LMI Automation

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Product Unstack And Process Load Robot

Process Requirements:

Tube assemblies will be staged for processing from a previous process. The tubes will be delivered on a transport tray, 10 tubes per tray. The tray has retention features that hold each tube in the tray nests. The tubes must be removed from the tray and placed on the process infeed conveyor. The transport tray must be restacked.


A Denso VS-6556C-A 6 Axis robot was specified to perform all the product manipulation. An indexing conveyor will be used to bring the staged trays to the robot pick area. The tubes will be unseated from the tray by inserting stripper fingers inside of the tubes and lifting the tubes from the tray. The tray will be held in position by the robot while the tubes are stripped. The unseated tubes will be slid from the fingers and moved to the process line infeed conveyor. The empty tray will be removed from the unseating table and stacked on an indexing outfeed conveyor.


Rate: 60 parts / minute.

Product Delivery:

Tubes on transport trays are staged on an indexing infeed conveyor.
Tubes are removed from the trays and placed on the process V nest of the infeed conveyor.
The unloaded trays are stacked on an indexing outfeed conveyor.

Process Controller:

VS-6556G/RC7M Denso Robot, 6 Axis, 650mm Reach.
Allen-Bradley CompactLogix L43 Series Processor.


Laser displacement sensor that validates the tube in tray height and orientation at the end of the indexing infeed conveyor.
Laser sensor to detect that the unseating fingers are clear.
Laser sensor to detect that the infeed conveyor is clear to place tubes.
Laser displacement sensor that monitors the height of the unloaded trays that are stacked on the outfeed conveyor.
Laser sensor to detect that the outfeed conveyor is not full.

Utilities Required:>

Electrical: 480v, 3 phase, 30 amp disconnect
Air: Minimum 90 psi.

LMI Automation is eager to build a custom machine to your specifications.