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tylermartin
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Palletizing with dual 2 finger grippers |
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I am working on a project where I need to pack components and we are currently using the 2 gripper beta program to run dual 2F-140 grippers. We need to take 2 parts from an EOAT on our extruding machine and package them in a sectioned bin.
The spacing of our grippers on the UR robot is 11" centre and the spacing on the EOAT is 5.5", so we will need to pick twice. My concern is the palletizing of the parts into the bin with 2 grippers.
Should I set up the points of the pattern for (1) "gripper 1" location (2) "gripper 2" (3) "gripper 1" (4) "gripper 2" etc. and just set a point for every space on my bins?
The idea is that after the bin is full we can pull it over and push it down a roller conveyor with our UR to make space for the next bin to come in. Then we only need one material handler to keep the line stocked with bins.
has anyone worked a project like this yet?
The spacing of our grippers on the UR robot is 11" centre and the spacing on the EOAT is 5.5", so we will need to pick twice. My concern is the palletizing of the parts into the bin with 2 grippers.
Should I set up the points of the pattern for (1) "gripper 1" location (2) "gripper 2" (3) "gripper 1" (4) "gripper 2" etc. and just set a point for every space on my bins?
The idea is that after the bin is full we can pull it over and push it down a roller conveyor with our UR to make space for the next bin to come in. Then we only need one material handler to keep the line stocked with bins.
has anyone worked a project like this yet?
Automation Technician - Industrial Millwright - Industrial Electrician
Ultra Manufacturing LTD. Waterloo, ON.
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Karine Simard
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Robotiq
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This is our gripper setup. The inside of the grippers will be rebuilt to accommodate our new part.
Tyler Martin
Thanks !
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So, on point (1), you would have your grippers aligned with the pocket 1 and 3. Then you can program point (2) and the grippers would be aligned with pocket 2 and 4... etc.
Only a suggestion. What is your actual center distance between your pockets?
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The centre distance will probably actually work out because it's 10 3/4" centre op pocket 1 to pocket 4. So I could just set 3 points per row, and set up 5 rows.
Tyler Martin
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Tyler Martin
Center to center = 10.5"
Would that work?
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I personally generates 3 TCP.
TCP_Center( Middle two grippers)
TCP_A (Gripper A)
TCP_B (Gripper B )
After use 1 Gripper (ex.TCP_A) to generate a Pallet_1
Example cycle program
1. Select TCP_Center
2. MOVE to take two parts with 2 grippers.
3. Select TCP_A
4. Function Pallet_1
5. Select TCP_B
6. Repeat Function Pallet_1
It is very easy to create only one Pallet and change the TCP.
Hope this can help you.
Vicosystems S.L.L.
Industrial Collaborative Systems
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Basically the same idea that @Enric mentioned above. Instead of switching TCP's you're creating two pallets.
Both options will work!
Gripper 1: Green pallet
Gripper 2: Red pallet
Good idea @Kaleb_Rodes.
Remember create the Pallet_RED inside "After_End" option Pallet_GREEN.
I think this option is better, more times some customers don,t understand work with differents TCP.
Vicosystems S.L.L.
Industrial Collaborative Systems
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I still need to understand what code to use to make this all happen. This is hard when the robot is in production and rarely has downtime.
Tyler Martin