The University of Auckland Automation Project 2019 Group B Industrial Automation Project Material
Автор: EHSAN AMIRI
Загружено: 2021-03-16
Просмотров: 65
Our production line focuses on sorting objects of different materials, specifically on separating metallic objects from plastic objects. We have chosen to make the objects plastic cylinders and metallic cans. The objective is for the production line is to transport and sort the different cans into their respective bins.
Two KUKA robots and the circular conveyor belt available in the KUKA cell were used to achieve our sorting task. First, the object is pushed out of a hopper into a holding bay. The holding bay is shaped in a “V” so as to not allow the cylindrical objects roll, and it has an open top to allow the gripper to pick the cylinder up. In this holding bay, an inductive proximity sensor is positioned at the end to detect if the object is metal or not. It does this by inducting an electromagnetic field in the object near it. This can only be achieved in the metal cans, rather than the plastic cylinders. If there is a metal can in front of the sensor, then an internal variable in the PLC controlling the process is set to high. This will make sure that the can is delivered into the correct section at the end.
From here, the KUKA KR16 robot will move so that the pneumatic gripper is over the top of the can. The pneumatic gripper will be actuated so as to grip the cylinder, and KR16 will move it over to the loop conveyor belt, where it places the can in a holding bay. Like that next to the hopper, the holding bay is also shaped in the same “V” pattern, with long bolts protruding out on each end. This is to help the object stay in the correct position whilst being moved by the conveyor belt.
The conveyor belt will then move around from the KR16 robot to the KUKA KR15, stopping after triggering an IR sensor positioned underneath the conveyor belt. When this IR sensor is triggered, it activates KR15. KR15 then moves to the object, and picks it up using the DC motor grippers.
KR15 then takes the can out of the holder and into a position over the top of the bin with a partition in the centre. One of these sides is for the metal objects, and the other for the non metal objects. They are contained within one box for ease of transportation. When KR15 has reached the position over the bin, the conveyor returns the original position, ready to receive another object from KR16.
Taking the value of the internal variable mentioned determines what bin the object will go into. If the sensor detected the object to be metal, it will have set the internal variable high, and vice versa for if it detects a non-metal object. If the variable is high, KR15 releases the object over the first bin, and if it is low, it releases it over the second bin.
This process then repeats for another 6 times (for our production line demonstration, we only had 3 non-metal objects and 3 metal objects). When the process has been completed 6 times, KR15 rotates its end effector so that the connected suction cups are able to be used. The suction cups are attached perpendicular to the electric gripper. They work using a venturi system, where compressed air from the pneumatic system passes through a venturi valve and is expelled out the side. The process of doing this creates a vacuum in the cups, enabling it to pick up objects with a flat surface. In our case, the flat surfaced object is our bin lid. The KR15 robot then takes a tray positioned near the bins, picks it up and places it on top of them to complete the process.
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