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Preface
After a long vacation, I finally returned to school. I have been in the preparation stage for a few days, and classes will take a few more days. I am fine these days, so I will rearrange the tasks of the robot and do it again. Pagoda-shaped palletizing was done this morning. The specific process is as follows:
Palletizing file configuration method: super user-user-application-palletizing-simple palletizing (for depalletizing);
if it is palletizing, use a complex palletizing configuration file, and the configured file number must be strictly consistent with the file number in the program , The configuration of the palletizing file and the writing of the program are in no particular order. You can do which part of the work first.
1. Configure simple palletizing files
1. Simple palletizing file configuration (depalletizing program)
(1) Set pallet attributes: each row of workpieces is 162 mm paranoid, set according to actual needs:
(2) Layer height = -20 mm, set according to the actual situation (a cuboid with a height of 20 mm is used here).
(3) Setting counter: This setting is automatically counted by the robot, no setting is required.
2. Configure simple palletizing files
Setting in complex palletizing: palletizing file number: 2 (the calling file number in the program must be the same).
(1) Counter setting: the software calculates automatically, all parameters do not need to be set.
(2) Set the gripper parameters: gripper type selection: suction cup gripper, press the "confirm" button to switch the gripper type
(3) Stack type selection:
stack type layer number: 3
stack type row number: 3
stack type column number: 1
initial form: vertical (horizontal): the horizontal and vertical teaching points in the pagoda-shaped stacking should be consistent. (Special)
Stacking type: back shape, offset stacking (pagoda), special-shaped pattern (32 type)
(4) Set product attributes:
product length: actual product length, in millimeters;
product width: product actual width, in millimeters;
product height: product actual height, in millimeters;
the value of the product is actually measured.
Teaching length: 1000 mm.
(5) Set tray properties:
line spacing: set according to actual needs and gripper type.
Column spacing: set according to actual needs and gripper type.
(6) Point teaching configuration:
user coordinate system: consistent with the coordinate system in the program;
vertical point teaching: on the operating table, select the first palletizing location (the first point where the workpiece is placed), and The workpiece is rotated 90 degrees, and the vertical point position and horizontal point position are taught respectively. This position must be accurate. The lowest height is the position of P2 in the program, and the highest height is the position of P3 in the program. The teaching positions of the horizontal and vertical points must be accurate, and the suction cup is pressed on the workpiece.
Three, program writing:
001: Command input method: main menu-edit-application-palletizing; #1 means the selected user coordinate system of No. 1 has been calibrated.
002: Palletizing count reset instruction, select the palletizing file configuration number (complex palletizing configuration file number);
004: Origin:
008: Below the origin (transition point between depalletizing and palletizing);
009: Depalletizing start instruction ( Simple palletizing start instruction), unpalletizing calls simple palletizing instructions, file configuration is also set in simple palletizing, palletizing calls complex palletizing instructions, and file configuration is also set in complex palletizing. In PAL S 11, the first 1 is the palletizing mode: supports 2 palletizing modes, which are according to the row code and according to the column code. The second 1 means that the simple palletizing configuration file number is 2;
010: demolition The position above the stack teaching point;
010: The position above the teaching point of destacking;
011: The position of the destacking point (the position of the workpiece can be grasped)
012: Input method—Control type 1
013: Input method—IO type
016: Return to the position above the No. 1 destacking point.
017: The depalletizing program ends (simple palletizing end mark), and an output signal is given to register 20 (this value is arbitrary). The output is a pulse signal (stacking is completed, the signal becomes 1, output IO signal, stacking end output signal)
018: the position of the middle point of destacking and stacking.
020: Complex palletizing macro command (if there is no such command, the teaching point of the program below will prompt "Alarm 2020, position out of bounds")
021: PAL GF 2 I1: The current palletizing form is obtained in the I variable, 2 is the code The palletizing file number (consistent with the file number of the complex palletizing setting) is to store the palletizing form in the current palletizing file 2 into the I variable.
022: PAL GP 2 P1 P2 P3: Get the palletizing position point information (in palletizing configuration file 2), and put it into the corresponding position variable.
023: Input method: Super User—Motion, p3: Distance to the highest point of the workpiece, P2 distance to the lowest point of the workpiece, P1 Ready to discharge point
025: Need to teach this point
030: Return to the point closest to the workpiece.
031: Return to the highest point from the workpiece.
032: PAL CNT 2 OT#30 OT#31: Pallet counting instruction: 2 is the file number of complex palletizing configuration, 30 is the output IO signal at the end of single-layer palletizing, and 31 is the output IO signal at the end of all palletizing
The end of the complex palletizing configuration:
Implementation process
(1) Set a starting position, which is the origin
(2) Below the origin (the transition point between destacking and palletizing)
(3) Destacking point position (the position of the workpiece can be grasped)
(4) Return to the position above the No. 1 destacking point.
(5) The position of the midpoint between destacking and stacking (the transition point in the middle).
p3: The highest point from the workpiece:
p2 The lowest point from the workpiece:
P1 Ready to discharge point:
(6) Return to the closest point from the workpiece.
The placement of the first cuboid has been completed.
(7) Start to grab the second stack and place the second cuboid.
Repeat the operation six times to form a pagoda shape
as shown in the figure:
