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MOBILE ROBOT YMR12 - YASKAWA Europe · Safety of a person around the mobile robot is secured by...
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Transcript of MOBILE ROBOT YMR12 - YASKAWA Europe · Safety of a person around the mobile robot is secured by...
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applications, i.e. for logistic applications in machine tending, material handling, multiple stations logistics, assembling, etc. System can communicate with other machines via wireless direct connection to a master system (PLC).
Industrial Robot YASKAWA MOTOMAN MH12F:With its six degress of freedom the industrial robot YASKAWA MOTOMAN MH12F offers a flexible solution for handling, machine tending or assembly of various product types and in combination with an electric multi-purpose gripper and vision system mounted on the robot arm the user is given a flexibility to locate an exact position of the workpiece, grip it and process it further on.
Mobile Platform OTTO:Mobile platform OTTO 1500 is powered by OTTO Motors and uses a SLAM algorithm for path planning and navigation. It is fully auto-nomous vehicle that is able to localize itself within pre-defined area. In case of any obstacles occurrence, OTTO is able to find an alter-native path and reach its goal.
Safety Features:Safety of a person around the mobile robot is secured by safety-rated LiDAR sensors, two for the mobile platform itself for its posi-tioning within the area and obstacle detection and two additional ones for the robot arm for safe working area around the robot.
The combination of a MOTOMAN robot and a mobile platform OTTO offers a handling solution in wider range and allows user to perform multiple handling operations or logistics tasks within large area or various work stations. System is suitable for shop floor
Demonstration for Industry 4.0
MOBILE ROBOT YMR12
Technical Specification
Max. speed of a mobile platform 2 m/s
Used path planning method SLAM
Battery type Lithium-ion
Battery life time 3 – 5 years, expected charges 2000
Battery operation time of the platform
6 hrs at max payload, 1 min charging to get 5 min operation
Weight of total system 980 kg
Input voltage requirement for a charging station 480 V or 600 V
Positioning accuracy of the mobile platform ± 25 mm
Max. slope 5 % / 3°
Operating temperature 0° – 40° C
Wifi 802.11 – 2.4/5.0 GHz
Mobile platform accessories Docking triangle, auto-charger, manual charger, manual drive pendant (optional)
Robot type MH12F
DOF 6
Rated payload 12 kg
Rated reach 1440 mm
Moment of inertia R-axis 0.65 kg* m2
Moment of inertia B-axis 0.65 kg* m2
Moment of inertia T-axis 0.17 kg* m2
Humidity range 20 – 80 %
Safety features2xfront, 2xrear safety-rated LiDAR sensors, perceptive 360°, LED lighting, 4 emergency stop buttons
Additional Accessories
Gripper specification
Gripper type Robotiq 2-Finger-85 electric multi-purpose gripper
Gripper opening 0 – 85 mm
Object diameter for encompassing grip 43 – 85 mm
Gripper weight with mechanical coupling 900 g
Maximum recommended payload 5 kg
Grip force* 5 – 220 N
Closing speed 20 – 150 mm/s
Parallel grip repeatability 0.05 mm
Vision system
Camera type YASKAWA MS100 / MS200 / MS300
LensesSelection of MotoSight2D lenses: 4.8 mm, 9 mm, 12.5 mm, 16 mm, 25 mm, 35 mm
Software MotoSight2D
Light LED-ring lighting ”Smart Vision Lights“
* ±10 %, varies with speed and force parameters
Key benefits• Mobile platform with autonomous path planning function• YASKAWA robot MH12F with 5 kg payload of gripper• YASKAWA MS300 camera mounted on the robot arm
with SW interface for object recognition for handling and a platform position confirmation
• Kinetiq gripper with 2 fingers for various gripping methods• Multiple working stations can be used• Multiple tasks can be defined in the mission• Multiple vehicles YMR12 can be used in the application
simultaneously• 4 LiDAR SICK safety-rated sensors (2 for the platform,
