Detaili haaramise abiseade robotlahendusele

Käesoleva lõputöö eesmärgiks oli projekteerida ning valmis ehitada detailide ümberhaaramise abiseade, mis kujutaks endast efektiivsemat alternatiivi nullimislaual haaramise sooritamiseks. Kuna valmiskujul eraldiseisvaid lahendusi turul saadaval ei ole, tuli seade valmistada ettevõttesiseselt. Kuigi analoogsete lahenduste puhul on mitmeid meetodeid detaili fikseerimiseks (nt vaakumi või magnetseadme abil), valiti toodetavate detailide parameetritest lähtuvalt jaamas rakendatavaks fikseerimismeetodiks kahetoimeline kummiamordiga varustatud pneumosilinder. Silindri juhtimine vajalikesse asenditesse toimub elektrilise solenoidi ning lähestumisandurite abil. Loodud lahenduse testimiseks paigaldati käsitletav detail haaramispunkti nii manuaalselt kui robotiga. Mehaaniliste mõjutuste korral detail silindri haardes ei liikunud. Automaatse testi käigus selgus, et jaama kasutamine muudab ümberhaaramisprotsessi roboti jaoks oluliselt mugavamaks, kuna liigutusi ei sooritata enam liigeste piirväärtuste lähedal. Ümberhaaramisjaama rakendamine lihtsustab ka roboti operaatori tööd, kuna erinevalt nullimislauast ei ole jaama tarvis eri tüüpi detailide jaoks ümberseadistada. Olulisimaks erinevuseks kahe ümberhaaramismeetodi vahel oli protsessile kuluv aeg. Kui nullimislaual kulus haaramise sooritamiseks 30 sekundit, siis jaama rakendades sooritati detaili ümberhaaramine 22 sekundiga ehk ajaline võit oli 8 sekundit. Protsessi efektiivsuse tõus oli seega pea 30%. Eelmainitut arvesse võttes võib järeldada, et lõputööle püstitatud eesmärk sai edukalt täidetud. Antud lõputööd võib kasutada lähtematerjalina sarnaste ümberhaaramisseadmete projekteerimisel või kasutada baasina juba loodud lahenduse edasi arendamiseks ning parendamiseks.

The aim of this thesis was to design and build a gripping aid for handling parts, which would act as a more effective alternative for performing re-gripping on a zeroing table. Since there are no ready-made standalone solutions available on the market, the device had to be manufactured internally within the company. Although analogous methods utilise several different methods for fixing a detail in place (such as vacuum or magnetic solutions), in this instance, a two-way pneumatic cylinder equipped with a rubber shock absorber was chosen as the preferred fixing method. This preference was due to the parameters of the produced parts. The cylinder is controlled by an electric solenoid and proximity sensors in order to move the cylinder piston into necessary positions. To test the created solution, the considered part was installed both manually and with the robot at the gripping point. When subjected to mechanical impacts, the part did not move in the cylinder’s grip. During the automated test, it was found that the use of the station significantly improves the gripping process for the robot, as movements are no longer performed near joint limits. The implementation of the gripping station also simplifies the operator’s work with the robot, as unlike the zeroing table, there is no need to reconfigure the station for different types of parts. The main difference between the two gripping methods was the time required for the process. While it took 30 seconds to perform the re-grip on the zeroing table, using the new gripping device the process was completed in 22 seconds, resulting in a time saving of 8 seconds. Thus, the efficiency of the process increased by almost 30%. Taking the above into account, it can be concluded that the objective set for the thesis was successfully achieved. This thesis can be used as a starting point for designing similar gripping devices or as a basis for further development and improvement of the existing solution.