Patterns for mechnical fork and clamp grippers
Using a mechanical fork or clamp gripper sometimes makes sense in a palletizing project. And this requires that the products are placed in the correct order and orientation to avoid collisions with already placed products.
By choosing the mechanical gripper as the type when generating the pattern, MyRobot.cloud automatically generates a pattern designed for handling by mechanical gripper.
Mechanical clamp gripper
Product padding is necessary to set the distance between the products. This distance equals, at a minimum, the same thickness as the side of your fixed clamp is on the mechanical gripper.
Gripper clearance equals, minimum, the same distance your clamp gripper needs to open.
Pickup side is the side of the product where the fixed side of the clamp gripper will have contact with your product.
When you open the customizing menu and choose a layer, you will see how the pattern is organized and the direction the gripper will open (marked by red). You need to make sure the red marking only covers the direction where there are no already placed boxes. Like in the picture below, where you can see the red marking is where box number 8 will be placed, and since this is box number 4, this will cause a collision.
Mechanical fork gripper
Product padding is not necessary to set since a fork gripper has the possibility to place the box close to the already placed box. But if the fork teeth stick out on the side of the product, while handling the product, you can use this setting to avoid crashes with already placed boxes.
Gripper clearance equals, minimum, the same distance your fork gripper needs to move away from the placed product at the target position on the pallet.
Pickup side is the side of the product where the fixed side of the fork gripper will have contact with your product.
When you open the customizing menu and choose a layer, you will see how the pattern is organized and the direction the gripper will open (marked by red). You need to make sure the red marking only covers the direction where there are no already placed boxes. Like in the picture below, where you can see the red marking is where box number 8 will be placed, and since this is box number 4, this will cause a collision.