Mixed-case Palletizing Station
Mixed-case palletizing handles SKUs of various sizes and weight. To form a stable pallet, it is required to place the heavier SKUs towards the bottom and lighter SKUs towards the top. This application is commonly used when distribution centers are distributing merchants to retail stores. There are two main challenges for mixed-cased palletizing: upstream SKU feeding sequence is unpredictable, and dimensions of SKUs vary widely.
XYZ mixed-case palletizing station features real-time motion planning algorithm and handles hundred to thousand types of boxes without knowing upstream SKU feeding sequence.


High Throughput
Achieves 450 cases per hour.

Fast Deployment
SKU registration not required.
SKU registration not required.
Smart Planning
Generates pallet stacking patterns automatically according to inputs of case dimensions.


Upstream feeding sequence needs to be controlled and monitored by human operators to ensure stable stacking.
Complicated and time-consuming waypoint teaching. Nonoptimal motion plans lead to low performance.
Low-density stacking due to no online stacking pattern planning.
Flexible in upstream 
feeding sequence
XYZ system fulfills the challenging online mixed-case palletizing without knowing the upstream feeding sequence thanks to online calculation.
High density stacking
XYZ system palletizes densely and stably by measuring case sizes and calculating stacking patterns in real-time. A pallet can be stacked with cases up to 5 feet / 1.5 m tall if the max length of all the boxes is shorter than twice the min length, and the max width of all the boxes is shorter than twice the min width.
Real-time motion planning
Optimized motion planning without waypoint teaching, outperforming solutions for the same layout by 30%.

Case Studies