Picking and stacking robot (PSR) is an efficient solution for arranging the material flow. PSR automates part picking, stacking and intermediate buffering between punching shearing machines and bending automates. PSR stacking accuracy is high and intervals between stacks minimal, allowing optimal usage of stacking area, automatically.
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Material flow can be arranged in flexible ways to transfer parts directly to automatic bending, balance to different time requirements of bending and punching/shearing, to exit material from the system and to bring new material into it. The flexible and versatile buffering functions along with clever dynamic stacking management ensures the optimum operation in terms of manufacturing cost and throughput time can always be chosen, whatever the manufacturing task at hand.
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PSR 2D
PSR 2D is a high-performance, automated picking solution to automate 2D laser material flow. PSR 2D enables 2D laser machine to reach its full capacity thanks to the picking process which is done in the 3rd pallet, without stopping the cutting process.
If you want to learn more, please visit our website Robot stacking system.
: !Set PR100 as LPOS, in case someone stored it as Joint ;
: !PR[100] was picked arbitrarily. You can use whatever free PR you want.
: PR[100]=LPOS ;
: PR[100,1] = 0 ; !X offset
: PR[100,2] = 0 ; !Y offset
: PR[100,3] = R[10:Stack Height]*50 ; !Z offset, which is your stack height*50mm. Fist part should have a stack height of 0.
: PR[100,4] = 0 ; !Rx offset
: PR[100,5] = 0 ; !Ry offset
: PR[100,6] = 0 ; !Rz offset
: ;
: !Move above ;
: L P[1:Above] 500mm/s CNT25 ;
: L P[2:Drop] 250mm/s FINE OFFSET, PR[100] ;
: CALL OPEN_GRIPPER ;
: ;
: R[10:Stack Height]=R[10:Stack Height]+1;
: IF R[10:Stack Height]=5 THEN ;
: !Tell PLC to release pallet ;
: DO[100:Pallet Done]=PULSE, 1 sec;
: R[10:Stack Height]=0;
: ENDIF ;
: ;
: !Move above ;
: L P[1:Above] 500mm/s CNT25 ;