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Abstract(s)
Atualmente, com a evolução tecnológica e a competitividade dos mercados, surge a necessidade de se aumentar a produção e a especificidade dos produtos por forma a responder à necessidade dos mercados. Também com o avanço tecnológico surge a necessidade de se retirarem os colaboradores de operações de possível perigo e repetibilidade que não ajudam no desenvolvimento do mesmo. Nesta perspetiva, face a um pedido externo a RobotSol, sentiu a necessidade de criar um sistema automático para uma aplicação de montagem por forma a evitar que colaboradores humanos executassem tal tarefa repetitiva sem qualquer evolução. O sistema visava também a perspetiva de melhoria na produção e redução do tempo de ciclo da produção. O objetivo desta dissertação reside na simulação, programação e controlo de um sistema totalmente automatizado para montagem de pinças Kocher com recurso a robôs industriais. O trabalho realizado incidiu na simulação de um ambiente industrial, programação do centro de controlo da célula e estudo e programação de um robô do tipo paralelo para uma tarefa de pick and place e montagem. Com base na automatização da tarefa de montagem e controlo do restante ambiente da célula procedeu-se ao desenvolvimento de um sistema autónomo que permitisse alcançar as produções definidas com reduzidos tempos de ciclo. Para a implementação deste sistema foi necessário proceder a uma análise de soluções de pick and place e montagem executadas por sistemas robóticos semelhantes. O objetivo do estudo dos componentes da solução foi criar bases de raciocínio para a programação do sistema e conhecimentos técnicos para a implementação da célula. Após este estudo teórico procedeu-se à implementação da programação e controlo do sistema. Após a montagem do sistema e da sua implementação executaram-se testes para a validação da solução final. Durante esta fase foi testado o sistema de controlo, o de montagem, as comunicações e a capacidade de rejeição de peças por parte do sistema. Ainda durante esta fase foi analisado o tempo de ciclo do sistema. Estes testes foram efetuados em ambiente de simulação e em contexto real. Os resultados alcançaram o esperado, o sistema conseguindo montar 100% das peças em menos de 12 s e caso fosse necessário rejeitar 100% das peças a rejeitar. Com esta dissertação foi possível a aquisição de conhecimentos acerca do mercado associado a este tipo de aplicação, nomeadamente as áreas de cliente mais propicias à aplicação de soluções de pick and place e montagem. Foram também adquiridas valências na configuração e programação de um robô do tipo paralelo, bem como a sua inserção numa solução final. Associadas as estas valências foi possível adquirir conhecimentos e melhorar bases de conhecimento na área da automação industrial, nomeadamente no controlo através de autómatos programáveis e segurança através de relés. Por fim, foi possível ganhar experiência em contexto de cliente através da implementação da solução num cliente final, adquirindo experiência única em ambiente industrial.
Nowadays, with the technological evolution and the competitiveness of the markets, the need arises to increase the production and specificity of the products in order to respond to the need of the markets. With the technological advance arises the need to withdraw the employees from operations of possible danger and repeatability that do not help in their development. In this perspective, in response of an external request, RobotSol felt the need to create an automatic system for an assembly application in order to prevent human collaborators from performing such a repetitive task without any evolution. The system also aimed at improving production prospects and reducing production cycle time. The purpose of this dissertation is the simulation, programming and control of a fully automated system for mounting Kocher tweezers using industrial robots. The present work focused on the simulation of an industrial environment, programming of the cell control center and study and programming of a parallel robot for a pick and place and assembly task. Based on the automation of the assembling task and controlling the rest of the cell environment, an autonomous system was developed that allowed to reach the defined productions with reduced cycle times. For the implementation of this system it was necessary to carry out an analysis of pick-and-place and assembly solutions executed by similar robotic systems. The purpose of the study of the components similar solutions was to create bases of reasoning for the programming of the system and technical knowledge for the implementation of the cell. After this theoretical study, the programming and control of the system was implemented. After the assembly of the system and its implementation, tests were carried out for the validation of the final solution. During this phase was tested control system, the assembly, the communications and the capacity of rejection parts. At this phase was also analysed the cycle time of the system. These tests were carried out in simulation environment and in real context. The results were as expected, the system was able to assemble 100 % of the parts in less than 12 s and if it was necessary to reject 100 % of the parts to be rejected. With this dissertation it was possible to acquire knowledge about the market of this type of application, namely the client areas most conducive to the application of pick and place and assembly solutions, and acquired experience in configuration and programming of a parallel robot. Associated at these experiences, it was possible to acquire knowledge in the industrial automation area, control and security through relays. Finally, it was possible to gain experience in the field with costumers and with the industrial environment.
Nowadays, with the technological evolution and the competitiveness of the markets, the need arises to increase the production and specificity of the products in order to respond to the need of the markets. With the technological advance arises the need to withdraw the employees from operations of possible danger and repeatability that do not help in their development. In this perspective, in response of an external request, RobotSol felt the need to create an automatic system for an assembly application in order to prevent human collaborators from performing such a repetitive task without any evolution. The system also aimed at improving production prospects and reducing production cycle time. The purpose of this dissertation is the simulation, programming and control of a fully automated system for mounting Kocher tweezers using industrial robots. The present work focused on the simulation of an industrial environment, programming of the cell control center and study and programming of a parallel robot for a pick and place and assembly task. Based on the automation of the assembling task and controlling the rest of the cell environment, an autonomous system was developed that allowed to reach the defined productions with reduced cycle times. For the implementation of this system it was necessary to carry out an analysis of pick-and-place and assembly solutions executed by similar robotic systems. The purpose of the study of the components similar solutions was to create bases of reasoning for the programming of the system and technical knowledge for the implementation of the cell. After this theoretical study, the programming and control of the system was implemented. After the assembly of the system and its implementation, tests were carried out for the validation of the final solution. During this phase was tested control system, the assembly, the communications and the capacity of rejection parts. At this phase was also analysed the cycle time of the system. These tests were carried out in simulation environment and in real context. The results were as expected, the system was able to assemble 100 % of the parts in less than 12 s and if it was necessary to reject 100 % of the parts to be rejected. With this dissertation it was possible to acquire knowledge about the market of this type of application, namely the client areas most conducive to the application of pick and place and assembly solutions, and acquired experience in configuration and programming of a parallel robot. Associated at these experiences, it was possible to acquire knowledge in the industrial automation area, control and security through relays. Finally, it was possible to gain experience in the field with costumers and with the industrial environment.
Description
Keywords
Robótica industrial Automação industrial Controlo Controlador lógico programável Robô paralelo Segurança Fanuc Omron Sensorização Montagem Pick and place Industrial robotics Industrial automation Control Programmable logic controller Parallel robot Security Sensors Assembly