When verifying the robot load, factors such as the weight of the gripper, product, pipeline, etc., should be comprehensively considered. The center of mass of the front end load on axis J6 must satisfy the robot load characteristic curve. Note: the center of mass position is based on the center of the J6 axis flange of the robot.
Robot reachability can be confirmed through various methods such as Mech-Viz, CAD, Robcad, RobotStudio, etc. (1. Robot reachability range | 2. Stack dimension information):
This section lists the notes for sack depalletizing projects and open-top turnover box depalletizing projects.
When choosing the number of degrees of freedom for the robot in sack depalletizing projects, note the following points:
The possible placement of incoming sacks should be thoroughly considered. When the sacks appear tilted with pitch and roll angles, as shown in the figure below, it is recommended to choose a six-axis robot.
The needs of subsequent processes should be taken into account. When the robot needs to adopt multiple postures for pouring after depalletizing, as shown in the figure below, it is recommended to choose a six-axis robot.
When choosing the number of degrees of freedom for the robot in open-top turnover box depalletizing projects, note the following points:
- Due to the inconsistent levelness of the tray or tray placement surface, incoming turnover boxes may be tilted. A four-axis robot cannot meet the requirements.
- When picking multiple boxes, there is a deviation angle on the upper surface of the turnover boxes as shown in the image. A four-axis robot cannot meet the requirements.
The selected robot model must support seamless communication with the vision system.
If the project utilizes standard interface communication methods, it is necessary to confirm that the chosen robot brand and model support standard interface communication with the vision system, and the robot controller meets the necessary software and hardware requirements. For details, please refer to the manual section on Standard Interface Communication.
If the project employs master control communication methods, please confirm that the selected robot brand and model support master control communication with the robot, and the robot controller meets the required software and hardware specifications. For details, please refer to the manual section on Master Control Communication.