Activity 3.1.2g Palletization and Storage



Activity 3.1.2g Palletization & StorageIntroductionA robot can work with a variety of storage devices such gravity feeders, pneumatic feeders, or racks. In this activity you will work with a parts feeder. You will get the parts from the feeder and palletize them on the table. Palletizing is the placement of parts in a uniform position, performed by pick-and-place robots.EquipmentComputer with RoboCell softwareJournalPencilProcedureSet up the cellOpen Cell Setup and start a new project. Save the file as A312g.Place a Table into the cell, 1000 x 1000.Place Robot ER4u into the cell.Place a Feeder into the cell.Open the Storage Folder and select the Feeder. The Feeder properties box should open.Place eight parts in the Feeder.Click on the Outputs tab.Left click and hold, then slide the Feeder information up to line 1 of the Output tab.Place the Feeder onto the Table.Double click on the Feeder and rotate it 90 degrees.Double click on the Feeder and position the feeder at (255,-200).Place a Cylinder onto the Feeder. (40mm x 40mm)Place Cylinder on the light grey square.Once the Cylinder is in place, double click on it and change the position to (255, -200).Display the cylinder in RoboCell. The cell in RoboCell initially does not display the Cylinder.Turn on the Digital Input and Digital Output Dialog Bars from the View<Dialog Bars drop down to view the active and inactive inputs and outputs. This will pop up at the bottom of the screen.To display the cylinder, the output associated with the cylinder (in this case output 1) must be turned on.The Cylinder will appear when output 1 is turned on. The following three lines should be inserted into the program to display the cylinder.ProgramExplanationTurn on output 1Wait 5 (tenths of a second)Turn off output 1Cylinder will appearWait 0.5 Second to allow output to be read and block to appear.Feeder will reset and wait for another call for partCreate the program according to the instructions below.Remove cylinder from the feeder and stack them on the table at the positions shown.Stack the eight objects two rows high with four objects in a layer.Use variable programming to stack the objects on the pallet (table).Fill in the chart below with the position coordinatesUse the Send Robot to Object command to direct the robot to pick up the Cylinder at Position #1. The symbol is shown below.Position #Absolute or RelativeXYZPRComments99Absolute ???-90 0Home - Recorded Position100????-90 | 00?1Absolute?255-200??42-900ATPICK - Taught Position11????-90 | 00?20????-90 | 00?21????-90 | 00?22????-90 | 00?23????-90 | 00?24????-90 | 00?25????-90 | 00?26????-90 | 00?27????-90 | 00?30????-90 | 00?31????-90 | 00?32????-90 | 00?33????-90 | 00?Robot Work Cell IllustrationTop ViewIsometric ViewConclusionExplain how the program could be made to be more efficient.How could this operation be applied elsewhere? ................
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