Robot Palletizer

ROBOT PALLETIZER  
|  ROBOT PACKAGING

▣ PRODUCT VIDEOS

MANIPULATOR SPECIFICATIONS
ITEMS SPECIFICATIONS
Model MOTOMAN-MPL160Ⅱ
Type *1 YR-MPL0160-J00
Motion control 4 (Vertically articulated)
Payload 160 kg
Repeatability *2 ± 0.5mm
Range of Motion S-axis (turnig) -180˚ ~ +180˚
L-axis (lower arm) -45˚ ~ +90˚
U-axis (upper arm) -120˚ ~ +15.5˚
T-axis (wrist arm) -360˚ ~ +360˚
Allowable Inertia(GD24) T-axis (wrist arm) 80 kg·m2
Approximately Mass 1700 kg
Ambient Conditions Temperature 0℃ to +45℃
Humidity 20 ~ 80 %RH(non-condensing)
Vibration 4.9 m/s2 or less
Others
  • Free from corrosive gasses or liquids or explosive gasses
  • Free from exposure to water, oil or dust
  • Free from excessive eletrical noise(plasma)
Power Requirements *3 9.5 kVA

*1 : Models using food-grade lubricant for food machinery are also abaiable as options. Models using food-grade lubricant for food machinery have speed limits.
*2 : Conforms to ISO 9283
*3 : Varies in accordance with applications and motion patterns.
Note : SI units are used for specifications.

▶ FEATURES

  • M-410iC is an intelligent palletizing robot which contributes for robotization of palletizing system.
  • Suitable robot models can be selected according with the work pieces.
  • M-41OiC/ll0 has a compact body and high throughput.
  • M-41OiC/185, 1315 and 1500 support two types of base (Pedestal type base / Compact base)
  • M-41OiC/185, 1315 and 1500 have the hollow wrist that enables easy wiring to a gripper
  • Advanæd intelligent functions are available as an option, such as iRVision (integrated vision).

SPECIFICATIONS
ITEMS M-410iC / 185 M-410iC / 315
Type Ariculated Type
Controlled axes 4 axex(J1, J2, J3, J4)
Reach 3143mm
Installation Floor
Motion range
(Maximum speed)
(Note 1)		 J1 axis rotation 360˚(140˚/s) / 6.25 rad(2.44 rad/s) 360˚(90˚/s) / 6.28 rad(1.57 rad/s)
J2 axis rotation 144˚(140˚/s) / 2.51 rad(2.44 rad/s) 144˚(100˚/s) / 2.51 rad(1.75 rad/s)
J3 axis rotation 136˚(140˚/s) / 2.37 rad(2.44 rad/s) 136˚(100˚/s) / 2.37 rad(1.92 rad/s)
J4 axis wrist rotation 720˚(305˚/s) / 12.57 rad(5.32 rad/s) 720˚(195˚/s) / 12.57 rad(3.40 rad/s)
Max. load capacity at wrist 185 kg 315 kg
Max. load capacity at J2 base 550 kg
Max. load capacity at J3 arm (Note 2) 30 kg
Allowable load inertia at wrist 88 kg·㎡ / 989 kgf·㎝·s2ㄹ 155 kg·㎡ / 1580 kgf·㎝·s2ㄹ
Drive method Electric servo drive by AC servo motor
Repeatability (Note 3) ± 0.05mm
Mass Pedestal type 1600 kg (Note 4)
no pedestal 1330 kg (Note 5)
Installation environment Ambient temperature : 0 to 45℃
Ambient humidity : Normally 75%RH or less(No dew, nor frost allowed) / Short term Max 95%RH or less(within one month)
Vibration acceleration : 4.9 m/s2(0.5G) or less

Note 1 : During short distance motions, the axis speed may not reach the maximun value stated.
Note 2 : Max. payload capacity at wrist are changed by wrist load.
Note 3 : Compliant with ISO 9283.
Note 5 : Controller mass(120kg) is not included.

▶ FEATURES

  • Weight reduction of the mechanical unit and ∞mpact robot
  • The rigid yet lightweight arm and the advanæd motion control technology achieve significantly improved motion performance, allowing for higher productivily.
  • Extensive options are available for various processes, including the spot welding solution arm.
  • The R-30iB/R-30iB Plus robot controller provides energy and floor space savings with its energy regeneration option and compact cabinet.
  • Available with the various intelligent features such as the Learning Robot, Bin Picking, Force Sensing and Visual Line Tracking.

