| The gantry palletizer/depalletizer depicted here combines two independently operable robots on separate linear drives, but with overlapping coverage. As shown, this robot is capable of depallitizing product with one arm and moving the empty pallet to a central position. The second robot is capable of palletizing the same or different product, e.g., palletizing a refillable container, and drawing from the empty pallet stack in the overlapping central position. The robot also has the capability of picking up empty pallets from an additional pallet stack located beyond the normal palletizing zone. Pallet stack heights are monitored by ultrasonic sensors, providing input for the robot controllers to determine the move required to pick up or place an empty pallet. |
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