Dissertations / Theses on the topic 'Palletizing'

Nowadays pallets (and then palletization) have become an essential tool for the various stages of the production and supply chain. The palletization process is typically automatized and can be realized in 2 ways: exploiting automatic machines (conventional palletizers) or robots (robotic palletizers). The latter option provides higher flexibility at the cost of lower operation speed. The aim of this thesis is to design and program an ABB robotic palletizing station trying to minimize as possible process time and space and meeting some predefined requirements, using the software ABB RobotStudio. The particularity of this project is that 3 different kinds of boxes, which come to the station with different probabilities, need to be subjected to some operations (drawing and writing) before to get palletized onto different pallets.

The aim of this study is to present the advantages and disadvantages of automation in warehouses. The goal is to introduce a way of approaching when implementing a new technology. The following research question are thus stated:     RQ1. What are the advantages with automation in warehouse companies?    RQ2. What are the disadvantages with automation in warehouse companies?    RQ3. How can automation be implemented within a warehouse company?    The research questions worked as a guideline to build the theoretical framework and result section. The analysis and conclusion section were then formulated, and the research questions were answered. To answer the research questions, the approach of the systematic literature review has been used. Which means the information gathered was done in a systematic way.     It can be said that there are both advantages and disadvantages when it comes to automation in warehouses. The automated systems that were introduced in this thesis was AGVs and palletizing robots. Both these systems require more investigation and do not fully fulfil the customer demand. Yet, it can be said that automation in warehouses can have many positive effects on for example productivity, effectivity, and employees phycological and physical aspect.     For implementation of automation a guiding principle of three head phases was introduced with several steps. The head phases are the pre-project phase, implementation phase and post-project phase. The pre-project phase is about analysing the current company state and deciding if the implementation is possible with the resources available. The implementation phase is about the importance of structuring the planning and reducing the uncertainty during the project. Lastly, post-project phase is about adjusting after the automation and reflecting about the implementation. Reflecting the processes that occurred during the project is valuable experience, therefore it is important to think over the whole process and how to keep improving processes within the organization.    There are both advantages and disadvantages with the use of automation within warehouse companies. It is believed that implementation of automation in a warehouse is strongly dependent on the individuals involved. In this study the key individuals that were discussed were managers and employees. A framework for implementation of new technology was introduced as a guiding principle for managers. The framework is aimed to work for warehouse companies and presents the risks of not following the recommended procedure.     In future studies, the programming field within palletizing and AGVs can be further researched, which can reduce the disadvantages with the usage of automation within warehouse companies.

Syftet med arbetet var att undersöka möjligheten för optimering av produktflödet. Företagets produkter transporteras på ett transportband till en gemensam process. Det nuvarande flödet till processen är inte optimerat vilket resulterar i att processen körs ineffektivt. Ackumulering av produkter innan processen ska därför undersökas som en lösning till problemet. Fyra olika ackumuleringsförslag har analyserats och jämförts: hängande bansystem, palleteringssystem, depalleteringssystem och kombination av bansystem och palleteringssystem. Förslagen har blivit bedömda och jämförda utifrån följande parametrar: yta, investeringskostnad, flexibilitet, arbetsbelastning, arbetsmiljö och tid. Hängande bansystem fick det högsta snittvärdet och valdes därför för fortsatt analys med stöd av simulering. Simuleringen gjordes i ExtendSim 7. Två simuleringsmodeller jämfördes, en med ackumulering av produkter i bansystem och en utan. Resultatet var att ackumulering av produkter kan ge en besparing på 16 procent i driftkostnader per år. Simulering av övriga förslag kan göras för att få en tydligare jämförelse mellan förslagen. Rekommendationen till företaget är att ackumulera produkter i ett bansystem. Det baseras på analys av jämförelsen. Analysen och diskussionen visar också att robothantering inte är en passande lösning på problemet, eftersom rörelserna skulle skaka om produkterna för mycket. En vidare undersökning av utformningen av bansystemet bör göras för att få fram den optimala utformningen.<br>The purpose of the work was to investigate possibilities for optimization of the material flow. The different products of the company are being transported by a conveyor belt to a common process. The current flow to the process is not optimized with the result that the process runs inefficiently. Accumulation of products before the process should therefore be investigated as a solution. Four different accumulating systems have been analyzed and compared: hanging conveyor belts, palletizing, depalletizing and a combination of conveyor belts and palletizing. The systems have been assessed and compared according to six parameters: area, investment cost, flexibility, work load, work environment and time. The hanging conveyor belt yielded the highest average score and was therefore chosen for further analysis with the support of simulation. The simulation was made in ExtendSim 7. Two simulation models were compared, one with accumulation of product in conveyor belts and one without. The result of the simulation part was that accumulation of product results in savings of running costs with 16 percent per year. To get a better comparison between the accumulation systems simulations of all systems can be done. The recommendation to the company is to accumulate products in a conveyor system. This is based on the analysis of the comparison. The analysis and discussion also shows that robot handling is not an appropriate solution to the problem, because the movements would shake the products too much. A further investigation of the layout should be done in order to find the optimal layout.

