PRS used a simulation in RobotStudio to plot the whole thing out. This established a clear design, allowing the robot, stainless steel carts and pickpoint to functionally fit within the dimensions. The gripper is a so-called “Shuffle Tool. This type of gripper has a fork bed which is positioned between the rollers of the pickpoint. When the forks are under the product, a clamping plate is pressed onto the product from above. The difference between the highest and lowest product is included in the gripper’s construction. Also, the pressure force is easily adjustable so that snacks are not damaged, yet have sufficient clamping force so that they do not slide out of the gripper. Two carts can be inserted. The robot stacks the products at the pick point. The products are then positioned in front of the cart and pushed into the cart by a pneumatic cylinder. Thus, the tool never enters the carts; this benefits both operator and material safety.

Carts can be easily inserted and removed, no door needs to be opened to do so. The combination of two finger guarded light curtains ensures safety and allows system to run at high speed with “preformance level D”.   The cell is completely run from the robot controller. No additional PLC is required. The robot is equipped with “SafeMove,” and Collision Avoidance. Both systems control in parallel the position and direction of the robot including tools. This ensures the safety of operators and material. Collisions with/through the fencing are thus eliminated.

Robot gripper:
The gripper can handle the following products interchangeably:
– Boxes with dimensions from 225x150x60mm to 350x250x30mm.

Functions gripper:
– Shuffle
– Lock up product

Control gripper:
– Ethernet IP

Drawings:
– Onshape
– EPlan