Technical parameters:
Machine model: DEPL1500
Stacking capacity: 200-500 times/hour
Frame: SS41 (A3 steel spray treatment) shaft S45C bearing steel
Dynamic power: AC, 3 phase, 380V, 9KW 50HZ
Air consumption: 500NL/MIN (air consumption: 5-6kg/cm2)
Equipment size :(L)3500mm (W)2250mm (H)2800mm (subject to the actual site layout design)
Equipment weight: 1500kg

Robot composition:
The robot is composed of mounting frame, robot positioning system, servo drive system, control system, electric control and distribution system, safety protection device, and supporting automatic feeding positioning system.
(optional automatic stack supply system, real stack delivery system)
1. Robot mounting frame
Because the movement speed of the robot stacker is very fast, the starting and stopping state has a great impact on the mounting frame.
The mounting frame must be very rigid to ensure the stability of robot operation. Therefore, we designed a welded steel frame structure as the support frame.
2. Robot positioning system
The robot positioning system is the core of the whole equipment, which is produced by yaskawa company in Japan. It moves fast and has high repetitive accuracy. The X,Y and Z coordinates are all selected to be driven by synchronous toothed belt.
The X-axis is a positioning system with a single length of 3000mm and a span of 1935mm. The two positioning systems are synchronized by a synchronous transmitter and driven by a 1500W servo motor.
For driving torque and inertia match, equipped with high precision planetary gear reducer.
The Y-axis USES a dual-positioning system. The reason why the positioning unit with such a large section is selected is mainly because the Y-axis is a double-end support structure with a suspended structure in the middle. If the selected section is not enough, the stability of the motion of the robot cannot be guaranteed, and the robot will vibrate when moving at a high speed.
The two positioning units are used side by side, and the z-axis is clamped in the middle, which can balance the load well. This installation method has very good stability.
The two positioning systems are driven by a 1000W servo motor and equipped with a high-precision planetary gear reducer to match the driving torque and inertia.
Z axis positioning system is firm and stable.
The product is usually fixed with the slider and moves up and down as a whole.
Because the servo motor needs to lift the object quickly, it needs to overcome large gravity and acceleration force, and needs large power.
In practical application, we choose a 2000W servo motor with locking brake, equipped with high-precision planetary gear reducer.
 
A is the axis of rotation.
3. Servo drive system
Servo motor with digital function is selected for the stacking robot.
Each motion axis is equipped with a servo motor and a reducer, four motion axes, a total of servo motors and four reducers, of which the vertical motion axis is a servo motor with a brake.
4. Machine gripper
The manipulator selection of Japanese pneumatic manipulator, pressure adjustable, equipped with a pressure buffer valve, so that the grasping movement is stable grasp equipped with an induction mechanism, can automatically perceive the object, and inform the control center to grasp the object.

5. Control system
The control system is composed of large PLC and touch screen.
The system has powerful programming functions.
Suitable for different models stacking.
The system can preset a variety of work piece procedures, replacement of varieties can be called on the touch screen corresponding procedures.
6. Safety protection device
This machine has the function of fault prompt and alarm, and every time there is a fault can accurately reflect the specific location of the fault, facilitate the rapid troubleshooting, including: robot collision protection function;
Work piece installation in place detection;
Light curtain safety protection.