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1. Palletizing and depalletizing basics

Palletizing is the placement of workpieces together according to prescribed rules. Depalletizing is to remove piles of workpieces one by one, and destacking may involve the pickup of parts with deviations in the position of the workpiece, and may be configured with visual recognition. Relatively speaking, palletizing is simpler and depalletizing is more complicated.

Figure 1 robot palletizing

The destacking of workpieces with random positions requires the use of a visual recognition system, which can automatically identify the position of the workpiece and guide the robot to grasp accurately.

Figure 2 Visual recognition

2 Palletizing cycle timing

The palletizing robot has only 4 axes and is fast, usually it only takes 5s to complete a single palletizing of A→B.

3 Detailed description of automated supporting equipment for palletizing and depalletizing

3.1 4-axis robots for palletizing

Simple palletizing and depalletizing can be done using a 4-axis palletizing robot, and for random workpiece destacking, a 6-axis robot is also required due to the deviation of the XYZ angle direction.

Features of the palletizing version of the 4-axis robot: the TCP point at the end of the robot is always vertically facing down, the radius of movement is large, the handling weight is large, and the speed is faster.

Figure 3 palletizing robot

3.2 Palletizing claws

For cartons, suction cups can be used, woven bags, etc. can be gripped, and other workpieces with hard outer surfaces can be clamped by cylinders.

Below is the palletizing claw, joint movement, consisting of a frame, a cylinder, a synchronous linkage, a claw, etc.

Figure 4 Palletizing claw

3.3 Conveyor lines

Palletizing lines usually use belt conveyors and roller conveyor lines.