This master thesis deals with the design of an automated solution for egg palletizing line. The first part analyzes the current production method together with possible ways of automating the palletization process. In the second part, based on this information, the concept of the line is created. The concept includes design of the gripping mechanism, selection of a suitable manipulator and description of all elements. The third part describes complete electrical project. The fourth part describes the control system and the user program including visualization. Finally, commissioning is described.

This diploma thesis is dealt with the virtual commissioning of a palletizing line, which is palletized using an industrial robot. In the theoretical part I describe the applications, divisions and effectors of the industrial robots and the reasons and the benefits of palletizing. Furthermore, the issue of virtual commissioning is described, including sensors, that are served for the proper operation of the workplace and the virtual simulation. In the practical part I describe the future workplace, creating a simulation and the program in the RobotStudio software.

As an engineering student, the most natural way of summarizing this thesis project is by relating it to a mathematical equation. The solution to this equation is given, and it is in the form of a racking concept that enables the use of robots. The other side of the equation is however a bit more complex. This side contains several undefined variables, which can only be solved by delving into various theoretical fields and exploring unchartered depths of the creative space.The project’s main objective is to design a concept rack for Gestamp HardTech in Luleå, Sweden, for storage and in-house transport of the beams which are produced at the HardTech facility. The rack is meant to be loaded both into and out of by robots and should suit an as wide array of beams as possible. To determine the possibilities and limitations of the rack’s robot-user, several automation aspects are researched, centered on industrial robots and machine vision. The beams which are produced at the Gestamp HardTech Luleå production plant today are analyzed, whereby twelve of them are ultimately chosen for the rack’s design to be focused on. What follows this is a creative process consisting of a creative idea-generating phase, an evaluative phase focused on implementation of the ideas, and a refinement phase where the rack concept is finalized. The process includes various methods of idea generating, a great deal of sketching, physical testing of the concepts, and finally CAD-modeling. The result, named 4.0-Rack, is in the form of a modular rack-concept which balances the aspects of flexibility, by suiting ten of the reviewed beams, with a high packing-grade, providing a mean packing-grade of 83% in relation to the way the beams are currently packed.

