Adaptable spacer roping installation method for casted concrete products or the likes
An adaptable spacer robot installation method includes providing a robot for positioning adjacent a palletizing surface, and a rope-positioning bar for positioning adjacent the palletizing surface. The robot is equipped with a tool head that allows receiving and dispensing a plurality of ropes from different dispensing positions along the tool head. The rope-positioning bar includes at least a same number of grippers than the number of dispensing positions along the tool head. The grippers are so positioned along the rope-positioning bar to allow grippers thereon gripping in unison the plurality of ropes dispensed by the tool head. The robot is moved from a first position, wherein the tool head is so positioned relative to the rope-positioning bar that each of the dispensing positions is registered and adjacent one of the grippers, to a second position, wherein the tool head is positioned distanced from the rope-positioning bar, parallel thereto, above the palletizing surface.
1 . A method for palletizing a plurality of products, the method comprising:
providing a palletizing surface;
providing a rope distribution system;
providing a first robot arm equipped with a robot tool including rope nozzles;
threading ropes from the rope distribution system through the robot tool, so that each of the ropes freely passing through a respective one of the rope nozzles;
moving the robot tool to a first position that is in close proximity to the palletizing surface near a first side thereof;
gripping the ropes at the first position;
moving the robot tool to a second position that is both a) near a second side of the palletizing surface that is opposite the first side thereof and b) sufficiently high above the palletizing surface to yield clearance to move the products to be palletized thereon, yielding lengths of the ropes between the first position and the robot tool;
using a second robot to pick one of the products at a product-delivering location and moving said one of the products on the palletizing surface and on the lengths of ropes;
releasing the ropes at the first position;
until all of the products have been palletized into a stack of products, repeatedly moving the robot tool between the first and second positions and moving another one of the products on the palletizing surface between each movement of the robot tool; and
cutting the ropes.
2 . The method of claim 1 , further comprising a) determining whether a current layer of the products on the palletizing surface is finished before said moving another one of the products on the palletizing surface, and if the current layer is finished then: b) positioning a slip-sheet on the layer before commencing a new layer of the products, and c) determining the new layer as the current layer.
3 . The method of claim 2 , wherein said positioning a slip-sheet on the layer before commencing a new layer of the products is performed by the second robot.
4 . The method of claim 3 , wherein the slip-sheet is picked by the second robot on a slip-sheet dispenser.
5 . The method of claim 4 , wherein the second robot is equipped with a vacuum gripper.
6 . The method of claim 2 , wherein said positioning a slip-sheet on the layer before commencing a new layer of the products is performed by a slip-sheet picking mechanism.
7 . The method of claim 6 , wherein the slip-sheet picking mechanism includes at least one suction cup.
8 . The method of claim 1 , wherein the palletizing surface is defined by a conveyor.
9 . The method of claim 1 , wherein the palletizing surface is slanted and includes a mechanical stop on a lower side thereof.