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APPARATUS:
• Conveyer assembly
• Robot Assembly
THEORY:
Robot has profound applications in material handling. The robot moves parts from
one place to another. To accomplish the transfer, the robot is equipped with a
gripper type end effector. The gripper must be designed to handle the specific part
or parts that are to be moved in the application. In material transfer primary
purpose of the robot is to pick up parts at one location and place them at a new
location. In man y cases, reorientation of the part is accomplished during the
relocation. The basic application in this category is the relatively simple pick and
place operation, in which robot picks a part and places it at a new location. Only
two, three or four joints are required for most of the time. Pneumatically powered
robots are often employed.
However, here we have a conveyor assembly which has the following main
components:
• Part dispenser
• Limit Switch:
It senses whether a part has been dispensed or not. It starts a timer so that
the part could stop at the width gauge
• Width Gauge:
It uses a progressing arm that touches the part and gives the corresponding
dimension to the computer and the observer simply checks the width by
looking in the software
Here, the robot is required to pick and place cylinders of varying width at
different locations of interest. Limits for the width are set and a particular part
below that limit is placed at, say, Location A and cylinder exceeding the limit is
placed at another location say B.
PROCEDURE:
• A defined range of cylinders is given below and above of which the part
would be rejected
• We enter two programs in the instructions one labeled as ‘big’ and the
other ‘small’. Small parts have the dimensions in the range of 21 to 23
mm and big parts have dimensions 27 to 29 mm
Disp Part 1
Start conv 1
Gauge width 1
Go to small
Go to big
Go to start
• After Go to Start the program runs either the small program or the big
program depending upon the part detected
• Small and Big programs basically consists of series of points to direct the
robot to a specific location to place the part