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mertzgamertzga Posts: 16 Apprentice
edited September 2016 in Applications
I have a UR 10 equipped with a 85 gripper. A challenge I have ran into is currently we produce numerous parts that require hand stacking to prevent damage to critical features.  Currently, we stack them in a box about 27" by 28" by 13.5" deep. The issue becomes how to place the part accurately on the bottom of the box. Two issues arise, the first is interference of the wrist joints with the sides of the box and second using my current gripper I can't place them side by side. The parts are basically cylindrical with a hole thru the center. Some can be stood on end but most need to be laid on there side. Which seems to rule out gripping on the ID of the thru hole. How can I go about achieving this task?
 

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  • matthewd92matthewd92 Posts: 736Founding Pro, Tactile Sensor Beta Testers Handy
    @mertzga could you post some pictures of what the box looks like with the parts stacked in the box as you would like?
  • mertzgamertzga Posts: 16 Apprentice
    Here are two pictures. The one with just two in it are the actual parts I am working with. The other are components of my finished product but they depict how I need to stack my finished parts. Layered with cardboard between. I have been thinking about some type of vacuum gripping with extension to clear the box. I don't know much about payloads and whether I can pick on round parts:
  • SebastienSebastien Posts: 219 Handy
    edited September 2016
    @mertzga
    I think the guys have really good ideas with longer tooling and suction cup tool or electromagnetic tool if your part can be picked using this kind of tool.
    Concerning the program. I worked on this one below before (I added only the first part of it and this is not the final program as this is the one that I had in my UR Simulator before it was tested on the robot). I used a line pallet sequence to place a line of part across the a box. Then, once the first line has been placed I move on to the next one until the entire row of parts has been placed. This allows me to change robot tilting position as it is placing the lines across the box. So tilted in one direction for the first line and tilting all the way to the opposite position as it is moving across the box placing all the lines of parts. Also in the application I tilted the box a bit such that gravity would make parts stick to one another as I was stacking them. I had fewer parts then what you have so my program is a bit longer to do but it worked well.

    Program
       BeforeStart
         boxLineID≔1
       Robot Program
         MoveL
           Gripper Open
           HomePos
           ApproachPick
           PickPosition
           Gripper Close
           ApproachPick
           HomePos
           Approach2Box
         If boxLineID≟1
           Pallet
             Pattern: Line
               StartPos_1
               EndPos_1
             PalletSequence
               AppPos2Drop1
               dropPos1
               Gripper Open
               AppPos2Drop1
             AfterEnd
               boxLineID≔boxLineID+1
         MoveL
           Approach2Box
           HomePos


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