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Pick and Place Issue

Pioneer
Pioneer

Hi,

 

I am trying to do a small shop with 2 robots, 1 station and 4 conveyors.

The logic of the process is:

Robot(S01_R01) pick a load from feedConveyor -> then robot S01_R01 pick the load to Station 1 and process for 5 sec (the robot hold the part when at Station 1) -> then unload the part to Line 1 -> then robot S01_R02 pick the load from Line1 to Line2 -> when load reach the end of Line2, robot S01_R01 pick the load to DeliveryConveyor.

figure_1.PNG

 

I have 3 question through this process:

 

1. How can the robot(S01_R01) hold the load when processing at Station1?

 

2. How can I let the robot(S01_R01) do two jobs? One job is pick the load from FeedConveyor and the second job is pick load from Line2 to DeliveryConveyor.

 

3. Third is a question about annimation. As you can see in the fugure 2, in the 3D model, I use the Kuka robot in the 3D part libary to represent the pick and place robot. But the load does not attachment to the arm of the robot. How can I set the load/robot to make the load attach to the right place of the robot?

 

My model is attached below, feel free to make any changes

Thanks!!!

figure_2.PNG

 

 

 

 

2 REPLIES

Re: Pick and Place Issue

Gears Esteemed Contributor Gears Esteemed Contributor
Gears Esteemed Contributor

2. How can I let the robot(S01_R01) do two jobs? One job is pick the load from FeedConveyor and the second job is pick load from Line2 to DeliveryConveyor.

 

just connect the line2 with the robot, then it is also loading parts from Line2.

To differ between Line2 and feedConveyor you can include an exit control in both lines. In the exit control you can adress the MUs (using the attribute destination)

 

The attribute destination you can uste to select the successor using the exit strategy of the pick and place robot (MU attribute). For processing on station1 you can use station1 as a successor.

 

1. How can the robot(S01_R01) hold the load when processing at Station1?

 

You can use an exit control in the pick and place, if the destination of the MU is station1, just wait 5 seconds, set a new destination for the MU and send the robot to line 1 (method setDestination), for all other destinations just move the part

 

3. Third is a question about annimation. As you can see in the fugure 2, in the 3D model, I use the Kuka robot in the 3D part libary to represent the pick and place robot. But the load does not attachment to the arm of the robot. How can I set the load/robot to make the load attach to the right place of the robot?

 

You need to change the position of the animation point (path) in 3D. Open the robot in a new 3D window, select from the context menu 3d Attributes --> tab MU animation --> show the animation symbol --> move the triangle to the right position (mark the symbol --> ALT+direction up to change the z-position...) and save your settings

Steffen Bangsow
freelance simulation specialist  
web: www.bangsow.eu
mail: steffen@bangsow.net

Re: Pick and Place Issue

Pioneer
Pioneer

Thank you so much Steffen!!! You solved all my question perfectly!