Computer Inegrated Manu presentation.pptx

CIM

1. INDUSTRIAL ROBOTS, CONVEYORS And AGVS Presented by:- Arham Khan M.Tech (CAD/CAM) 13SCME201004

2. END PULLEY END PULLEY SNUB PULLEY BEND PULLEY RETURN IDLERS CARRYING IDLERS GRAVITY TAKE-UP TRIPPER SKIRT BOARD IMPACT IDLERS DISCHARGE HOOD SCRAPER BELT CLEANER

3. Introduction A reprogrammable and multifunction machine designed to move materials, tools or specialized instruments, by programmed movements to carry out a variety of tasks. An industrial robot is defined by ISO as an automatically  controlled, reprogrammable, multipurpose manipulator programmable in three or more axes .

4. Characteristics of industrial robot Mobility:  It possesses some form of mobility. Programmability:  It can be programmed to accomplish a large variety of tasks. After being programmed, it operates automatically. Flexibility:  It can operate using a range of programs and manipulates in a variety of ways. 

5. Cont.. Sensors:  On or around the device that are able to sense the environment and give useful feedback to the device. Mechanical capability:  Enabling it to act on its environment rather than merely function as a data processing or computational device

6. Robots Components The manipulator. The sensors. The control unit. The power convert unit.

7. Cont.. The manipulator : It constitutes the mechanical structure of the robot Classes of kinematic pairs: Revolution pairs. Prismatic pairs.

8. Cont.. The sensors: A  sensor  is a converter that measures a physical quantity and converts it into a signal which can be read by an observer or by an instrument. Classification: - 1> Internal sensors 2>External sensors

9. Cont.. The Unit Control: Functions Beginning and end of the movement of the individual components of the manipulator in a sequence of specified points. Data is stored in its memory, about the position and sequence of movements. It permits the robot to interact with the environment by means of sensors.

10. Cont.. Power conversion Unit : Its mission is to provide the necessary energy to the engines. It can be a power amplifier in the case of the systems moved by servos, or it can be a compressor in the case the robot uses pneumatic o hydraulic system

11. Classification Classification based on the mechanical configuration of the robot Classification based on the type of control.

12. Classification cont.. Robots with cylindrical coordinates A robot with cylindrical coordinates is a horizontal arm assembled on a vertical column and this column is on a revolving base. The arm can stretch or contract, it can also go up or down along the column and all the set can turn around the base.

13. Classification cont..

14. Classification cont.. Robots with spherical coordinates A robot with spherical coordinates presents a telescopic arm that can pivot in a vertical plane and turn in a horizontal plane around the base

15. Classification cont..

16. Classification cont.. Robots with articulated arms They are an evolution of previous ones. It can be divided into three subtypes. Spherical. Parallelogram. Cylindrical

17. Classification cont.. Spherical :- All the bars can perform a rotation movement in respect of the previous one. Advantages: the robot is able to reach points that are situated near the base, avoiding obstacles that can be situated inside the work field. Parallelogram:- In this subtype the top part of the arm is replaced by an only rigid solid by a close kinematical chain with a form of parallelogram. Advantage: this configuration allows the robot to situate the engines near or even in the same base. This affects the weights and the inertias supported by the manipulator favorably

18. Classification cont.. Cylindrical :- The corresponding bar to the r axis has been replaced by an open kinematical chain formed by several bars joint together by revolutions pairs. These robots are more precise and faster, but the vertical reach is limited.

19. Classification cont.. Robots with Cartesian coordinates Projection:- These robots have their arm connected to a column and this is fitted onto the base. The movements are restricted in the x, y, z directions in the Cartesian space. They are not very rigid but their work space is less limited than in others type. They are very precise and they have a good repeatability. The problem is that some movements are very difficult to do and they have ceased to be produced

20. Classification cont.. Portico type :- This type is used when we wish to move a very heavy load with great precision. These robots are fitted on the ceiling. They are quite rigid but their work space is quite limited.

21. Classification cont.. Classification based on the kind of control – Not servo controlled- They are the simplest. The main characteristic is that their axes are in movement until it achieves its aim. There are only two positions for each individual axis. When the movement has started, it won’t stop until it reaches the preset end, it is impossible acting over the intermediates points .

