I’m after some thoughts and ideas mostly about running a UR10e upside down on a Vention 2.2m linear rail.
We’ve an application to work on panels up to 3m wide. With the UR10e upside down, mounted on the Vention which is ~900mm above the table, It allows us to reach the four corners.
Initial thoughts were to have the arm extended away from base joint as we obviously cannot work directly under due to singularities.
However, we need the robot to work in a straight line in the Y+ direction and when the tool comes to the middle of the table, directly beneath the Vention rail, the elbow will either collide with the table or the rail, depending if we configure with elbow up or elbow down.
We could move the Vention position further away when near to the middle and back again, but it then requires a lot more manual waypoint programming. If the Vention axis was synchronised, maybe it would move itself to maintain the tool moving in a straight line. I’m currently looking to see if this is possible via RoboDK.
I the thought, if we mount the robot on a 45 degree bracket onto the Vention robot base, it would allow us to work beneath. Reaching in one direction is great and there’s plenty of clearance, but coming back the other way, the elbow is even closer to the table due to J2 now being lower than it previously was.
I’m struggling to see how this would work without either:
- Synchronised 7th axis to maintain TCP and keep the arm stretched out long enough to prevent collision
- Larger robot mounted higher up, but the additional cost would be a problem
- A nearly vertical mounted piece facing the robot mounted on a pedestal (my personal option at this moment and the vertical stand could be an “A” frame that rotates, allows a loading/unloading whilst the robot is working)
Before I go building an A frame, I could really do with some other ideas to get this working. I’ve seen UR’s mounted inversely before, never done it myself so maybe there’s insights from others that would benefit me here?