This is a completely automatized system that palletizes all first-choice pieces outcoming from the firing department destined to the market.

The palletizing operations will be performed by 2 ABB IRB 6400 robot supplied with a track motion.

On the wrists of the robots there will be a gripper with 3 servo-controlled axis, these axis are controlled by the S4C control unit of the robot.

Robot production cycle:
· Piece recognition by operator
· Code input on the panel by the operator
· Code transmission to robot control unit.
· Gripper re-configuration with 3- controlled axis movements.
· Piece stop on the conveyor in the capture zone (with respected tolerance)
· Piece picking-up (the gripper on the robot wrist picks up the piece)
· Damper sticker application (the piece is positioned in front of the dispenser by the robot, in different position how many are the stickers required)
· Piece depositioning in its own pallet.
· Cardboards and masonite sheets are put on every layer of the pallet by the robot.
· The shuttle takes away the completed pallet, it carries it to the rollers shuttle wich will take the pallet to the thermo-retroaction kiln and the shuttle feeds the line with a new empty pallet.