Робота виконана на кафедрі автоматизації технологічних процесів і виробництв факультету прикладних інформаційних технологій та електроінженерії Тернопільського національного технічного університету імені Івана Пулюя Міністерства освіти і науки України. Захист відбудеться «25» червня 2021 р. о 9.00 год. на засіданні екзаменаційної комісії №21 у Тернопільському національному технічному університеті імені Івана Пулюя<br>У кваліфікаційній роботі проведено аналіз виробництва питної води у PET-пляшках, систем контролю при виготовленні питної води, а також здійснено аналіз сучасних способів упаковки продукції. Виконано аналіз технологічний процес виробництва мінеральної води та проектування автоматизованої системи керування та контролю комплексу для укладання продукції в палети. У роботі здійснено розробку заходів з автоматизації комплексу для укладання продукції в палети. Запропонована система побудована на базі існуючої на підприємства транспортної системи. Використання запропонованого комплексу дозволяє синхронізувати за часом роботу транспортної системи та укладача блоків пляшок у палети. Розроблений комплекс дозволяє розмістити палетайзер та обмотувальну машину на виробничій лінії із забезпеченням синхронної роботи транспортної системи. Операції пакетування та обмотування виконуються в автоматичному режимі без використання людської праці. При розробці автоматизованої системи контролю за процесом укладання блоків вирішувалися задачі контролю положення пляшок та блоків із ними перед укладанням на піддони. Також запропоновано контролювати станом і положенням витратних матеріалів при виконанні операції обмотування палет. Для цього використовувалися системи безконтактного контролю, побудовані набазі програмованого логічного контролера Simens S-7, частотних перетворювачах, фотоелектричних та індуктивних давачах. В якості виконавчих механізмів керування здійснювалося двигунами конвеєрів та укладача палет. Розроблена система контролю дозволяє значно економити витратний матеріал та отримати на виході лінії якісно упакований і захищений вантаж без втрат у продуктивності виробничої лінії.<br>In the qualification work the analysis of production of drinking water in PET-bottles, control systems at manufacturing of drinking water is carried out, and also the analysis of modern ways of packing of production is carried out. The analysis of the technological process of mineral water production and design of the automated control and monitoring system of the complex for stacking products in pallets is performed. The work develops measures to automate the complex for stacking products in pallets. The proposed system is based on the existing transport system for enterprises. Use of the offered complex allows to synchronize in time work of transport system and the stacker of blocks of bottles in pallets. The developed complex allows to place a palletizer and a winding machine on the production line with the provision of synchronous operation of the transport system. Packaging and wrapping operations are performed automatically without the use of human labor. When developing an automated control system for the process of stacking blocks, the tasks of controlling the position of bottles and blocks with them before stacking on pallets were solved. It is also proposed to control the condition and position of consumables when performing the operation of wrapping pallets. For this purpose, contactless control systems built on the basis of the programmable logic controller Simens S-7, frequency converters, photovoltaic and inductive sensors were used. Conveyor motors and pallet stackers were used as actuators. The developed control system allows to save considerable material and to receive at the exit of the line qualitatively packed and protected cargo without losses in productivity of a production line.<br>ВСТУП 6 1 АНАЛІТИЧНА ЧАСТИНА 8 1.1 Класифікація устаткування для розливу рідин 8 1.2 Системи контролю при виготовленні питної води 11 1.3 Аналіз сучасних способів упаковки 13 2 ПРОЄКТНА ЧАСТИНА 20 2.1 Технологічний процес виробництва мінеральної води 20 2.2 Проектування автоматизованої системи керування та контролю 36 2.2.1 Вибір керуючого пристрою автоматизованої системи 36 2.2.2 Вибір пристрою керування двигунами 42 2.2.3 Засоби контролю положення блоків PET-пляшок при транспортуванні 44 3 СПЕЦІАЛЬНА ЧАСТИНА 49 3.1 Постановка задачі на розробку програмного забезпечення 49 3.2 Розробка програмного засобу 50 4 БЕЗПЕКА ЖИТТЄДІЯЛЬНОСТІ, ОСНОВИ ХОРОНИ ПРАЦІ 58 4.1 Захисні елементи на лінії 58 4.2 Правила розміщення щитів і пультів у технологічних приміщеннях 60 ВИСНОВКИ 63 ПЕРЕЛІК ПОСИЛАНЬ 64

The master's thesis deals with a robotic palletizing controlled by PLC. The first part provides examples of palletizing machines. The second part shows how ABB robot is controlled by B&R Automation PLC. The third part introduces selected approaches for automated pallet pattern generation. The fourth part designs library that allows pallet patterns to be generated using B&R Automation PLC. Fifth part covers creation of virtual palleziting cell, which is used to test library for automated pallet pattern generation.

This thesis deals with construction of a cheap robotic manipulator, which should be used for exhibitions and educational purposes. This project is a teamwork of two students. A robotic arm with four degrees of freedom was developed. Control and power electronics were installed for whole robot. The software’s aim is to develop a software that can control the robot by visual feedback, obtained from image processing of an image from 3D camera. Lastly, a graphic user interface for robot movement control is presented.

