Trouble solving for palletizing robots

Update:11 Feb 2019
Summary:

In a frozen environment, automated random access pallet […]

In a frozen environment, automated random access palletizers are not the right choice, as most automated random access code routers use compressed air tubes that freeze in cold storage. Compared to automated palletizers, palletizing robots are more compact, which is especially important because the space in the refrigerated warehouse is very valuable. Despite this, there are some problems with the use of robots in refrigerated warehouses.
When using a palletizing robot, one important thing to consider is how the robot grabs a product. The vacuum gripper is the most common robotic arm end tool (EOAT). Relatively speaking, they are inexpensive, easy to operate, and can efficiently load most of the load. However, in some specific applications, vacuum grippers can also encounter problems, such as a porous substrate, a soft package of liquid content, or an uneven surface package.
Other EOAT options include a flip-type gripper that grips the sides of a bag or other package; a fork-type gripper that inserts into the bottom of the package to lift the package; and a bag-type gripper, which is a flip-top A mixture of style and fork grips, the fork portion of which wraps around the bottom and sides of the package.
It is also possible to make other combinations of basic EOAT types. A beverage packer has difficulty in palletizing a corrugated tray that is full of bottles and shrinks, and the vacuum chuck pulls the film off the tray.

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