Side overrun
Potential side overrun (mm) = (box diagonal/2) + robot reach + extra bracket reach - pallet width - 295
Trajectories are not limited to hovering over the picking position, the base of the Solution, and the pallets. It isthus important to
implement physical safeguarding devicesnext to the picking area, depending on the layout of the palletizing cell. The robot's
reachable area should be clearly identified and marked on the ground.
NOTICE
When the robot ispalletizing on one side, and no pallet ispresent on the opposite side, the Palletizing
Solution computes trajectoriesbased on the assumption that there are no obstacleson the opposite
side. The robot’s elbow (joint #2) can therefore extend to the side where no pallet is present. For a
UR20, tthe potential overrun is represented by a cylinder with a radiusof 1000 mm, with its axis aligned
with the Z-axis of the robot base.
Floormarking
Floor marking to delineate the working zone should be added.
3.5.OtherGrippers
It is possible to use a gripper other than the PowerPick Vacuum Gripper. If another gripper isused, it is important to validate that
its shape iswithin the gripper model used for the collision detection algorithm of the software. If the shape of the alternative
gripper does not correspond with the shape of the following models, it might function as well, but Robotiq doesnot guarantee
that there will be no collision.
The dimensionsof the gripper model depends on the dimensions of the box to palletize and are obtained using the following
criteria:
BoxFootprint
(A
box
X B
box
)
Gripper Footprint
(A
g
X B
g
)
Gripper Height
(C
g
)
A
box
< 105 mm
OR
B
box
< 55 mm
A
g
= A
box
- 1 mm
B
g
= B
box
- 1 mm
110 mm
A
box
> 450 mm
OR
B
box
> 350 mm
A
g
= A
box
- 40 mm
B
g
= B
box
- 40 mm
55 mm
Otherwise
A
g
= 200 mm
B
g
= 130 mm
110 mm
58
To Next Page
Loading...
