Hello all,
I am facing serious issue in my project. There are 40 no's ( 16*16 ) vertical stacking bin's are in my project. At the time of process 3 bins are in robot cell. out of three, two will act as loading bin and one will act as un-loading bin. once 256 component is stacked in bin ,it taken out and new empty bin is added in robot cell.
All 40no's of bins are not accurate,size varies form bin to bin is nearly 5mm - 15mm. Component dimensions are 900mm height & 30mm dia. bin have one upper plate and lower plate with some supporting rods in middle (pls find attachment-1 ).
Bin hole dia is 31mm. while inserting rod in upper plate it moves smoothly (pls find attachment-2 ) ,while travelling towards lower plate (pls find attachment-3 ) it deviates upto 6mm ( deviation varies from hole to hole ).
Both upper plate and lower plate holes are not concentric. Mechanically they manufactured 40 bins, impossible to do re-work. so i have to solve these problems using robot.
I tried soft-float. But gripper and component weight acting as a load and robot axis moves accordingly to the present load, deviates from original path.Robot payload is 20kg (m20ia) and current load is 14kg (pls find attachment-4 ). whether i have to teach payload before activating soft-float?? if yes pls tell me the procedures.
And also i have doubt in co-ordination system. Size of bin varies from one to one, so practically it's not possible to teach user-coordinates for all 40 bins ( hope i am rite,correct me if i was wrong ) because robot doesn't know which bin is placed in-front of him . should i use only world or base??
And ideas guys??? pls reply ASAP. my project was stopped for 6 days because of this issue.
palletizing issues in fanuc robot.pls help
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suganthyadav -
October 28, 2014 at 8:06 AM -
Thread is marked as Resolved.
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Hey 1mm seems a bit less to me. Are you sure the upper and lower plate are aligned perfectly. Do you move in a movl towards the lower plate and in a userframe or world?
The tool frame and userframe should be defined to perfection. Is it possible to adjust your plates. Make them thicker and with a v-shape so to rods will align themself. -
Thx for reply. Current moving in world frame towards lower plate. user-frame is not assigned because as i told earlier we have 40 bins were dimensions are not even. we will try "v" shape idea.
If 1mm how to solve?? i will try those things first. because my management is not ready to spend bucks.
I seen video in YouTube link as follows " https://www.youtube.com/watch?v=28iCsviKY8w " . hope this may solve my problem. can you guide me how to program like that i have soft-float option in my robot. -
What is the purpose of putting the rods in the bins like that? Is the robot unloading a saw machine or cnc? Your tolerance (1mm in fact 0.5mm) is too small to allow bins that are not the same. I have not worked with softfloat yet. My feeling tells me that it does not help you much in this case. Maybe touchsense would be better. Im guessing too expensive. If you are moving down in world frame and the robot and your bin have different angles it will not work. Can you make the holes 35mm?
If you could make sure which bin you have (use a binary code) and its Always centered in the same position you could make one program with 40 different offsets depending which bin you have.
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yup robot un-loading component from CNC ..ok i wanna fight with management and design team for bin re-work. i will try to increase holes dia to 35mm......
Instead of world frame i should try in user frame ??
I worked lot with ABB robot. this is my first project with FANUC.
Need more clarity on this point " If you could make sure which bin you have (use a binary code) and its Always centered in the same position you could make one program with 40 different offsets depending which bin you have."
Is it possible to identify bin to robot with out any hardware set-up?? if yes pls add procedure.
Thxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx a lot for ur help. -
So your pick position is Always the same and accurate if you pick from a cnc. If your bins are not the same a userframe will not help you much, only if your robot is not level with the floor. If you want to use 1 program to load your bins they have be positioned to perfection and the bins have to be the same. This is not the case here.
If you would place 6 inductive sensors on your bin positioning system you can count until 64. Then on your bins make plastic plate where you can turn in 6 screws. The sensors and screws have to align offcourse.
The first bin has only 1 screw, and 5 empty, the second bin has 1 screw in the second hole, the 3 bin has 2 screws in the first and second hole. Then you know which bin you have standing in front of the robot and you can give the load program a unique offset.I hope you understand what i mean. It will be some programming and hardware work though.
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yeah clearly understood.... it's like group input. . . . thx a lot
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Have you tried setting the tool center point to the tip of the rod? (UTOOL)
this may improve the rod tip motion moving in a straight line. -
Hi Aniezgocki,
Utool mean TCP correct ?? no my TCP still at centre of gripper. ok i shift my TCP to tip of the rod and i will try. thx for the reply.