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LP Series Palletizing Robot

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LP Series Palletizing Robot Powered By Docstoc
					LP Series
Palletizing
Robot
                                     LP Series Robot

Palletizing LP Series Robot
  1,500 cycle/hr (LP130、130kg payload)
  1,800 cycle/hr (LP130、 60kg payload)
  Two models (130kg and 180kg Payload).


Wide Operation Range
  A 2600mm vertical stroke and maximum reach
  of 3210mm easily allow for a single robot to serve
  upto 6 pallets in layout with ±180°operation for J1-axis.


Compact Arm Design
  Minimize floorspace required for palletizing system
  with compact arm.


Easy Programming & Advanced Functionality
                                                                          LP130
  Enhance palletizing software features and off-line programming &
  simulation are available to reduce programming time and simplify use.
High Speed Transfer and Compact Layout
                    Large Vertical & Horizontal Envelope




Maximum loading height is 2,787mm for 1100mm(43.3”) Pallet
Maximum loading height is 2,767mm for 1200mm(47.2”) Pallet
Maximum loading height is 2,212mm for 1600mm(63”) Pallet
Large Working Envelopment




            1 LP Series Robot can serve a 6 pallet
            configured cell with the maximum reach
            3210mm and ±180°operation for J1-axis.
                    AX Palletizing Functions
                 - Programming Software Features -
                                                                         Example of display
① Easy Programming
① Easy Programming
                                                                  パレタイズパターン登録
                                                                 パレタイズ番号
                                                                 ワーク掴み位置の登録
                                                                              1
                                                                              1
                                                                                           箱物1




⇒ Simple operation system for beginner
 ⇒ Simple operation system for beginner                           X
                                                                  Y
                                                                   ①基準位置
                                                                             0.0 mm
                                                                             0.0 mm
                                                                                             X
                                                                                             Y
                                                                                                 ②180度回転位置
                                                                                                         0.0 mm
                                                                                                         0.0 mm
                                                                                                                  現在の位
                                                                                                                  置を記録

                                                                  Z          0.0 mm          Z           0.0 mm

⇒ Menu driven programming automatically creates
 ⇒ Menu driven programming automatically creates
                                                                                                                   前へ




program based on process data information input.
 program based on process data information input.
                                                                                                                   次へ
                                                                                                                         追加
                                                                                                                         登録



                                                                                                                  計算
                                                                 オフセット   X         0.0 Y     0.0




② Best robot motion control for palletizing
② Best robot motion control for palletizing
⇒ Misload protection with simple adjustment for part
 ⇒ Misload protection with simple adjustment for part
height variance due to “real world” conditions
 height variance due to “real world” conditions
⇒ Path Optimization lets robot auto generate best route
 ⇒ Path Optimization lets robot auto generate best route                         Example of automatic
                                                                                  program generation
                                                                        S1 REM[パレタイズ作業A]
③ Powerful robot interface and controller
③ Powerful robot interface and controller
                                                                        S2 *TOP‘ PLT_P0_TOP
                                                                        S3 RESET[O1]‘ PLT_P0_RESET_HC
⇒ Basic operation and control of system from AX.
 ⇒ Basic operation and control of system from AX.
                                                                        S4 SET[O1] ‘ PLT_P0_SET_HO
                                                                        S5 100%
                                                           Misload protection LIN A8 T2‘ PLT_P1
                                                                        S6 WAITI[I3]‘ PLT_P1_WAIT_WK
⇒ Special signal and robot language commands
 ⇒ Special signal and robot language commands                   Y
                                                                        S7 WAITI[I1]‘ PLT_P1_WAIT_HO
available to maximize simplicity and flexibility.          3       2    S8
                                                                        1 10% LIN A1P T2‘ PLT_P2
 available to maximize simplicity and flexibility.                      S9 RESET[O2]‘ PLT_P2_RESET_HO
                                                           4            S10SET[O1] ‘ PLT_P2_SET_HC
                                                                        8 X
                                                                        S11WAITI[I1]
                                                           5     6             7
                                                        AX Palletizing Functions
                                                      - Advanced Software Features -
⇒ Simple operation system for even a
 ⇒ Simple operation system for even a                                                                       ⇒Automatic program generation
                                                                                                            ⇒Automatic program generation
novice programmer.
 novice programmer.
   パレットの登録                                                                                                    Simple set-up : Record the pick-up
パレット番号               0       名称
  ①原点座標                           ②X軸方向                                                                       position and drop-off position
 X      0.0 mm                X              0.0 mm




