Pallet Hook - ABB IRB 660 Product Manual

2 FlexGripper-Vacuum

2.2.3. Pallet hook

2.2.3. Pallet hook
The pallet hook is used for lifting the pallet that is associated with the handling product. It
includes two parts: a pneumatic search cylinder and two pairs of lifting fingers.
Pneumatic search cylinder
The pneumatic search cylinder on the FlexGripper (see figure 2.5) allows the robot to locate
the top of the pallet stack, eliminating the need for external sensing to determine the exact
height of the stack.
As pallets are picked, the system keeps track of the theoretical top level of the pallet. If the
process is interrupted, for example if the cell is accessed by an operator, the robot will start
to seek from the absolute top level again to find the top surface of the pallet.
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Figure 2.5 Pneumatic search cylinder
Lifting fingers
Two pneumatic cylinders each control and adjust the tilting angle of the two pairs of fingers
(see figure 2.6). With one synchronous lever, the two pairs of fingers can be operated at the
same time.
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Figure 2.6 Pallet picker assembly details
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3HAC040633-002 Revision: -