2 for the robot safety zones)
suitable applications• Machine tending• Logistics on multiple workplaces• Assembly • Material transport
moBiLe roBot Ymr12
Technical data may be subject to changewithout previous notice
1805
2247
1841
658
1186
Warehouse ManageMent systeM
Factory PLcnIMBus PLcnIMBusFleet Manager
station 1 station 2 station 3robot 1 robot 2 robot 3
moBiLe roBot Ymr12
All dimensions in mmTechnical data may be subject to changewithout previous notice
Mounting options: Floor, wall, ceiling
Protection class: IP54/67
199 94.5
198.5
45
R410170°
170°
R1440
2613
4 x M6, depth 14
Ø 5
0
5
Ø 6
2
56
22.5
8 x M4,depth 8
Ø 4, depth 6
128
128
1734
299
361
450
614
200
100 155 640 100
84
705
777
2511
0
410
144020
6
1129 0
900155°
848
606
Working range Point P
P
B
C
A
B
S
T
R
L
U
2 x Air
Internal user wiring connectorMedia connector
2 x 16 Ø12 Ø
60
102
153±
0.113
2±0.1
60
260
240 132±0.1
300
260
292
300
100±0.1 102±0.1
153±0.1
130±
0.1
4 x 18 Ø
Please notewall mounting option:+/– 30° S-axis limit
Please note ceiling mounting option:Depends on B-axis position
motomaNmh12f
moBiLe roBot Ymr12
All dimensions in mmTechnical data may be subject to changewithout previous notice
Camera & Software motoSight2DYASKAWA Vision System
aDaPtiVe griPPer2-FINGER 85
Technical data YASKAWA Cameras
Model Resolution Processor Speed
Frame/ Second Vision Tools
MS100 800 x 600 1 x Base model 102
Limited Tool Set Pattern, Edge, Blob, Circle, Curve, Histogram, Geometry, Image Filters, Standard Calibration (9-Points)
MS200 800 x 600 3 x Base model 102
Full Tool Set Pattern, Edge, Blob, Circle, Curve, Histogram, Geometry, Image Filters, Standard Calibration (9-Points) PatMax (Geometric pattern matching technology), Advanced Calibration (non-linear calibration), and caliper tool, OCR, OCV; 2D Matrix and Barcode reading
MS300 1280 x 1024 6 x Base model 60
High Resolution & Full Tool Set Pattern, Edge, Blob, Circle, Curve, Histogram, Geometry, Image Filters, Standard Calibration (9-Points) PatMax (Geometric pattern matching technology), Advanced Calibration (non-linear calibration), and caliper tool, OCR, OCV; 2D Matrix and Barcode reading
Encompassing grip Parallel grip
22[0.9]
98[3.9]
85[3.3]
Working range
149[5.9]
Ø 75[3.0]
Units: mm[ in.]
moBiLe roBot Ymr12
Please request detailed drawings at [email protected] – Mobile Robot YMR12, A-06-2016, A-No. 180785
YASKAWA HeadquartersYASKAWA Europe GmbHRobotics Division Yaskawastraße 1D-85391 AllershausenTel. +49 (0) 8166/90-0Fax +49 (0) 8166/90-103
YASKAWA ACADEMY and sales office FrankfurtYASKAWA Europe GmbHRobotics Division Hauptstraße 185D-65760 EschbornTel. +49 (0) 6196/77725-0Fax +49 (0) 6196/77725-39
yasKaWa GRoupA YASKAWA Austria
Schwechat/Wien +43(0)1-707-9324-15
CZ YASKAWA Czech s.r.o.Rudná u Prahy +420-257-941-718
E YASKAWA Ibérica, S.L.Gavà/Barcelona +34-93-6303478
F YASKAWA France SARL Saint-Aignan-de-Grand-Lieu +33-2-40131919
FIN YASKAWA Finland OyTurku +358-(0)-403000600
GB YASKAWA UK Ltd.Banbury +44-1295-272755
I YASKAWA Italia s.r.l.Torino +39-011-9005833
IL YASKAWA Europe Technology Ltd.Rosh Ha’ayin +972-3-9004114
NL YASKAWA Benelux B.V. Son +31-40-2895500
PL YASKAWA Polska Sp. z o.o.Wrocław +48-71-7928670
RUS YASKAWA Nordic ABMoskva +46-480-417-800
SE YASKAWA Nordic ABTorsås +46-480-417-800
SI YASKAWA SloveniaRibnica +386-1-8372-410
TR YASKAWA Turkey Elektrik Ticaret Ltd. Sti.İstanbul +90-216-5273450
ZA YASKAWA Southern Africa (PTY) LtdJohannesburg +27-11-6083182
DistRibutoRsBG Kammarton Bulgaria Ltd.
Sofia +359-02-926-6060
CH Messer Eutectic Castolin Switzerland S.A.Dällikon +41-44-847-17-17
DK Robotcenter DanmarkLøsning +45 7022 2477
EE RKR Seadmed OÜ Tallinn/Estonia +372-68-35-235
GR Gizelis Robotics Nea Kifissia +30-2106251455
H Flexman Robotics KftBudapest +36-30-9510065
LT Profibus UABPanevezys +370-45-518575
N Skala Robotech AS Lierstranda +47-32240600
PT ROBOPLAN LdaAveiro +351-234 943 900
RO Sam Robotics srlTimisoara +40-720-279-866
RO MPL Automation S.R.L.Satu Mare +40 (0) 261 750 741