) respectively assigned to them and the conveyor line (12), within the scope of which they

   - replace precisely one incorrect bottle (162) in the bottle crate (16) with precisely one correct bottle (161) in the assigned bottle storage arrangement (20), or

   - transfer one or two incorrect bottles (162) from the bottle crate (16) to the respectively assigned bottle storage arrangement (20), or

   - transfer one or two correct bottles (161) from the respectively assigned bottle storage arrangement (20) to the bottle crate (16).
7. Method according to Claim 6,
   characterised in that
   the bottle crates (16) on the conveyor line (12) are continuously conveyed and within a section of the conveyor line (12) assigned to it each gripper head (22) is moved synchronously with and parallel to the conveyance motion of the conveyor line (12).
8. Method according to any of Claims 6 to 7,
   characterised in that
   a start time for each bottle crate (16) is detected by means of a barrier sensor and, like also a clocking signal of a clocking unit synchronised with the conveyance motion of the conveyor line (12), is communicated to the control unit, which, from this and from the saved filling pattern of the bottle crate (16), computes the trajectories of the bottle positions in the bottle crate (16) and controls the movement of the gripper heads (22) accordingly.

Images