Development of a palletizing & depalletizing station
Başlık çevirisi mevcut değil.
- Tez No: 714983
- Danışmanlar: PROF. MART TAMRE
- Tez Türü: Yüksek Lisans
- Konular: Mühendislik Bilimleri, Engineering Sciences
- Anahtar Kelimeler: Belirtilmemiş.
- Yıl: 2020
- Dil: İngilizce
- Üniversite: Tallinn University of Technology
- Enstitü: Yurtdışı Enstitü
- Ana Bilim Dalı: Belirtilmemiş.
- Bilim Dalı: Belirtilmemiş.
- Sayfa Sayısı: 111
Özet
Özet yok.
Özet (Çeviri)
Pick and place applications are widely used in industry for collecting or splitting various kind of products. Robotic solutions in the industry are becoming more popular every day and those solutions help to make a process faster and more efficient compared to manual labour. The project is done for a company called Harviker. Harviker manufactures solid wood furniture. The company was established in 1995 and started production in 1997. Mainly used materials are pine and birch. The main products are home furniture - various tables, cabinets and drawers. Its partners are based in the Netherlands, Belgium, England and Sweden. The main target of the project is building two partially autonomous robotic cells which can depalletize wood boards to a gluing & heating machine and, palletize the final products which are fed to the second robotic cell by the same machine after the products are processed. The purpose of the project from ABB side is mitigating human interaction to accelerate the processing time. The worker in the area provides full pallets to the first station for the depalletizing process. The robotic cell must pause working when there is any human interaction. When human interaction is done, the robotic cell can continue operating automatically. Furthermore, the station is expected to understand existence/absence of pallets (for instance only the left pallet is present) and also to check if there is any human on or around the pallets. This operation is controlled by area scanners. The first and the second stations are able to understand the status changes in pallet slots. Moreover, if there is a new pallet in the depalletizing station, the robot searches the height of the pallet at the beginning of the process. This process is maintained by an optical sensor. The product thickness is provided by an operator at the beginning of a process. The product type information is delivered by the heating-gluing machine for both stations. To prevent feeding several layers of products at once to the depalletizing station's conveyor, the capacitive proximity sensors were installed to the gripper. In addition to this, a pneumatic by-pass line is installed to make picking wood board process easier with different thickness values. In addition to this, additional optical sensors were installed to check the presence-absence of boards in case of any failure during the picking/transferring process. 12 What is more, the robotic cells should indicate important parameters like human interaction, pallet status, internal errors etc. by both audial and visual alarms to improve safety conditions and productivity. Additional light beam application was built to control the human interaction where the area scanning is insufficient. An HMI with two tabs on robot controllers was designed to improve manipulation capability and awareness. The first tab is used to control manual actions. The second tab contains process information saved by the robot. A pneumatic control system was installed to control vacuum generators. It enables handling of different sized products with activating different suction pad groups on the grippers. The robot communicates with the thermal processing machine to understand when it shall start or stop feeding the panels. The working principle of the second station is almost the same as the first station. The main difference is the second station is a palletizing station. There is no height search in this station because the pallets provided to the station are empty. There is no additional control for the product thickness because the final product thickness is the same for all variations. The HMI designed for the second station has also some different functions in both control and process information tabs. Additional features like controlling pallet level, an indication of pallet height etc. are added to increase the manipulation capability. The demand for an automated robot station is requested to accelerate the processing time, to mitigate the human interaction (error) and to maintain a standard productivity rate. It is expected that the station does not stop functioning completely when there is interaction with the station.
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