Multidimensional guidance
Several inspection stations, some with camera systems, are integrated into the line. In the event of irregularities, the robot places the carton on one of the ejection stations, which further increases the variety of movements and ranges. The designers opted for the triflex® R energy supply system, which integrates the vacuum lines for the grippers as well as the energy and control cables. The igus®® modular accessory system was also used for precise guidance of the chain.

No loop formationTooptimise the chain's movement sequences, a tube with a 90° angle is mounted at the robot's attachment points. A spring element is mounted on this tube in the desired position. A cable connection between the arm of the spring module and the triflex® R initiates the desired retraction movements. The position of the fastening tube can be used to guide the movement of the chain multiaxially when the robot arm is retracted. This prevents the formation of loops on the robot head or friction of the chain on the robot arm.