Rotate Up/Down Tooling

The purpose of the station is to manipulate parts out of a pallet by picking them up, rotating 180 degrees and placing them back in. This requires the rotate actuators to be vertically actuated as well to complete the operation. The main challenges were physical restraints, cycle times, and cable pass-through constraints. External sensing was used for the gripper opening to reduce cables on moving tooling. Rotating fittings were utilized for the pass-through pneumatic air lines (through the stainless steel shafts). Double bearings were used to maintain accuracy and tolerance stack-ups were completed to ensure that the picking and placing accuracy is maintained to avoid failed picks and tooling crashes with parts or pallets.