SLIDE 1
Automated Robotic Cell
Team 07
Nathan Casey (ECE) Josh Tempelman (ME) Michael Bissetta (ECE)
The Team
Alex Keizer (ME)
2/21
Introduction Components Calculations Questions
Automated Robotic Cell Team 07 The Team Alex Keizer Josh - - PowerPoint PPT Presentation
Automated Robotic Cell Team 07 The Team Alex Keizer Josh - - PowerPoint PPT Presentation
Automated Robotic Cell Team 07 The Team Alex Keizer Josh Tempelman Michael Bissetta Nathan Casey (ME) (ME) (ECE) (ECE) Introduction Components Calculations Questions 2/21 Project Change 3+ years of production anticipated on the part
SLIDE 2
SLIDE 3
Project Change
3+ years of production anticipated on the part created by the cell November 16 the OEM notified PQS that the part will be discontinued in Q1 of 2018 PQS has assigned a new project to the team to replace this one OEM SUPPLIER PQS Old Part New Part
3/21
Introduction Components Calculations Questions
SLIDE 4
Old Project Components
2 Haas SL-20 Lathes Fanuc M-16iB/10L End of Arm Tooling Part Dispensing System Part Measurement System Cell Caging and Safety Equipment
4/21
Introduction Components Calculations Questions
SLIDE 5
New System Components
Haas SL-20 Lathes Fanuc M-6iB RJ3iB End of Arm Tooling Part Loading Table Cell Caging and Safety Equipment Robot Mounting Base
5/21
Introduction Components Calculations Questions
SLIDE 6
Old Robotic Arm
Fanuc M-16iB/10L 6-axis 10 kg (22 lb) capacity 1885 mm (6.18 ft) reach Quote received from Antenen Robotics
6/21
Introduction Components Calculations Questions
SLIDE 7
New Robotic Arm
Fanuc M-6iB RJ3iB 6-axis 6 kg (13 lb) capacity 1373 mm (4.50 ft) reach Quote received from Antenen Robotics
7/21
Introduction Components Calculations Questions
SLIDE 8
Old End of Arm Tooling
Rapid Part Change Capability Robot Arm Mounted Modular
8/21
Introduction Components Calculations Questions
SLIDE 9
New End of Arm Tooling
Rapid Part Change Capability Robot Arm Mounted Suction Cups Are Industry Standard Design Norm: Trust
9/21
Introduction Components Calculations Questions
SLIDE 10
Old Part Dispensing System
Designed and built by the team 330 part capacity (2-3/4 hour runtime) 62” x 24-1/2” x 63-1/2” Pneumatic cylinder controlled Gravity fed Single-point pickup
10/21
Introduction Components Calculations Questions
SLIDE 11
New Part Dispensing System
Designed and built by the team 300 part capacity (4 hour runtime) 44” x 44” x 53” Powered from servo to Gearbox, Gear, Ring Bearing Pneumatic Cylinder Fed Single-point pickup Design Norms: Caring and Trust
11/21
Introduction Components Calculations Questions
SLIDE 12
Old Measurement System
Opting to use Keyence probe (GT2-H32) 6 Hz response Mentor recommended a touch-based probe over laser system
www.keyence.com www.cognex.com
12/21
Introduction Components Calculations Questions
SLIDE 13
New Measurement System
None Required!!!!
13/21
Introduction Components Calculations Questions
SLIDE 14
Old System Controller
PLC Controlled
ab.rockwellautomation.com
Fanuc Arm Lathe 1 Lathe 2 Measurement System PLC Part Loader
14/21
Introduction Components Calculations Questions
SLIDE 15
New System Controller
PLC Controlled
ab.rockwellautomation.com
Fanuc Arm Lathe PLC Part Loader
15/21
Introduction Components Calculations Questions
SLIDE 16
Old Cell Caging
CNC CNC Fanuc Robot Velox Post Velox Panel Velox Door 16/21
Introduction Components Calculations Questions
SLIDE 17
New Cell Caging
Light Curtain Door with Safety Relay Gate with Safety Relay 8020 Construction
17/21
Introduction Components Calculations Questions
SLIDE 18
Old Part Dispensing Calculations
Angle of Repose 𝐺 = 𝜈𝑂 Cylinder Force 𝐺 = 𝑄𝐵 𝛽 = tan−1(𝜈)
20 25 30 35 40 45 50 30 35 40 45 50 55 60
Slope of Ramp (Degrees) Angle of Repose
30 Deg. Cut 45 Deg. Cut 60 Deg Cut Repose Requirement Actual Angle
18/21
Introduction Components Calculations Questions
SLIDE 19
New Part Dispensing Calculations
Inertia of Table and Parts
19/21
Introduction Components Calculations Questions
SLIDE 20
New Part Dispensing Calculations
Position, Velocity, Acceleration, Jerk
20/21
Introduction Components Calculations Questions
SLIDE 21
Questions?
21/21
Introduction Components Calculations Questions