Pneumatski manipulator za izbjegavanje prepreka na pokretnoj traci

undergraduate thesis

• Title (english): Pneumatic manipulator for obstacle avoidance on conveyor belt
• Author: Ante Ivanković
• Mentor: Željko Šitum (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2023-09-28, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering; General Mechanical Engineering (Construction)

Abstract

Ovaj završni rad opisuje projektiranje, implementaciju i funkcionalnost eksperimentalnog
modela koji se sastoji od pneumatskog manipulatora i pokretne trake. Zadatak modela je da se
predmeti s pokretne trake, koje postavlja korisnik, očitaju senzorom te da se na osnovu toga
pneumatski manipulator pomakne u odgovarajuću poziciju.
Na početku rada je dan pregled osnovnih informacija o pneumatskom i transportnom sustavu,
s tim da su opširnije opisani elementi koji su korišteni u radu, a to su višepoložajni pneumatski
cilindar i pokretna traka.
Eksperimentalni model je kod projektiranja podijeljen na komponente vezane uz transportni i
pneumatski sustav. Za funkcionalnost transportnog sustava izrađena je konstrukcija i odabrani
potrebni elementi. Kako bi se osiguralo adekvatno prianjanje pokretne trake na bubnjeve,
napravljen je mehanizam zatezanja trake sa navojnom šipkom. Elektromotor je odabran da
preko spojke i zupčastog remena pokreće traku. Što se tiče pneumatskog sustava, izrađena je
potporna konstrukcija odabranog pneumatskog cilindra i njegov spoj na glavni predmet, a to je
autić. Za detektiranje predmeta zaduženi su infracrveni senzori pozicionirani iznad pokretne
trake.
Poveznica između transportnog i pneumatskog sustava je upravljački uređaj Controllino koji
upravlja gibanjem pneumatskog cilindra i pokretne trake. Pokretna traka prenosi prepreke koje
korisnik postavlja te ih senzor očitava i šalje signal Controllinu. Na osnovu tog i prijašnjih
signala određuje se potrebna pozicija pneumatskog cilindra kako bi se izbjegla prepreka.
Regulacija višepoložajnog pneumatskog cilindra obavlja se uz korištenje elektromagnetskog
razvodnika, a položaj cilindra se provjerava pomoću elektroničkog davača signala, što
predstavlja povratnu vezu regulacijskog kruga.
Izrađeni eksperimentalni model može se nadograditi tako što se koristi obrnuta situacija od one
u ovom radu, odnosno da se pomoću nadograđenog vizijskog sustava hvataju određeni predmeti
s pokretne trake. Industrijsku primjenu ovakav sustav može pronaći u procesu sortiranja
predmeta s pokretne trake, čime bi se zamijenio monotoni i iscrpljujući ljudski rad.

Abstract (english)

This undergraduate thesis describes design, implementation and funcionality of the
experimental model that consists of pneumatic manipulator and conveyor belt. Task of the
model is to detect user-placed objects on the conveyor belt and correspondingly set the
pneumatic manipulator in the adequate postion.
Basic information about pneumatic and transportation system are given at the beggining of the
thesis, considering that the elements from the model are described in more detail, and those are
multiposition pneumatic cylinder and conveyor belt.
Experimental model is divided to components relatated to transportation and pneumatic system.
Essential design is made and required elements are selected for the funcionality of
transportation system. To secure adequate friction between conveyor belt and the rollers,
tightening mechanism with threaded rod is constructed. Motor is selected to power conveyor
belt through coupling and timing belt. Regarding pneumatic system, supporting structure of the
multiposition pneumatic cylinder and its connection to the main object, i.e. toy car, is
constructed. Obstacle detection is executed by infrared sensors positioned above the conveyor
belt.
Connection between transportation and pneumatic system is the control device Controllino
which is responsible for motion control of the pneumatic cylinder and conveyor belt. Coneyor
belt transfers user-positioned obstacles, sensor detects them and sends signal to Controllino.
According to that and previous signals, required pneumatic cylinder position to avoid the
obstacle is determined. Multiposition pneumatic cylinder is controlled using solenoid valves
and the position of the cylinder is checked using actuator position sensor, which represents
feedback of the closed-loop control.
The constructed experimental model can be upgraded using the reverse logic of the one used in
this thesis, i.e. specific objects from the conveyor belt, that can be detected using more advance
vision system, can be picked, manipulated and organized. Industrial application of that system
can be in object sorting, thus replacing monotonous and exhausting human work.

• Keywords: pneumatski cilindar; pokretna traka; mehatronički sustav; izbjegavanje prepreka
• Keywords (english): pneumatic cylinder; conveyor belt; mechatronic system; obstacle avoidance
• Language: croatian
• URN:NBN: urn:nbn:hr:235:991552
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2023-09-27 22:52:49