Dans les entrepôts logistiques, les moyens robotiques sont de plus en plus fréquemment utilisés pour réduire les temps non productifs, déplacer des charges lourdes, limiter les risques d'erreurs pendant les opérations de préparation de commandes (picking, de/palettisation,...), faire des inventaires (drones,...) et améliorer les conditions de travail des opérateurs humains. Bien que l'homme reste incontournable pour les tâches de préparation de commande à cause de son adresse et de son aptitude à s'adapter à des tâches toujours différentes, l'augmentation de la productivité est souvent synonyme d'augmentation de la pénibilité au travail (troubles musculo-squelettiques,...). Les travaux de recherche présentés dans cette thèse sont une contribution à la robotisation des opérations de dé/palettisation pour des colis de taille variable qui exigent une grande polyvalence du système de préhension. La solution innovante que nous proposons consiste à utiliser un torse humanoïde équipé de deux bras manipulateurs munis de préhenseurs adaptés à la saisie d'objets de taille et de masse différentes. La principale contribution porte sur la conception d'une loi de commande hybride Force/Position-Position avec commutations, estimation du glissement de l'objet, prise en compte de la compliance et correction de la force de serrage pendant la manipulation. Cette solution suppose d'assurer la collaboration entre les deux bras manipulateurs et de s'adapter à l'environnement matériel et humain (cobotique)<br>In logistics warehouses, automation in the sense of robotization is frequently being employed to cut down production times by efficiently managing the processes of picking heavy loads, place, pack and palletize, while reducing the risks and errors to improve the working conditions of human operators along the way. The flexibility of human is fundamental for order preparation owing to adaptive skills for task variation, but at the same time increasing productivity is complemented with fatigue (musculoskeletal disorders). In this context the research presented in this thesis is a contribution in the robotization of palletization operations requiring exceptional versatility of manipulation and gripping. We have proposed an innovative solution of utilizing a humanoid torso equipped with two manipulator arms with adaptive grippers to grasp and hold the objects of variable size and mass. The main contribution of research is the development of a hybrid Force / Position-Position control law with commutation and estimation of the object surface slip, while taking into account the compliance and correction of the clamping force during handling. The execution of the control involves the collaboration of the two arms for coordinated manipulation and adaptation to the material and the human environment (cobotics)

The diploma thesis is about the design of an automatic application system of edge protection corners to palletized material. As the first the diploma thesis briefly discusses actual principles and solutions in area of palletization. After that, there are 4 potential solutions described and measured by multicriteria evaluation method where the most suitable solution is being chosen. Then the actual act of designing of the chosen solution is described and also there are solved necessary calculations. In the end there is risk analysis of new workplace and the drawing documentation of selected nodes is attached. The diploma thesis’ assignment has been made in cooperation with company PHATEC s.r.o. in Litomyšl.

The diploma thesis deals with an orientation mechanism of industrial robots for mounting of pivots and screws into the mounting holes. In the first phase there is a research of inventions mainly realized in the United States Patent and Trademark Office database. Subsequently the conditions of the assembly are solved. On the base of the conditions the functional requirements are described. The diploma thesis includes seven conceptual variants, which are proposed as a 3D design. Using the basical multi-criteria method the best conceptual variant is specified. That is specified due to the accepted criterias. In the next part of the diploma thesis there is a calculation, that comprises this technically and economically most promising conceptual variant. The calculation consists of a statics, a kinematics and a dynamics of the propel, a stenght control of the mechanism and kinematics analysis of the whole mechanism. Results of the calculation are used by the detailed design of orientation mechanism, that also comprises technological production theory and a correct assembly. Economical analysis, which comprises cost of produce of this newly developed automation equipment, is worked up in the conclusion of the diploma thesis. The diploma thesis also comprises drawings. The variant solves a new conception, which can be patented as an utility model.

