We deliver 2D and 3D laser measurement technology for robot systems for several applications. A typical application is the automatic position detection by unloading of workpieces from pallets or pallet cage with a industrial robot. Our systems are also used for quality check.
In general, a PLC or a robot controller is the superordinate control for the following applications. The communication between 3D evaluation-PC and PLC / robot controller takes place by using ProfiBus, ProfiNet, Ethernet TCP/IP, CAN-Bus, DeviceNet or RS232. The scan frequency amounts typically 330 Hz, at a angle resolution of 0,125°. Alternative scan frequency / angle resolution is 270 Hz at a angle resolution of 0,10 degrees.
Sample application: Depalletizing from a stack with robot
The objects to be depalletized can be round, oval or asymmetric. The height amounts 50 up to 150mm. The contour is taken from a CAD-file. This CAD-file contains further information from the object such as gripping points, gripping type, gripping parameter and gripping angles.
The workpieces are stacked up to 10 layers with a positioning-tolerance of ± 300 mm. Depending of contour a twist is possible. The scanner is located in front of the pallet on a linear track. After each withdrawal of a workpiece by the robot a scanning is executed.
Positional tolerance of the objects : +/- 300 mm
Twist of the objects : +/- 45 Grad
Accuracy X / Y / Z : +/- 2 mm
Speed linear track : 1000 mm/s
Period measurement cycle incl. eval. : 700 ms