Depalletizing Vacuum Gripper (Multi-Pick)

Select the axis along which the boxes will be grouped. If Along X-Axis (red axis in the figure) is selected, the two boxes in the red frame will be grouped. If Along Y-Axis (green axis in the figure) is selected, the three boxes in the green frame will be grouped.

For some multi-pick depalletizing scenarios, multiple rows of boxes should be picked altogether. This parameter specifies the allowable maximum number of rows in one box group. The rows in the group calculated by the software will be as close as possible to the set upper limit.

This parameter limits the maximum distance between two adjacent boxes in the grouping direction, which is the range indicated by the purple arrows in the figure below. When the distance is smaller than this value, the boxes can be considered to be in a group.

This parameter limits the maximum deviation distance of a box in the direction perpendicular to the grouping direction, which is the range indicated by the blue arrows in the figure below. When the deviation distance is smaller than this value, the box can be considered to be in the group.

This parameter limits the rotation deviation angle of a box relative to the grouping direction. When the rotation angle is smaller than this value, the box can be considered to be in the group.

In actual applications, a complete row of boxes might be neglected because there are part of other boxes at ends in the grouping direction. Setting an Obstruction Tolerance Distance can preclude the intruding box from affecting the grouping result.

For a box group, if any other box intrudes in the direction perpendicular to the grouping direction, and the intrusion distance is smaller than this threshold, the intruding box will be ignored, and the box group will be considered a complete row. Otherwise, the box group will be discarded. The set value of Obstruction Tolerance Distance cannot exceed the edge length of the boxes.

Enter values to specify an origin of the custom reference frame.

Used to adjust the orientation of the custom reference frame.

For some multi-pick depalletizing scenarios, multiple rows of boxes should be picked altogether. This parameter specifies the allowable maximum number of rows in one box group. The rows in the group calculated by the software will be as close as possible to the set upper limit.

Before the boxes are grouped, the angle between the box reference frame and the custom reference frame will be calculated. If the angle exceeds this threshold, the corresponding box will not be grouped.

This parameter limits the maximum distance between two adjacent boxes in the grouping direction, which is the range indicated by the purple arrows in the figure below. When the deviation distance is smaller than this value, the box can be considered to be in the group.

This parameter limits the maximum deviation distance of a box in the direction perpendicular to the grouping direction, which is the range indicated by the blue arrows in the figure below. When the deviation distance is smaller than this value, the box can be considered to be in the group.

This parameter limits the rotation deviation angle of a box relative to the grouping direction. When the rotation angle is smaller than this value, the box can be considered to be in the group.

In actual applications, a complete row of boxes might be neglected because there are part of other boxes at ends in the grouping direction. Setting an Obstruction Tolerance Distance can preclude the intruding box from affecting the grouping result.

For a box group, if any other box intrudes in the direction perpendicular to the grouping direction, and the intrusion distance is smaller than this threshold, the intruding box will be ignored, and the box group will be considered a complete row. Otherwise, the box group will be discarded.

This parameter specifies the minimum proportion of a box’s upper surface covered by the vacuum gripper when the vacuum gripper attempts to pick a box. If the coverage is larger than the value, it is considered that the vacuum gripper is able to pick the box.

There are three available strategies, i.e., CenterToCenter, EdgeMidpointToEdgeMidpoint, and CornerToVertex. Please assign priorities to these strategies according to the actual requirement.

In the figure below, the orange rectangle represents the box, and the gray rectangle represents the vacuum gripper. The green part of the vacuum gripper indicates that the section is activated, while the red part indicates that the section is deactivated.

This parameter specifies the minimum proportion of a box’s upper surface covered by the vacuum gripper when the vacuum gripper attempts to pick a box. If the coverage is larger than the value, it is considered that the vacuum gripper is able to pick the box.

This parameter specifies the orientation of the vacuum gripper relative to the box group during picking.

You can set the Suction Cup Long Edge Orientation and Orientation Reference, and there are four relative positional relationships in total:

The figure on the left shows the effect when the long edge of the vacuum gripper is parallel to the long edge of the box group, and the figure on the right shows the effect when the long edge of the vacuum gripper is perpendicular to the long edge of the box group.

You need to set a reference point to enable this feature. The offset strategies will be sorted according to the distance between the TCP and the reference point, and the offset strategy with a TCP closer to the reference point has a higher priority. Once Sort by Distance to Reference Point is selected, the following parameters will appear.

Specify the position of the reference point. The reference point will appear in the 3D simulation area.

Only part of the offset strategies with higher priority will be adopted for picking attempts.

The maximum number of offset strategies that will be kept.

As shown in the figure below, the red dot represents the reference point.

Assuming that only the CornerToVertex strategy is adopted, the priority of the offset strategies is shown in the figure below.

This parameter specifies the minimum proportion of a box’s upper surface covered by the vacuum gripper when the vacuum gripper attempts to pick a box. If the coverage is larger than the value, it is considered that the vacuum gripper is able to pick the box.

Specify the sequence of the edge/corner IDs. For example, enter 11, 17, 21, and 22, and the vacuum gripper will pick by using the corresponding edge/corner according to the sequence you specified.

This parameter specifies the orientation of the vacuum gripper relative to the box group during picking.

You can set the Suction Cup Long Edge Orientation and Orientation Reference, and there are four relative positional relationships in total:

The figure on the left shows the effect when the long edge of the vacuum gripper is parallel to the long edge of the box group, and the figure on the right shows the effect when the long edge of the vacuum gripper is perpendicular to the long edge of the box group.

When DI check points are used in the carton drop detection and DI check points are at the edge of the carton, the software may mistakenly detect that the carton is dropped due to picking deviation, loose suction at the edge, deformation of the carton, or other reasons. Under such circumstances, you can set a Dist from Carton Edge To Remove DI to remove DI check points at the edge of the carton to avoid detection errors. The red frames shown in the figure below represent the edge area where the DIs are removed.