SPECIFICATIONS
ITEMS R-2000iC / 210F R-2000iC / 165F R-2000iC / 125L
Type Ariculated Type
Controlled axes 6 axex(J1, J2, J3, J4, J5, J6)
Reach 2655mm 3100mm
Installation Floor
Motion range
(Maximum speed)
(Note 1)		 J1 axis rotation 370˚(120˚/s) / 6.46 rad(2.09 rad/s) 370˚(130˚/s) / 6.46 rad(2.27 rad/s)
J2 axis rotation 136˚(105˚/s) / 2.37 rad(1.83 rad/s) 136˚(115˚/s) / 2.37 rad(2.01 rad/s)
J3 axis rotation 312˚(110˚/s) / 5.45 rad(1.92 rad/s) 312˚(125˚/s) / 5.45 rad(2.18 rad/s) 301˚(125˚/s) / 5.25 rad(2.18 rad/s)
J4 axis wrist rotation 720˚(140˚/s) / 12.57 rad(2.44 rad/s) 720˚(180˚/s) / 12.57 rad(3.14 rad/s)
J5 axis wrist swing 720˚(140˚/s) / 4.36 rad(2.44 rad/s) 250˚(180˚/s) / 4.36 rad(3.14 rad/s)
J6 axis wrist rotation 720˚(220˚/s) / 12.57 rad(2.44 rad/s) 720˚(260˚/s) / 12.57 rad(4.54 rad/s)
Max. load capacity at wrist 210 kg 165 kg 125 kg
Max. load capacity at J2 base 550 kg 550 kg 550 kg
Max. load capacity on J3 arm 25 kg (A) (A)+(B) ≦ 50kg 25 kg (A) (A)+(B) ≦ 50kg 25 kg (A) (A)+(B) ≦ 40kg
Max. load capacity on J3 casing 50 kg (A) 50 kg (A) 40 kg (A)
Allowable load moment at wrist J4 axis 1360 N·m / 139 kgf·m 940 N·m / 96 kgf·m 710 N·m / 72 kgf·m
J5 axis 1360 N·m / 139 kgf·m 940 N·m / 96 kgf·m 710 N·m / 72 kgf·m
J6 axis 735 N·m / 75 kgf·m 490 N·m / 50 kgf·m 355 N·m / 36 kgf·m
Allowable load inertia at wrist J4 axis 147 kg·㎡ / 1500 kgf·㎝·s2 89 kg·㎡ / 908 kgf·㎝·s2 72 kg·㎡ / 735 kgf·㎝·s2
J5 axis 147 kg·㎡ / 1500 kgf·㎝·s2 89 kg·㎡ / 908 kgf·㎝·s2 72 kg·㎡ / 735 kgf·㎝·s2
J6 axis 82 kg·㎡ / 837 kgf·㎝·s2 46 kg·㎡ / 469 kgf·㎝·s2 40 kg·㎡ / 408 kgf·㎝·s2
Drive method Electric servo drive by AC servo motor
Repeatability (Note 2) ± 0.05mm
Mess (Note 3) 1090 kg 1090 kg 1115 kg
Installation environment Ambient temperature : 0 to 45℃
Ambient humidity : Normally 75%RH or less(No dew, nor frost allowed) / Short term Max 95%RH or less(within one month)
Vibration acceleration : 4.9 m/s2(0.5G) or less

Note 1 : During short distance motions, the axis speed may not reach the maximun value stated.
Note 2 : Compliant with ISO 9283.
Note 3 : Without controller.

FOUR-AXIS INDUSTRIAL ROBOT

▣ PRODUCT VIDEOS

▶ FEATURES

  • Excellent speed and transportable weight maximizes performance
  • The arm is long enough to perform large-size palletizing works
  • Double pneumatic hoses, power cables and field bus cables are inslalled inside the upper and lower arms
  • IP67 class unit that can mainlain stable operating performan∞ in poor working conditions

PERFORMANCE
Position repeatability 0.1 mm
Path repeatability 0.3 mm
Axis monements Workign range IRB 660
Axis 1 Rotation +180˚to -180˚ option +220˚ to -220˚
Axis 2 Arm +180˚to -42˚
Axis 3 Arm +120˚to -20˚
Axis 6 Arm +330˚to -300˚Default
+150˚rev. to -150˚rev. Max.

SPECIFICATIONS
Robot versions IRB Handling capacity Reach
660-180 / 3.15 180 kg 3.15 mm
660-250 / 3.15 250 kg 3.15 mm
Number of axis 4 -
Protection class IP 67 -
Mounting Floor mounted -
IRC5 controller variants Single cabinet, Dual cabinet -

SPECIFICATIONS
Model Axis Driving Effective Operating Radius Vertically Occpying Radius Max. Operating Speed(deg/s) Max. Transportable Weight Position Control Accuracy Level Position Identification Method
J1 Rotation J2 Arm J3 J4 Wrist Turn
IRB 660 4 Axis AC Servo 3150 mm 2900 mm 130 130 130 300 180 kg ± 0.5mm Resolver

▣ CONFIGURATION AND APPLICATION CASES OF PALLETIZING SYSTEM

With a simple and fast pattern generation program, it can optimize production lines and be applicable to various palletizing patterns.

▲ PAPER BOX PALLETIZING SYSTEM

▲ CAN PALLETIZING SYSTEM

▲ PET BOTTLE AND 5 GALLON CAN PALLETIZING SYSTEM

▲ BURLAP AND PAPER BAG PALLETIZING SYSTEM

▣ VARIOUS TYPES OF ROBOT HANDLE FOR VARIED PALLETIZING

▶ STANDARD HANDLES

S type(for paper box

C type(for paper box)

KP type(for both paper box and plastic case

F type(for both paper box and plastic case

DA type(for paper box

F type (for bags

▶ SPECIAL HANDLES

For 18 liter can

For poly cases

For paper bags

For building materials

For poly cases

For poly cases

For paper case

For carton case

For empty box

For steel case