This end effector performs multiple functions without the need for tool changing.  It picks a single stack of cartons at a time and performs all of the accessory handling functions, eliminating the need for additional powered and controlled mechanisms.

Drop-down arms pick pallet for placement on the exit conveyor.  Drop-down vacuum cups pick slip sheets for placement on the pallet and in between layer of product.  An internal height probe is used to check the height of the pallet stack and of the sheet stack to insure proper positioning for picking.  Additional fold-out arms lower and raise static buffer racks for temporary storage of product to balance out press and gluer downtimes.

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