Expectations

Our clients' expectations were high on this project. We were required to package one pair of parts every 50 Seconds. What we needed to pack was very different depending on the part running, and the variability of the packaging was very challenging. The HAIC team was instrumental in making this happen.

Vision

Our EOA vision system was required to achieve two things.
1) Finding parts for picking required a calibration process that shared the coordinates with the UR and allowed the UR to pick accurately.
2) To find the orientation/location of packaging so we could calculate the load positions after fork trucks placed new skids for packing.

UR10 E

Working with an inverted robot is not easy. We utilized the UR10e to make its way around this very small area to basically be able to pack from the floor to approximately 4 ft. off the floor.

Safety system

The client requested that parts be inspected on a set schedule. That means we needed to allow the UR and the operator to work together. We achieved this by creating 2 zones. This allowed packing to continue while the operator was in close proximity to do an inspection. This system used 4 light curtains to create these zones. We also installed a floor scanner at the top of the z-axis to ensure no collations can occur with an overhead crane. Our system would automatically lower itself into a safe position if our warnings were not heard.

PLC and Programming

Much thought was put into this programming solution. We considered the clients' inexperience in programming a UR and the difficulty it takes to teach a UR and a gantry ( 9 Axis/position). We created a solution that is a one-touch teach.  This drastically reduced the amount of effort when teaching points. 

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