5.2.1 - Supported pickup positions
Product arrival angle
Pally supports several different pickup positions. The boxes may arrive at the pickup position
from the side, from the front or from an angle. I.e., the boxes can arrive both sideways or
straight towards the robot as illustrated by the arrows in (
figure 20
). The end point for the
pickup must be a fixed position.
Figure 20:
A product may arrive at the pickup position from a wide variety of angles, but
should always be stationary on the same location when being picked up by the robot.
Multi-picking
Pally supports lifting and placing two or more products at the same time, as long as the total
payload and the placement on the pallet allows it. When using multi-picking, the boxes must
be aligned on the conveyor. Either guides or pushers are recommended for this purpose.
Low guides are preferred, since these will give more room for the robot to optimize its paths
for increased capacity and increased lifespan. This is illustrated by
"box free"
in
figure 21
.
Version 2.9.1
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Содержание URCap
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