Container Unloading using Robotized Palletizing

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Container Unloading using Robotized Palletizing Analysis Figure 31: A pallet pattern consisting of products with identical dimensions. The products in red are rotated around the X- and Y-axis. Since there is no physics integrated in PzPP, irrational palletizing patterns can be created, see Figure 32. No feedback or warnings are given if this type of pattern is created, which makes PzPP less robust towards human errors and mistakes. Desirably, a warning could appear if a product is placed more than 5 cm above adjacent products. Figure 32: An example of an irrational pallet pattern where a product is placed without contact to adjacent products. The following teething problems are considered less serious than the deficiencies, but still cause complications when using PzPP. Firstly, all products and pallets defined in PzPP are 35
Container Unloading using Robotized Palletizing Analysis lost if the robot station is closed before PzPP is deactivated. To avoid this problem, the following procedure has to be done: Open station Activate PzPP (Work with PzPP) Deactivate PzPP Close station (Quit RobotStudio) If the user forgets to perform this procedure and a lot of different products and pallet sizes have been defined, everything has to be defined once again, which is an outermost tedious and time consuming work. XML-files are not affected by this teething problem. Secondly, when creating and using a non-standard tool from a CAD-model, input and output signals need to be specified for the tool. The number of input and output signals depend on what functions are included in the tool. Connections of signals are made between tool and controller, which are then saved in a so called “tool profile”. The purpose of the tool profile is that the connections do not have to be made every time PzPP is started. However, the problem is that this does not always work as intended. During the use of PzPP and also when PzPP is restarted, the connections are lost which resulted in error messages and the connection procedure had to be done again. Also, set values, such as bit values, are not always applied for certain tool functions. Due to this, the user is uncertain which values are current and if the tool will perform as expected. This further decreases the robustness and reliability of the software. Finally, the graphics in the visual simulation sometimes behave irrationally. An example of this behaviour can be seen in Figure 33. Figure 33: Graphics problems when running simulation in PzPP. Products and pallets appear in random places. The aim is to create the same pallet pattern as in Figure 31. As seen, products and pallets appear in irregular positions. Though the robot, by analysing robot movements, appear to be picking and placing pallets and products in correct positions, the final graphical positions of 36
Page 1 and 2: Container Unloading using Robotized
Page 3 and 4: Preface This Master of Science thes
Page 5 and 6: Table of Contents 1 Introduction ..
Page 7 and 8: Abbreviations ISO NIOSH PzPP REBA T
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Container Unloading using Robotized Palletizing

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