Identifier: TFG:5734
Authors: Gras Rovira, Adrià
Abstract:
In this project I have designed a fast tool change mechanism of a robotic arm whose function is to pick up the packages and let them go on a pallet. The main objective was to create a tool change mechanism for the company BINDER Magnetism & Engineering to market. The motivation of this is the replacement by a robotic arm, of the task carried out by an operator, which consists of palletizing. The machine consists of five main stages of work. If we describe the step-by-step procedure that takes place during palletizing, we see that it begins when some conveyor belts move the packages next to the robot, the first stage. Where they are captured by a sensor and the robot receives the order to go looking for it, second stage. It is then when the arm is placed on top of the package, the vacuum ejector is activated and the package is attached to the suckers of the claw, third stage. This is moved to the corresponding place on the pallet, fourth stage. Afterwards, the ejector is deactivated, and the package is released, fifth stage. The mechanism has been optimized as much as possible in terms of weight, economics, ease of manufacture and assembly. Because the lower the weight of the set, the more weight the arm can lift. The lower the budget, the greater the demand from companies interested in buying it. Finally, the ease of assembly has been considered to help the operator to make a correct use, performance, and maintenance. The project deals with the mechanical part, calculations, and costs. Likewise, no design or calculation of the robot has been made, only the limitations of those are in. Regarding the electrical and pneumatic part, they have not been included, because they will be carried out by the corresponding departments. To sum up, this project embraces the design, calculation of the parts, a study of alternatives, a time schedule, and the budget.
Repositori URV