ZYMD-1500 palletizing machine (coordinate robot code

Robot composition:

The robot consists of an installation frame, a robot positioning system, a servo drive system, a control system, an electrical control and distribution system, a safety protection device, etc., and is equipped with an automatic feeding positioning system. (Optional automatic stack supply system, real stack conveying system)

1. Robot installation rack
Because the movement speed of the robot palletizer is very fast, the start stop state has a significant impact on the installation frame. The installation frame must have very good rigidity to ensure the stable operation of the robot. Therefore, we have designed a welded steel frame structure as the support frame.

2. Robot positioning system
The robot positioning system is the core of the entire equipment, which is a product of Yaskawa Corporation in Japan. It has fast motion speed and high repeatability accuracy. The X, Y, and Z coordinates are all selected as synchronous toothed belt drives, with a single coordinate repeatability accuracy of 0.1mm and a fast linear motion speed of 1000mm/s. The X-axis is a positioning system with a single length of 3000mm and a span of 1935mm. The synchronization of the two positioning systems is ensured by a synchronous transmitter and driven by a 1500W servo motor. Equipped with a high-precision planetary gear reducer for matching driving torque and inertia.

The Y-axis adopts a dual positioning system. The reason for choosing such a large cross-sectional positioning unit is mainly because the Y-axis is a double end support with a suspended structure in the middle. If the selected cross-section is not enough, the smoothness of the robot's motion cannot be guaranteed, and the robot will vibrate during high-speed motion. Two positioning units are used side by side, sandwiching the Z-axis in the middle, which can balance the load well. This installation method has very good stability. Two positioning systems are driven by a 1000W servo motor, equipped with a high-precision planetary gear reducer for matching driving torque and inertia.

The Z-axis positioning system is firm and stable. This product generally has a fixed slider and moves up and down as a whole. This servo motor needs to overcome significant gravity and acceleration forces to quickly lift objects, requiring a large amount of power. In practical applications, we chose a 2000W servo motor with a brake, equipped with a high-precision planetary gear reducer.

The A-axis is the axis of rotation.

3. Servo drive system
The palletizing robot uses servo motors with digital functions. Each motion axis is equipped with a servo motor and a reducer. There are four motion axes, with a total of servo motors and four reducers. The vertical motion axis is equipped with a brake servo motor.

4. Machine gripper
This robotic arm uses a Japanese pneumatic manipulator with adjustable pressure and equipped with a pressure buffer valve to ensure smooth grasping action. The gripper is equipped with an induction mechanism that can automatically sense objects and notify the control center to grasp and release them.

5. Control system
The control system consists of a large PLC and a touch screen. This system has powerful programming capabilities. Adapt to palletizing different models. The system can preset programs for multiple workpieces, and when changing varieties, the corresponding programs can be called on the touch screen.

6. Safety protection device
The machine has fault prompt and alarm functions, and can accurately reflect the specific location of the fault every time it occurs, making it easy to quickly troubleshoot. It mainly includes: robot collision protection function; Inspection of workpiece installation in place; Light curtain security protection.

Technical Specifications:

Machine model ZYMD-1500
Stacking capacity 200-500 boxes/hour

Rack SS41 (A3 steel spray treatment) shaft S45C bearing steel
Power electric AC, 3-phase, 380V, 9KW 50HZ
Air consumption 500NL/MIN (air usage: 5-6kg/cm2)
Equipment size (L) 3500mm × (W) 2250mm × (H) 2800mm (subject to actual on-site layout design)
Equipment weight 1500kg