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PICK AND PLACE ROBOT USING VACUUM PICKER

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Our project aims to pick and transfer the object or material which is done by the help of a vacuum picker.

This device is basically a pneumatic device .

handling objects is one of the important task in automation.

System can be manipulated to pick up complex shaped bodies..

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INTRODUCTION

here we make a simple machine to pick the object. its ideal for light weight and sensitive bodies. The device is designed to transfer small objects conveniently without any deformation.

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OBJECTIVE OF OUR PROJECTTo save the time consumption and to minimize difficulties to picking and transferring of objects.

To avoid the bending and deformations occurring on the object while transferring it by hydraulic pickers.

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HISTORYGeorge Devol and Joe Engleberger design the first programmable robot arm.

Honda launches a project to build a walking humanoid robot in 1986

Companies like VMECA make and distribute V-grip robotic arms.

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Schmalz the world's leading partner for vacuum technology in automation, handling and clamping applications produces vacuum grippers since late 2000.

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ModificationConventional pick and place robots are provided with metallic grippers which could deform objects while holding and transferring.We have replaced mechanical gripper to a vacuum gripper arm so that it pick the objects using vacuum and there by retaining the shape.Vacuumgrippersare among the most flexible and usefulEOAToptions available for material handlingrobots.

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Pneumatic systemCompressed air is supplied by the compressor and is transmitted through a series of hoses. Air flows are regulated by valves and the pneumatic cylinder transfers the energy provided by the compressed gas to mechanical energy

Easy maintenance8

less damage to equipment.

no fire hazard is presented and machines could be made to be overload safe.

No leaks

Low noise9

10Comparison between hydraulics and pneumatics

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Compressor unit

Compressor

Storage tank

Tap connector

Air hose

Filter regulator lubricator

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Filter regulator lubricator

It consist of units for filtration, regulation and lubrication.

Filtration for filtering air from dust particles and moisture.

Regulationregulate required pressure to the system

Lubricationit helps air a smooth passage through the compression PU tubes.13

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Main components

Air cylinderElectric solenoid valveMale & female connectorsPU tubeFlow control valveTap connectorsPressure gaugeBall valveDiaphragm valveTimer circuit15

Materials required

Gas tubeMS square & rectangular pipeNuts and boltsTeeAdapters

Main equipments

CompressorVacuum pump

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AIR CYLINDER

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CONNECTORS

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DIRECTIONAL CONTROL VALVE

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WORKING OF DCV

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PU TUBE (Polyurethane Tubes)

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Diaphragm valve

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VACUUM PUMB

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Pressure gauge & Tee

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Ball lever valve

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26We have designed the setup for picking up light weight objects around 1kg. A pressure of 3 4 bar is required for the working of the two air cylinders. Both cylinders get equal amount of compressed air from compressor but the big cylinder need less air for working. Even though its bigger, it runs the placing motion. So it has to be slow. Therefore we have placed a pressure regulator to the big cylinder.Design

27We assume our prototype is medium level one. So we set length to 65cm, width 45cmand height to 50cm.

The arm for picking is assumed to cover of the total length. We assumed it to 45cm. The length of pipe in which small cylinder bolted is 30cm which can vary height using screw arrangement like in figure. Since the small cylinder makes total length of 10cm, the length from arm tip is above 10cm. Bolts and screws are selected according to cylinder shape, frame shape.

28Angle at the joint where big cylinder meets the picking arm is perpendicular and also arm rotates 45 from center to the container where to be placed.

For obtaining different link lengths we used sine law of triangle

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30Transferring arm is 45cm long, Its hinged to the frame at a distance of 13.5 from the center of the frame. Arm makes a 45 angular movement. So the corresponding angle is 72.5. A right angled triangle can be drawn by measuring the arm length as hypotenuse; altitude is the line from tip of arm to the center of width. By sine law altitude and distance from which arm is hinged to the frame is obtained

Arm is hinged 13.5cm from center of the width. Since big piston with total length 20 combined with nut and bolts makes a length of 35cm perpendicular to the arm. Draw a line which makes 90 to the arm and meets the arm at 35cm. There by all distance is obtained.

Vacuum picker is set for picking 250g with a vacuum pressure of 50psi.

WorkingOur project arrangement consist of 3 foot length and 2 foot wide pipe column. Two pneumatic cylinders are hinged to the column in such a way that one cylinder have liner motion and other have longitudinal motion.Arrangement is provided with an IR sensor. The convey chain carrying materials cut the IR sensor path and as a result cylinders are actuated and pneumatic picker arm picks object and place it in desired location.31

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Operations

1. picking-by means of vacuum created with help of vacuum cleaner.

2 .transferring by means of moving link operated by a pneumatic cylinder

3 . object releasing it is done by cut-off vacuum

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OperationSolenoid 1 (S1)---- solenoid of big cylinder

Solenoid 2 (S2)---- solenoid of small cylinder

Solenoid 3 (S3)---- solenoid of diaphragm valve

Object senses ------- IR cutoff

S2 and S3 on -------- object pickup35

S2 off -------- object up

S1 on --------- outward

S3 off --------- Vacuum drops object released

S1 off --------- inward to initial position 36

TIMER37

It consist of microcontroller, IR sensor and relays

There are 3 relays for actuation of 3 solenoids.

The operation sequence and time delay is coded in the microcontroller.

IR sensor senses the object and actuates microcontroller.38

IR SensorA pair of IR LEDs can be used as motion detectors. The first IR LED is wired to emit LED and the second LED is wired to transmit a signal when it receives an IR input. When an object comes within range of the emitted IR, it reflects the IR back to the receiving LED and produces a signal.

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41efficiency

AdvantagesDeformation is reduced

Sensitive objects as well as hollow objects can be picked

Time consumption is less.

Energy consumption is less since its pneumatic.

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Disadvantagesdust particles might enter through dcv valves which can reduce efficiency.

It needs good caring

Expensive

Not suitable for heavy works

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ApplicationsSurgical manufacturing industry

Packing bottles in cases

handling eggs ,fruits, vegetables to boxes

Small components manufacturing company

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REFERENCEData is collected from works of

Pick & Place Robot by Mohammed Ahmed Sabri

Automation and mobile pick and place robot system for small scale food industry by Mir Sajjad Hussain

Task level planning of pick and place robot motions by Thomas Lozano peras & Joseph johns

Technologies for robot grippers in pick and place operations for fresh fruits and vegetables by C. Blanes M. Mellado ,C. Ortiz and A. Valera45