                                                                                                                                                                                  Next
 Y      0.0 mm                Y              0.0 mm                                                                       プログラム作成                                                 2/*
                                                               現在の位
                                                               置を記録                                                      プログラム番号            0    名称
 Z      0.0 mm                Z              0.0 mm
                                                               Next                                                      ①掴み位置の教示
                                                                                                                                  X    Y       Z      R      P       Y
  ③Y軸方向                                           パレタイズパターン登録
                                                         プログラム                                                           ( 1770.0, 0.0, 2010.0,   0.0, -90.0, -180.0 )         現在の位
 X         0.0 mm                                パレタイズ番号 書き出し1
                                                                                                                                                                                 置を記録
 Y         0.0 mm                                 名称             箱物1
                                                                                                                         ②掴み上昇距離                0.0 mm
                                                  パレット番号             1       パレット名称
 Z         0.0 mm
                                                   ワーク   プログラム
                                                                                                                         移動速度% 高速       100   低速    10
                                                                                                                                                                                  Input the
                Z軸                                比率     読み込み 指定無し
                                                            L:W
                         3
                                  Y軸              寸法       L       0.0       mm
                                                                                                                         アキュラシー A         8                                      height data
                                                           W       0.0       mm




                                                                                                                                                               ②
            1                           2
                                                           H
                                                           一覧      0.0       mm                       戻る                                                               1         次へand etc.
                                            X軸
                                                   アプローチ距離
                                                  距離       Xa          0.0   mm       Y               次へ                                プログラム作成                                                   3/*




                                                                                                                                                                                 Next
                                                         書き込み
                                                           Ya          0.0   mm
                                                                                          (Xa, Ya)
                                                                                                                                                          0
                                                                                                                                       プログラム番号                  名称
                                                               Next




                                                                                                                                       ③積付位置の教示
                                                                                          X
                                                                                                                                                X    Y       Z       R      P       Y
  パレタイズパターン登録                                                                                                                            ( 1770.0, 0.0, 2010.0,    0.0, -90.0, -180.0 )          現在の位
 パレタイズ番号      1               箱物1                                                                                                                                                                置を記録
 ワーク掴み関係の登録   1                                                                                                                                                    0.0 mm
                                                                                                                                       ④アプローチ高さ




                                                                                                                               Next
                                                                                                                                       ⑤下降開始高さ                     0.0 mm
   ①基準位置                             ②180度回転位置            現在の位
                                                                                                                                       ⑥放し上空高さ                     0.0 mm                         戻る
  X         0.0 mm                 X         0.0 mm       置を記録
  Y         0.0 mm                 Y         0.0 mm                                                         Automatic
  Z         0.0 mm                 Z         0.0 mm                                                                                    移動速度% 高速          100   低速      10
                                                               Next




                                                                                                            generation




                                                                                                                                                                                             ⑥
                                                  パ        前へ 録
                                                    レタイズパターン登
                                                                                                                                                           8
                                                パレタイズ番  号          物
                                                                  箱 1
                                                                                                                                アキュラシー
                                                                                                                S1 REM[パレタイズ作業A] A                                  次へ




