Following the issue, we created a simulation in Roboguide. This showed that by cooperation of the three robots, the best results are achieved.

Robot 1 Fanuc SR3iA “Scara robot”
This robot grabs a magnet by vacuum and a square bushing by parallel gripper and places it in a pocket on the table with a capacity of 8 products every 22 seconds.

Robot 2 Fanuc M20iA “6-axis robot”
Robot 2 takes over the products from robot 1 and moves the products toward the spraying machine and places the products in a mold. Using the search capability soft Float, robot 2 moves through the machine and takes over the sprayed products puts them on a table with a capacity of 8 products in 30 seconds.

Robot 3 SR6iA “Scara robot with larger working range”
Robot 3 picks up sprayed products in pairs with the gripper. The robot moves to a station where a ring is pressed onto the product and checked by a camera station. If the ring is properly attached, the products are placed in a tray. Rejected products end up in a reject bin. Again, the capacity is 8 products per 30 seconds.