Cette thèse de doctorat explore le développement et l'implémentation d'URNik-AI, un système de dépalettisation automatisé basé sur l'intelligence artificielle (IA), conçu pour manipuler des boîtes en carton de tailles et de poids variés à l'aide d'un torse humanoïde à double bras. L'objectif principal est d'améliorer l'efficacité, la précision et la fiabilité des tâches de dépalettisation industrielle grâce à l'intégration de la robotique avancée, de la vision par ordinateur et des techniques d'apprentissage profond.Le système URNik-AI est composé de deux bras robotiques UR10 équipés de capteurs de force/torque à six axes et d'outils de préhension. Une caméra RGB-D ASUS Xtion est montée sur des servomoteurs pan-tilt Dynamixel Pro H42 pour obtenir des images haute résolution et des données de profondeur. Le cadre logiciel comprend ROS Noetic, ROS 2 et le framework MoveIt, permettant une communication fluide et une coordination des mouvements complexes. Ce système assure une haute précision dans la détection, la saisie et la manipulation d'objets dans divers environnements industriels.Une contribution importante de cette recherche est l'implémentation de modèles d'apprentissage profond, tels que YOLOv3 et YOLOv8, pour améliorer les capacités de détection et d'estimation de pose des objets. YOLOv3, entraîné sur un ensemble de données de 807 images, a atteint des scores F1 de 0,81 et 0,90 pour les boîtes à une et plusieurs faces, respectivement. Le modèle YOLOv8 a encore amélioré les performances du système en fournissant des capacités de détection de points clés et de squelettes, essentielles pour la manipulation précise des objets. L'intégration des données de nuage de points pour l'estimation de la pose a assuré une localisation et une orientation précises des boîtes.Les résultats des tests ont démontré la robustesse du système, avec des métriques élevées de précision, rappel et précision moyenne (mAP), confirmant son efficacité. Cette thèse apporte plusieurs contributions significatives au domaine de la robotique et de l'automatisation, notamment l'intégration réussie des technologies robotiques avancées et de l'IA, le développement de techniques innovantes de détection et d'estimation de pose, ainsi que la conception d'une architecture de système polyvalente et adaptable<br>This PhD thesis explores the development and implementation of URNik-AI, an AI-powered automated depalletizing system designed to handle cardboard boxes of varying sizes and weights using a dual-arm humanoid torso. The primary objective is to enhance the efficiency, accuracy, and reliability of industrial depalletizing tasks through the integration of advanced robotics, computer vision, and deep learning techniques.The URNik-AI system consists of two UR10 robotic arms equipped with six-axis force/torque sensors and gripper tool sets. An ASUS Xtion RGB-D camera is mounted on Dynamixel Pro H42 pan-tilt servos to capture high-resolution images and depth data. The software framework includes ROS Noetic, ROS 2, and the MoveIt framework, enabling seamless communication and coordination of complex movements. This system ensures high precision in detecting, grasping, and handling objects in diverse industrial environments.A significant contribution of this research is the implementation of deep learning models, such as YOLOv3 and YOLOv8, to enhance object detection and pose estimation capabilities. YOLOv3, trained on a dataset of 807 images, achieved F1-scores of 0.81 and 0.90 for single and multi-face boxes, respectively. The YOLOv8 model further advanced the system's performance by providing keypoint and skeleton detection capabilities, which are essential for accurate grasping and manipulation. The integration of point cloud data for pose estimation ensured precise localization and orientation of boxes.Comprehensive testing demonstrated the system's robustness, with high precision, recall, and mean average precision (mAP) metrics confirming its effectiveness. This thesis makes several significant contributions to the field of robotics and automation, including the successful integration of advanced robotics and AI technologies, the development of innovative object detection and pose estimation techniques, and the design of a versatile and adaptable system architecture

碩士<br>國立交通大學<br>工業工程研究所<br>82<br>This thesis presents the procedure to palletize a set of same heights cartons with different given sizes on a pallet. The objective is to maximize pallet space utilization without losing the given loading sequence and maintain feasible packing stability. Combining Dynamic Programming and heuristics, the developed procedure solves the palletizing problems with resonable computational time for practical purposes.