                                                                                                                                                                             ④
                                                               1




                                                                                                                                                                                 ⑤
                                                 パ
                                                面 ターン番 号     1                                                                                                                           3
                                                積 方
                                                 み         ピンホイール
                                                                 追加                                             S2 *TOP          ‘ PLT_P0_TOP
                                                           次へ
                                                                 登録                                  コピー        S3 RESET[O1]     ‘ PLT_P0_RESET_HC
                                                                計算
                                                                                                                S4 SET[O1]       ‘ PLT_P0_SET_HO
 オフセット X         0.0 Y            0.0
                                                           ④
                                                                   ③     ④
                                                                                  ③
                                                                                                     戻る
                                                                                                                S5 100% LIN A8 T2‘ PLT_P1
                                                       ①                              ②
                                                                                                                S6 WAITI[I3]     ‘ PLT_P1_WAIT_WK
                                                               ②             ①
                                                                                                     次へ
                                                                                                                S7 WAITI[I1]     ‘ PLT_P1_WAIT_HO
                                                                                                                S8 10% LIN A1P T2‘ PLT_P2     ■Feature
     ■ Feature
                                                                                                     修正
                                                                                                                S9 RESET[O2]     ‘ PLT_P2_RESET_HO
                                                                                                                                              ・Automatic route generation
     ・Simple user interface menu-driven program creation.                                                       S10SET[O1]       ‘ PLT_P2_SET_HC
                                                                                                     書 込
                                                                                                      き み
                                                                                                                S11WAITI[I1]                  ・Automatic function record
     ・Operation sequence display changed with single keystroke                                                  Playback is available
     ・Easy to understand operation flowchart of program.                                                           (with comment)
                           AX Palletizing Functions
                               - Simplified Functionality -
⇒ Misload function changes approach angle.
⇒ Misload function changes approach angle.                        ⇒ Path Optimization Function
                                                                  ⇒ Path Optimization Function
Height adjustment is done with simple input
Height adjustment is done with simple input                        「Automatic route selection」
                                                                    「Automatic route selection」
  With                             No                                 Robot position (height and direction) is
 misload                         misload                              adjusted for both forward and backward
                                                                      position data.
                                                                            Original     Wasted Motion
                                                                             route
                                                                                             New route
                                                    Y                              2'
     Box                         Box         3          2     1                                   Optimized
                                             4
                                                                                                  Path
           Misload protection motion
                                                              8   X                2'                   3


                                                                                                        4
     Calculated height                       5       6
                                                  Approach    7              2

                                                  direction                  1
            Bag              Actual height       assignment
                                  Bag
                                                    Compression
                                                     by gravity




              Parts height adjustment                                       Automatic route selection
                    AX Palletizing Functions
              - Interface communication with external devices -
⇒ Capable of simple customizable
 ⇒ Capable of simple customizable                                ⇒ Output the palletizing information
                                                                  ⇒ Output the palletizing information
operation panel design on teach pendent.
 operation panel design on teach pendent.                        to external device.
                                                                  to external device.
                                                                                Robot condition control device
Example
Customized        Palletize conditionCounter Max.123 pattern                             PC
simple
operation panel



                             Start    Stop
                                                                                                PLC


                                         Palletize information, Input/Output
                                                         Palletize          Output
                                                         counter

                                                                                              Line controller
                                                              Palletize
                                             Input          Counter reset
                                                           Palletize counter
                                                                preset
                                                     Play back       Move to origin
                                                                       position
                    AX Palletizing Functions
                   -Offline Programming Tool AX on desk -
  AX Controller                  Virtual Robot
                                                                Interference
                                                                  detection


Offline Programming

     Cycle Time
    Confirmation                                                     Interfer
                                                                      ence


      IO Panel


            Teach Pendant



                            ⇒ Easy operation for even novice robot user
                            ⇒ Easy operation for even novice robot user
                            ⇒ OLP allows for cycletime and interference
                             ⇒ OLP allows for cycletime and interference
                            verification without actual robot
                             verification without actual robot
                            ⇒ Highly accurate simulations are available
                            ⇒ Highly accurate simulations are available
                           LP Series Robot Specification Sheet
Robot Model                                     Presto LP130               Presto LP180
Number of Axis                                         4                         4
Maximum Reach (mm)                                  3210                        3210
Maximum working envelop (rad)         J1           ±3.14                       ±3.14
                                      J2        +1.65~-0.71                +1.65~-0.71
                                      J3        +0.30~ -2.04               +0.30~ -2.04
                                      J4           ±6.28                       ±6.28
Maximum Speed (rad/s)                 J1       2.27 (130 Deg/s)           1.75 (100 Deg/s)
                                      J2       1.92 (110 Deg/s)           1.57 (90 Deg/s)
                                      J3       1.92 (110 Deg/s)           1.66 (95 Deg/s)
                                      J4       5.76 (325 Deg/s)           5.23 (305 Deg/s)
Maximum Payload (kg)                                 130                        180
Allowable moment of inertia (kgm2)                   50                          69
Position Repeatability (mm)                         ±0.3                       ±0.4
Application Air Hoses、Allowable Air pressure                 2×φ12、0.69MPa
Application signal wires                                   20 wires (Until J4-axis)
Robot weight (kg)                                  1,150kg                    1,150kg
LP Series Robot Working Envelope

				
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