22. CONTROL SYSTEM SENSOR PROCESS ENTRY EXIT DESIRED STATE FOR THE EXIT

23. Classification cont.. Servo controlled- High storage capacity. The terminal element can have one of two types of movement: point to point and continuous trajectory. Inside the physical limits, the precision of the position can be modified fiddling with the amplifiers of the servo control system

24. Applications Soldering Materials Applications Rectified Maintenance Assembly Operations Inspection Smelting Cut

25. Conveyors Conveyor- a mechanized device used to move materials in relatively large quantities between specific locations over a fixed path .

26. END PULLEY END PULLEY SNUB PULLEY BEND PULLEY RETURN IDLERS CARRYING IDLERS GRAVITY TAKE-UP TRIPPER SKIRT BOARD IMPACT IDLERS DISCHARGE HOOD SCRAPER BELT CLEANER

27. Different types of conveyors Rollers Chain Portable Vibrating Screw/ spiral Belt overhead

28. Rollers A roller track for a storage rack or roller conveyor, comprising a wall arrangement, and a longitudinally-extending array of freely rotatable roller units supported on the wall for supportive engagement with a load. The roller units being disposed for rotation about generally parallel horizontal axes which are horizontally spaced along a longitudinally-extending conveying direction.

29. Chain Chain-A conveyor on which material is transported along solid pans by the scraping action of crossbars that are connected by chains. Chain conveyors use belts or rollers to move objects . Can handle loads of up 20,000 lbs.

30. Portable Portable conveyors are used primarily for applications involving mobility and space is a high priority. Portable conveyors are very versatile Loads of up to 1000lbs (depends on the angle) Can fold up 5-10ft and extend up to 17ft

31. Vibrating Vibrating conveyor’s operation is typically based on the natural frequency principle. At the natural frequency, the conveyor will vibrate indefinitely with only a small energy input. Once the drive initiates the conveyor's vibration, the supporting springs, by alternately storing and releasing most of the required energy, help maintain constant motion under the conveyed load.

32. Screw/Spiral Spiral conveyors are used mainly for heating, cooling or accumulation. Screw conveyors use a rotating screw in a channel or tube to move material. Primarily run on a continuous motor that is simply on or off. Used in the pharmaceutical, food, and manufacturing industries.

33. Belt Conveyor belts are used in a wide variety of material transport applications such as manufacturing, food processing, and heavy industry. Belt Width ranges from 12” to 120” Belt Speeds determined by loads and speed required.

34. Over head Overhead Conveyor Systems are typically used to convey unit loads in a variety of industrial applications, such as: Painting - Electrostatic, powder coating, fluidized bed, dip and conventional spray. Washing - Parts and dunnage . Oven - Pre-heat, baking, drying, flash off and curing

35. Application A wider range of material can be handled which pause problems in other transportation means. Higher capacity can be handled than any other form of conveyor at a considerably lower cost per tone kilometer. Longer distances can be covered more economically than any other transportation system.

36. Limitations The loading and transfer points need to be properly designed. Numbers of protective devices have to be incorporated to save the belt from getting damaged by operational problems. The belt needs higher initial tension (40-200% of useful pull).

37. AUTOMATED GUIDED VEHICLES AGV is a material handling system that uses independently operated, self-propelled vehicles guided along defined pathways

38. Types Driverless trains AGV’ s pallet trucks Unit load carriers

39. Driverless trains It consists of a towing vehicle that pulls one or more trailers to form a train. This type is applicable in moving heavy pay loads over large distance in warehouses or factories with or without intermediate pickup and drop off points along the route. It consists of 5-10 trailers and is an efficient transport system.

40. AGV Pallet Trucks:- Pallet trucks are used to move palletized loads along predetermined routes. The capacity of an AGV pallet truck ranges up to several thousand kilograms and some are capable of handling two pallets. It is achieved for vertical movement to reach loads on racks and shelves

41. Unit load carriers These are used to move unit loads from one station to another. It is also used for automatic loading and unloading of pallets by means of rollers. Load capacity ranges up to 250 kg or less. Especially these vehicles are designed to move small loads.

42. Why consider AGVs? Reduces the labor cost. Flexible. Intelligent. Time consuming. Can significantly reduce production & warehouse costs. Transforming the materials handling industry.

43. Types of navigation in AGV’S Wired navigation Guide tape navigation Laser target navigation

44. Thank you