The focus of the research is to palletise the laser cut irregular objects of metal, wood and marble. The large and heavy regular objects are very difficult to palletise by humans, even in the presence of manual palletisers. This becomes more complicated when the objects are of irregular shape. These objects are cut by precise laser into any shape, size and weight. Due to irregularity on the boundary and perforation inside the boundary makes it complicated for the Robots to palletise. Since palletising Robots are designed to grasp the objects from the fix spots and are preferred to be used for repeating jobs of same size and shape from same position. Therefore, Robot handling is also prohibited due to vast geometrical variation in objects. This issue has been raised in manufacturing industries that uses CNC (Computer Numeric Control) machines to mill or laser cut of large sheets. These sheets are commercialised in variety of most known materials like wood, marble and steel. Initially, all sheets are of regular shape mostly a rectangle with standard size of 1220mm x 2440mm observed in the wood industry. Since this configuration favours the Robot to palletise from pre-defined spot to the machine bed and cuts off the material into different shapes using precise laser. Once the laser cutting process is completed, the shape and size of the sheets are unpredicted, and this configuration is beyond Robot limitations therefore human handling is required. To develop a fully automated system and avoid heavy manual lifting, the Robot is necessary to collaborate with the environment by real time feedback system and integrate a controller to understand and solve the complex irregularity problems. This way the Robot can be used for non-repetitive task at unknown predefined spots. The Robot currently working on commercial scale uses the pneumatic grippers to palletise regular sheets. Some Robots have the capability to deal with irregular objects with limitations. These Robots pick the objects from COM (Centre of Mass) since they are very small in size and does not have sharp edges or perforation. The COM is a good technique for palletising only, if the objects are not too heavy or does not have much irregularities on the boundary. When a sheet is cut in a star shape with a hole at the centre or a grill type perforated having only 30 % of material after laser cutting, these scenarios are not yet been researched. The research proposes a MV (Machine Vision) controller that is designed, simulated on MATLAB (Matrix Laboratory) software and validated by implementing on a Robot in real time. The Algorithm is developed to work in a loop that repeat its cycle until or unless a human intervention subroutine is requested. The software takes images of irregular objects after fixed interval of time and evaluate the features of the shape. The image is disintegrated into finite small regular polygons through real-time image processing to formulate the trajectory. This trajectory is further analysed to configure the spot where the object can be grasped. Once the calculation is completed the MATLAB Algorithm communicate with the Robot controller and shares the positional information to the Robot. Now the Robot controller check the possibility to reach all the position and postures of manipulator. Further, this information is sent to check the range of end effector and enable it to start the operation. The whole system is in a feedback loop, if the object is dropped between operation due to miscalculation or mishandling. The Robot will stop and ask the MATLAB to re-evaluate the position of dropped object. If MATLAB is unable to calculate the trajectory for this object, the whole system will shut down and wait for human assistance. The robustness of the proposed method is evaluated through MATLAB simulations. To appreciate the validation of the Algorithm it is necessary to develop a prototype. Therefore, a 5-Axis Serial Robot (Mitsubishi RM-501) is used and the controller of this Robot is developed to read the information from MV system and integrate the pneumatic end effector with the Robot. F280049C Launchpad is used as main control unit of the Robot to control actuator, sensors and to communicate with MATLAB. MACH3 is also used as Robot interface software more details are available in chapter 5. The research has also been integrated in a project at R&D Department of a medical device manufacturer in Australia. The research internship provided development of an AUWS to weld soft polymeric materials together. The main objective after developing the machine from scratch was to weld these medical devices of different size and shapes. Therefore, MV technique is used to generate the different regular and irregular bonding pattern that could results in strong weld joints. Furthermore, the position and torque of ultrasonic welding head were also controlled based on thickness. The project is working and producing the medical devices for research purpose.

The main subject of the thesis was the logistics, savings of the expenditure of material, materials handling and stock-keeping in consequence of consumer package.This thesis is solved in theoretical way with many know-how from practise. The product portfolio and production process were described on the base of local examination.

