The gantry is designed as a steel column structure with an aluminium guide construction. The longitudinal axis arranged above is a toothed rack tandem axis (10 m travel path). The transverse axis is designed as a servo axis with a rack-and-pinion drive (3.5 m travel path). The servo-driven vertical axis is a telescope-toothed rack/toothed belt axis with a travel of 2.6 m.

The cardboard box conveyor is designed as a roller path.

The gantry area is guarded by light curtains at the long sides, and by safety fences at the front sides.

Gantry and transport path have separate controls which are communicating with one another.

Cardboard boxes are received from two automatic gluing machines on two roller/toothed-belt paths. At this point, they are identified by a scanner to be ejected either to manual stacking straight ahead, or to automatic stacking at the sides.
Cardboard boxes with defective or illegible bar codes are ejected to the manual packaging path.

Boxes intended for automatic stacking reach the gantry via the transport path. In the gantry area, the boxes are identified by a scanner once again, and taken over by the robot.

If a cardboard box cannot be picked because a pallet is either full or needs to be replaced, the box is ejected to one of the two existing buffer positions, and picked from that position by the robot again later on.

Plant capacity
Number of pallet positions: 20
Output: approx. 160 boxes/hour
Pallet changes per hour: 10x every 30 s
Effective palletising time: 55 min
Average loading time: 20 s/box
Gantry robot
Technical boundary conditions: 2x10 pallets
Maximum stacking height: 3000 mm above floor level
Maximum weight: 15 kg per cardboard box
Dimensions: 800x400x300-640 mm
Top robot grip position: 3000 mm
Bottom robot grip position: 450 mm
Clear ceiling height: 5200 mm
The plant is suitable for three-shift operation.