This script comes from a stage done in Festo SpA, a leading company in industrial automation, where it was possible to develop a standalone screwing station controlled in torque, speed and position. The choice to design a purely electric robot is triggered by the fact that in the industrial food&beverage, the machines that are installed for the capping are purely mechanical, and then we tried to design something that would be innovative and easy to install. In the following script are reported the steps that have allowed us to achieve the goal, from planning to design to implementation. Several programs were used: from 3D design using the PRO / E, the dimensioning of the equipment and the theoretical determination of the motion profiles by means PositiongDrives, the parametric settings of the electric drives through FCT, the programming of the smart camera with CheckOpti, the programming of the touch panel by means the FEDdesigner and finally to write the program in environment CoDeSys. Many of these programs have been developed by Festo. For the dimensioning of the components two types of approaches have been used: one theoretical and one practical. The first was based on the theoretical calculation of torque and inertial forces developed by the system and on that basis have been chosen the appropriate components, the second approach is based on the use of software, which allowed for a cross-check on the correct choice made by means the theoretical procedure. The communication protocols used are the CANopen and the Ethernet; the first was used for data transfer between the master (PLC) and slave (electric drives) and the second for data transfer between PLC and: electric drives, laptop, touch panels and smart-camera. The smart camera was installed to check the quality of the screw driving. After the operation a picture of the cap is taken and judge GOOD or BAD by the camera; this information is sent to the PLC via Ethernet, to proceed for the following steps in a complete production line. The touch panel has the function to start and stop the movement of the robot without work on the program drawn up in CoDeSys. In conclusion, a system of screwing purely electric is designed and implemented, with compact size, high accuracy, speed and high acceleration and high modularity; this has allowed us to achieve the goal. Finally, self-critical observations were made for future developments.
Questo elaborato nasce da uno stage svolto in Festo SpA, azienda leader nel settore dell’automazione industriale, dove è stato possibile sviluppare un robot di avvitatura stand-alone, controllato in posizione, velocità e coppia nel motion control. La scelta di progettare un robot puramente elettrico è scaturita dal fatto che nel settore industriale food&beverage, i macchinari, che sono installati per il capping sono prettamente meccanici, allora si è cercato di progettare un qualcosa che potesse essere innovativo e di facile installazione. Nel seguente elaborato, sono riportati i procedimenti inerenti alla pianificazione mediante una WBS e alla progettazione hardware e software. Diversi sono stati i programmi utilizzati: dalla progettazione 3D mediante il PRO/E, al dimensionamento delle apparecchiature e alla determinazione teorica dei profili motion mediante PositioningDrives, al settaggio parametrico degli azionamenti attraverso FCT, alla programmazione della smart-camera del sistema vision mediante CheckOpti, alla programmazione del touch panel mediante il FED designer e infine alla scrittura del programma in ambiente CoDeSys. Per il dimensionamento dei componenti sono stati utilizzati due tipi di approcci: uno teorico ed uno pratico. Quello teorico si è basato sul calcolo delle coppie e delle forze inerziali sviluppate dal sistema e su tali basi, si sono scelti i componenti adeguati; quello pratico si è basato sull’utilizzo di software, i quali hanno permesso una verifica incrociata sulla corretta scelta fatta mediante la procedura teorica. I protocolli di comunicazione utilizzati sono il CANopen e l’Ethernet; il primo è stato utilizzato per il trasferimento dati tra il master (PLC) e lo slave (azionamenti) e il secondo per il trasferimento dati tra PLC e: azionamenti, PC, touch panel e smart-camera. La smart camera, componente principe del sistema di visione, è stata installata al fine di controllare la qualità dell’avvitatura mediante lo scatto di una fotografia al momento opportuno. L’immagine processata è inviata per via Ethernet al PC, fornisce un messaggio di GOOD o BAD del pezzo in esame. Il touch panel ha la funzione, di avviare e stoppare la movimentazione del robot senza che si vada a intervenire sul programma stilato in CoDeSys. In conclusione si è progettato e realizzato un sistema di avvitatura prettamente elettrico, con ingombri ridotti, precisione elevata, velocità e accelerazioni sostenute e alta modularità, tutto questo ha permesso di raggiungere l’obiettivo prefissato. Infine, sono state fatte osservazioni autocritiche per eventuali sviluppi futuri.
Pianificazione, progettazione e realizzazione di un robot di avvitatura stand-alone, controllato in posizione, velocità e coppia nel motion control
NESCA, VITO NICOLA
2013/2014
Abstract
This script comes from a stage done in Festo SpA, a leading company in industrial automation, where it was possible to develop a standalone screwing station controlled in torque, speed and position. The choice to design a purely electric robot is triggered by the fact that in the industrial food&beverage, the machines that are installed for the capping are purely mechanical, and then we tried to design something that would be innovative and easy to install. In the following script are reported the steps that have allowed us to achieve the goal, from planning to design to implementation. Several programs were used: from 3D design using the PRO / E, the dimensioning of the equipment and the theoretical determination of the motion profiles by means PositiongDrives, the parametric settings of the electric drives through FCT, the programming of the smart camera with CheckOpti, the programming of the touch panel by means the FEDdesigner and finally to write the program in environment CoDeSys. Many of these programs have been developed by Festo. For the dimensioning of the components two types of approaches have been used: one theoretical and one practical. The first was based on the theoretical calculation of torque and inertial forces developed by the system and on that basis have been chosen the appropriate components, the second approach is based on the use of software, which allowed for a cross-check on the correct choice made by means the theoretical procedure. The communication protocols used are the CANopen and the Ethernet; the first was used for data transfer between the master (PLC) and slave (electric drives) and the second for data transfer between PLC and: electric drives, laptop, touch panels and smart-camera. The smart camera was installed to check the quality of the screw driving. After the operation a picture of the cap is taken and judge GOOD or BAD by the camera; this information is sent to the PLC via Ethernet, to proceed for the following steps in a complete production line. The touch panel has the function to start and stop the movement of the robot without work on the program drawn up in CoDeSys. In conclusion, a system of screwing purely electric is designed and implemented, with compact size, high accuracy, speed and high acceleration and high modularity; this has allowed us to achieve the goal. Finally, self-critical observations were made for future developments.| File | Dimensione | Formato | |
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https://hdl.handle.net/10589/98024