Dissertação de mestrado em Tecnologia e Ciência Alimentar<br>Neste projeto realizaram-se dois estudos distintos. O primeiro relacionado com a utilização de ferramentas da qualidade, onde se procurou encontrar a(s) causa(s) para a quebra de garrafas de vidro em palete de produto acabado e o segundo onde se procedeu ao desenvolvimento e implementação do método de trabalho para o equipamento de teste da estabilidade da paletização. Com este projeto, pretendeu-se reduzir o número de incidências de quebra de garrafas e de paletes tombadas, diminuir custos, garantir a excelência dos produtos Unicer no cliente e maior rentabilidade dos processos. No primeiro tema explorado “Análise de Causas de Quebra de Garrafas de Vidro” procedeuse à análise do fenómeno para encontrar a percentagem de incidências de paletes com quebra que saíam para o mercado. A partir de vários estudos foi possível identificar as possíveis causas para a situação atual, posteriormente organizadas num Diagrama de Causa-Efeito. Este foi o ponto de partida para o desenvolvimento de várias ações com o objetivo de reduzir as quebras. Com as ações conseguiu-se destacar que as variáveis mais críticas se encontravam na linha de enchimento e, desta forma, aplicaram-se ações de melhoria com a alteração destas variáveis. Após verificação de melhoria constatou-se uma redução do número de incidências em 11%. No segundo tema “Otimização da Estabilidade de Paletização” realizou-se um estudo teórico sobre o transporte rodoviário de cargas, recorrendo à informação disponibilizada pela Comissão Europeia e a normas internacionais ISO.Com base nos conhecimentos adquiridos encontraramse os parâmetros com influência direta na estabilidade da paletização. Isto permitiu o desenvolvimento dos critérios de avaliação e a definição da gama de frequências vibracionais a que a carga está sujeita no transporte rodoviário, aplicadas no método desenvolvido a partir da norma ISO2247. No final, foi realizado um teste de ensaio para validação ou reformulação deste. O teste teve como objetivo a redução do número de rejeições em armazém com vista na melhoria da estabilidade no transporte. Para tal, procedeu-se ao estudo da avaliação da estabilidade e sua otimização, utilizando a matriz original e três propostas: matriz cruzada, matriz em coluna e matriz em coluna com intercalar. Por avaliação por comparação e, respeitando as condições de paletização em linha concluiu-se que a melhor matriz foi a em coluna.<br>This report was focused on two studies. The first one was related with the application of the quality tools where was searched to find the causes for broken glass bottle in finish product pallets. The second theme was proceeded to develop and implement a working method for the test equipment for stability of palletizing. This project was intended to reduce the number of broken glass bottles and tumble pallets, associated costs, guarantee the excellence quality of Unicer products at the costumer and higher profitability of processes. In the first theme called “Cause Analysis for Brocken Glass Bottles” was inspected the phenomenon in order to find the percentage of pallets with broken bottles. From the connection among the position of trays with broken bottle and the direction of pallets, it was possible to find possible causes for the current situation which was organized in a Cause – Effect Diagram. This was the starting point for the development of several actions in order to reduce de number of incidences. From these actions it was possible to highlight that the most critical variables was found in the bottle filling line. Thus, it was applied improvement actions to change these variables. After checking the improvement, it was evidenced a reduction of the incidences of 11%. In the second theme “Optimization of Palletizing Stability” it was did a theoretical study about cargo securing for road transport, using information provided by the European Commission and international standards. Based on acquired knowledge it was possible find the parameters that have direct influence on palletizing stability. This allowed the development of evaluation criteria and the definition of the range vibrational frequencies to which the load is subject during road transport, applied on the test method developed from the ISO2247 standard. In the end, was conducted a test for validation or redesign the method. The test had as interest the reduction of the number of rejections in warehouse and at the same time the improvement of their stability. To do this, it was preceded to the study of stability evaluation and its optimization, using the original matrix and three proposals: cross-matrix, column matrix and column matrix with interlayers. The evaluation was did in comparison among the original and, respecting the palletizing line condition, it was concluded that the best matrix was in column.