How to Integrate a UR20 with weight balancer

General Application Help: How do I?
1

Hello All,

I am working on an palletizing enquiry where the cobot has to palletize 25kg bag upto 11th layer the max height of the bag is 230mm (i.e) overall height will be nearly 2.8m.

If I am suggesting UR30 for this application, I am facing the reach issue since the pallet widhth is 1100 and the min gap between the pedestal to pallet is to be maintained by 300mm.
If I am going for UR20 the payload will be stopping factor.

So i searched online and found a balancer which can be integrated to UR cobot to increse the payload of the cobot upto 60kg.

I need whether this can be done? and also I need to use 7th axis to move the cobot for reaching the top layer.

Whether all this can correlate with each other The cobot, The 7th axis and the balancer?

2

Balancers etc can be difficult to implement, and even more so with UR robots. UR robots need to know their payload to a fairly accurate degree.
This is difficult with balancers, and you will risk running into many protective stops or putting unwanted wear on the robot.

If you’re going to use a 7th axis anyways, then it should be possible to reach with a UR30, shouldn’t it? If you can find a 7th axis that allows lowering the robot close to ground and raising it to almost the full height of the pallet.

What’s the desired cycle time of the setup?

3

The cycle is not a crictical here, what we are aachieving with the cobot will be defined as the cycle time for the process.

With UR 30 the horizontal reach to pick the far bag is limited in my case.

4

Hm, then I don’t have a good possible solution to it except for a balancer.

5

i had to integrate ur10e with balancer once, it was almost not possible since the balancer reduces payload affected by gravity, but not payload affected by inertia. Thus the robot doesnt have to lift 25kg but it still has to accelerate and decelerate it and this discrepancy causes tons of protectives. I was able to come to some compromise after all but with big ur20 and 25kg payload i would avoid such solution any way possible, its a recipe for disaster imo.

6

Hello,

I did an installation with a UR10e with a balancer (cobotlift), we handled bag of 25/30kg of flour, the cycle time was realy slow (40s per bag), but it was not too difficult to avoid protective stop. However we did not use a 7th axis, it will quit difficult to adjust the height with the balancer, but you can contact cobotlift they are specialist of that.