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Abstract(s)
A robótica no quotidiano apresenta um papel fundamental nas indústrias, no sentido de tornar os processos destas mais eficientes. Neste sentido, a empresa Robotsol recebeu um pedido para o desenvolvimento de uma solução robotizada para otimizar o processo de extração de peças moldadas por injeção, do interior do molde de uma máquina e consequente paletização destas. O desenvolvimento deste projeto representa o objetivo principal desta Dissertação, tendo sido desenvolvido em âmbito de estágio curricular em ambiente industrial. O trabalho foi realizado de forma a desenvolver um sistema que cumprisse os requisitos acordados com o cliente. Para tal, foi necessário validar a estrutura autoportante da célula, esquematizar a lógica de programação, realizar a simulação do sistema através do simulador do fabricante do robô e implementar o sistema de forma a permitir efetuar um conjunto de testes iniciais, antes da integração no cliente. No momento da integração do sistema, foram feitas configurações na máquina de injeção de forma a que esta fosse capaz de realizar trabalho em conjunto com o robô. Antes de ser possível arrancar com o sistema global, foram ainda efetuados testes de trajetórias do robô e afinações da garra. Por fim, foi então possível arrancar com o sistema e foi feito o acompanhamento da produção. No final do projeto, foi possível verificar que o robô é capaz de extrair as peças do interior do molde da máquina de injeção de forma eficiente, paletizando-as de seguida num tapete. As peças são empilhadas de forma ao operador realizar uma inspeção final antes das embalar. Todo o processo de retirar as peças moldadas de um compartimento inferior da máquina era feito por um operador, que posteriormente as organizava, empilhava e embalava. Neste momento, enquanto o robô efetua a extração e paletização das peças, o operador consegue acompanhar a produção de células produtivas adjacentes.
Robotics in everyday life plays a key role in industries in making processes more efficient. In this sense, the company Robotsol received a request for the development of a robotized solution to optimize the process of extraction of injection molded parts from the interior of the mold of a machine and consequent palletization of these. The development of this project represents the main objective of this Dissertation, having been developed within the scope of curricular internship in an industrial environment. The work was done in order to develop a system that fulfilled the requirements agreed with the client. For this, it was necessary to validate the self-supporting structure of the cell, to schematize the programming logic, make the simulation of the system through the simulator of the robot manufacturer and to implement the system in order to perform a set of initial tests, before the integration in the client. At the time of system integration, configurations were made in the injection machine so that it was able to perform work in conjunction with the robot. Before it was possible to start with the global system, tests of robot trajectories and gripper tuning were also performed. Finally, it was possible to start up with the system and the production was monitored. At the end of the project, it was possible to verify that the robot is able to extract the parts from the interior of the mold of the injection machine in an efficient way, palletizing them on a conveyour. The parts are stacked so the operator performs a final inspection before packing them. The whole process of removing the molded parts from a lower compartment of the machine was done by an operator, who later organized, stacked and packed them. At this moment, while the robot performs the extraction and palletizing of the parts, the operator can follow the production of adjacent productive cells.
Robotics in everyday life plays a key role in industries in making processes more efficient. In this sense, the company Robotsol received a request for the development of a robotized solution to optimize the process of extraction of injection molded parts from the interior of the mold of a machine and consequent palletization of these. The development of this project represents the main objective of this Dissertation, having been developed within the scope of curricular internship in an industrial environment. The work was done in order to develop a system that fulfilled the requirements agreed with the client. For this, it was necessary to validate the self-supporting structure of the cell, to schematize the programming logic, make the simulation of the system through the simulator of the robot manufacturer and to implement the system in order to perform a set of initial tests, before the integration in the client. At the time of system integration, configurations were made in the injection machine so that it was able to perform work in conjunction with the robot. Before it was possible to start with the global system, tests of robot trajectories and gripper tuning were also performed. Finally, it was possible to start up with the system and the production was monitored. At the end of the project, it was possible to verify that the robot is able to extract the parts from the interior of the mold of the injection machine in an efficient way, palletizing them on a conveyour. The parts are stacked so the operator performs a final inspection before packing them. The whole process of removing the molded parts from a lower compartment of the machine was done by an operator, who later organized, stacked and packed them. At this moment, while the robot performs the extraction and palletizing of the parts, the operator can follow the production of adjacent productive cells.
Description
Keywords
Robótica Industrial Moldagem por Injeção Extração Paletização Autoportante Industrial Robotics Injection Molding Extraction Palletizing Self-supporting