2 FlexGripper-Vacuum2.2.3. Pallet hook3HAC040633-002 Revision: -262.2.3. Pallet hookThe pallet hook is used for lifting the pallet that is associated with the handling product. Itincludes two parts: a pneumatic search cylinder and two pairs of lifting fingers.Pneumatic search cylinderThe pneumatic search cylinder on the FlexGripper (see figure 2.5) allows the robot to locatethe top of the pallet stack, eliminating the need for external sensing to determine the exactheight of the stack.As pallets are picked, the system keeps track of the theoretical top level of the pallet. If theprocess is interrupted, for example if the cell is accessed by an operator, the robot will startto seek from the absolute top level again to find the top surface of the pallet.en1011013Figure 2.5 Pneumatic search cylinderLifting fingersTwo 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 thesame time.en1011014Figure 2.6 Pallet picker assembly detailsContinues on next page
