GANTRY CARTESIAN ROBOT FROM 3 TO 6 AXES
I robot cartesiani serie CP possono essere forniti in 4 taglie:
- Light size with a payload of 10 kg at the wrist
- Medium size, with a payload of 40 kg at the wrist
- Heavy size, with a payload of 80 kg at the wrist
- Heavy size 3/4 axes for palletizing payload up to 180Kg
The gantry cartesian robots can be supplied in the following configurations:
- Basic supply of axes only, no motors, no sensors and no electrical system
- Supply as in point 1 plus support frame
- Supply as in point 1 plus electric panel with PLC (Siemens, Omron or Mitsubishi) or CNC, HMI touch screen 7" color, motors and drives, sensors
- Supply as in point 3 more control and command software
The axes can be positioned independently or can be interpolated (linearly or circularly with particular curves). The complex interpolation shapes are obtained with the use of axes control boards.
The gantry cartesian robot CP series is sketched in figure beside. The machine can be supplied with the 3 cartesian axes and any combination of rotation axes. It is possible to use the robot as in the figure, or 90° rotated, in order to have the Y axis vertical and the Z axis horizontal. The rotations U, W, and J may be controlled by servo motors or, if you have only two positions, it is possible to use pneumatic actuators.
For particularly long strokes of the Z axis, the Z axis may be telescopic, in order to reduce the overall dimensions vertical. For short strokes Y-axis, Y <1000, 1200, 1500 (stroke 3 sizes for light, medium and heavy) the transmission of the X can be realized only on one of the two guides of the X axis For longer strokes, the transmission is made with a transmission for each of the two guides of the X axis (top of page).
Transmissions are made with low-backlash planetary gearboxes. The motors can be Panasonic or Danaher Motion.
CP series cartesian coordinate robots are available with timing belt drive or rack and pinion.
Models with timing belt drives can have the X axis motor "on the ground" as shown in figure beside,
or with the motor on board the carriage moving along the X axis.
The position feedback is obtained by the resolver or encoder of the motor. For applications in which high accuracy is required in the repetition of the positioning, the position feedback can be achieved with optical scales.
The robot can also be supplied with induction motors and inverters, in applications with low performance and reduced positioning accuracy.
GANTRY PALLETIZING ROBOT
The palletizer that uses a Cartesian robot course, is able to realize also square-shaped islands, where the pallet places can be arranged as desired.
The gantry robot palletizer presents the vertical axis protruding from the frame.
The standard model can palletize 3 to 7 pallet positions.
A pallet positions can be used for pallet storage and another for the interleaf.
In versions with heights greater than 1800mm palletizing, the vertical axis can be telescopic, to reduce the vertical dimension.
The main features are:
- Cartesian gantry robot with 3 or 4 axes.
- Max palletizing height up to 2400mm.
- Rotation of the gripper: pneumatic (0-90) or 0-360 ° with a servo motor.
- Productivity up 10 cycle per minute (on single pallet position).
- Telescopic vertical axis, for palletising heights above 1800mm.
- PLC Siemens S7-300.
- Color operator panel, touch screen 5,7 ".
- Servo motors connected to the PLC with Profibus (Siemens PLC only).
- The linear displacements are made with recirculating ball-bearing linear guides.
- Max lifting weight 60, 100, 180Kg (60Kg with telescopic vertical axis and stroke > 2000mm).
- Maximum palletising height of 2400mm.
- Perimeter protection in steel mesh, powder coating.
The side drawing depicts an example of application with 5 pallet positions, pallets warehouse and interleaves warehouse. The application provides for three conveyor lines from as many packers.
The drawing alongside shows an example of 3-palletizing positions, a warehouses for pallets and one for interleaves. The lay-out of the palletizing island is compact: the length is close to the width. Click image to enlarge.
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