The collaborative palletizing robot workstation generally consists of the following parts:
1. Robot body
Mechanical structure: including joints, linkages, arms, wrists, etc., providing the basic structure for robot movement, determining the robot's range of motion, load capacity, and workspace. Common types include six-axis and five-axis collaborative robots, such as BORUNTE's collaborative robot palletizing workstation.
Drive system: responsible for providing power for the movement of the robot, common drive methods include electric, pneumatic, hydraulic, etc. Electric drive has the advantages of high precision, fast response, and easy maintenance, and is a commonly used driving method for collaborative palletizing robots.
2. control system
Robot controller: It is the "brain" of the robot, responsible for receiving and processing instructions from the control panel, teaching pendant, etc., and controlling the movement and operation of the robot. It precisely controls the motion trajectory, speed, and acceleration of each joint of the robot through internal algorithms and programs to achieve accurate palletizing operations.
Operation panel and teaching pendant: The operation panel is used for basic operations such as starting, stopping, and emergency stopping of the robot, as well as setting and adjusting some parameters. The teaching pendant is used for teaching programming the robot's motion trajectory and operation. The operator can manually guide the robot to complete the palletizing task through the teaching pendant, record the robot's motion path and operation steps, and then have the robot automatically repeat the teaching program.
3. end effector
Grab style gripper: It is used to transport materials from one position to another through clamping, grabbing, and other methods. It is suitable for materials of various shapes and sizes, such as cardboard boxes, pallets, etc. Common types include single plate and double plate claws, with the side plate usually having a rotatable claw hook that works at a 90 ° angle to the side plate.
Adsorption type gripper: Using the principles of vacuum adsorption or gas adsorption, materials are adsorbed onto the gripper for transportation, suitable for materials with flat and smooth surfaces, such as flat glass, paper, etc. Common suction claws include vacuum suction cups, airflow negative pressure suction cups, and extrusion negative pressure suction cups.
4. Material conveying system
Conveyor line: including belt conveyor line, drum conveyor line, chain conveyor line, etc., used to transport materials from the front end of the production line to the working area of the palletizing robot, as well as to transport the coded materials to subsequent storage or transportation links. The type and speed of the conveyor line need to be selected based on the characteristics of the material and the production cycle.
Material shaping device: shaping the conveyed materials to meet the requirements of stacking, such as straightening skewed materials and organizing loose materials neatly. Common material shaping devices include upper flattening devices, lower vibration conveyor lines, and turning devices.
5. Tray conveying and positioning system
Tray library: used to store empty trays and coded trays for easy access and storage by robots. The pallet warehouse can be fixed or mobile, depending on the space and layout of the production site.
Tray conveyor: Transport empty trays from the tray warehouse to the working area of the palletizing robot, as well as transport coded trays to the tray warehouse or other designated locations. The pallet conveyor can be light or heavily loaded, depending on the weight and size of the pallet.
Tray positioning system: locates the tray to ensure that the robot can accurately place materials on the tray. Common tray positioning systems include photoelectric positioning systems, mechanical positioning systems, etc.
6. Electrical and Pneumatic Systems
Electrical system: including power supply, transformer, distribution cabinet, motor, sensor, etc., providing power support for various components of the robot and realizing control of the robot's movement and operation. Sensors are used to detect the position, speed, load, and other information of robots, as well as the position and status of materials, providing feedback for robot control.
Pneumatic system: provides an air source for the robot's grasping claws, adsorption claws, etc., to achieve material grasping and adsorption. The pneumatic system comprises air compressors, cylinders, air pipes, and air valves, which must be selected and configured according to the robot's load and working requirements.
7. Safety protection device
Safety barrier: isolates the working area of the robot from the working area of the operator, preventing them from entering the dangerous area while the robot is working and avoiding safety accidents. The height, strength, and protective performance of safety barriers need to comply with relevant safety standards.
Emergency stop button: In the event of an emergency, the operator can immediately stop the robot's movement by pressing the emergency stop button, ensuring the safety of personnel and equipment. The emergency stop button is usually located on the control panel of the robot and in a prominent position in the work area.