| 摘要 |
PURPOSE:To generate a free carrying motion by using a teaching box so as to move each axis of an automatic palletizer to a proper position sequentially and applying teaching playback to the position data as a position data of a preset pattern. CONSTITUTION:Each axis of the automatic palletizer is moved sequentially to a proper position by the teaching box 110, its position data is read at the arrival of each moving position and the position data are subject to teaching playback is position data of a preset pattern. Thus, a free carrying motion is generated simply depending of the shape of panel, size and the loading system to a pallet. Moreover, two sets of panel loaders are used and a circular-arc interpolation movement is adopted for the corner in the carrying motion to load the panel at a speed corresponding to the press highest specification speed.
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