Gripper and depalletizing

Finding the correct gripper has always been a key part in any palletizing project, and the same applies to depalletizing.

Finding the correct gripper need to consider two key elements at the same time.

When we set up a Pally application we have a know pick position where we have calibrated the position of the box on the conveyor.

When we have a depalletizing application dPally will pick the boxes on the pallet. If the pallet or the boxes are displaced we need to ensure that we still pick the correct box(es). This displacment can be caused by movement of the boxes during transportation or the pallet is not placed correctly.

The distance A and B (left and right of the gripper) in below picture must be longer than the maximum expected displacement or the box position. This is the distance from the edge of the box to the vacuum zone of the gripper.

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The same applies to front and back of the gripper. The distance C and D (back and front of the gripper) in below picture must be longer than the maximum expected displacement or the box position. This is the distance from the edge of the box to the vacuum zone of the gripper.

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The same principle must be taken into consideration when picking double boxes or more. You need to ensure that the gripper only picks the boxes you intend to pick , while at the same time maintain grip quality.