Collectıng Robot Desıng
Collectıng Robot Desıng The chassis of the collecting robot allows the walking cart to move back and forth. A chassis for the robot’s walking car is also the chassis that keeps the robot on the ground and balances it. The chassis of the collecting robot can be designed in different ways. Chassis length varies depending on the presence of forklift fork opening system in the facility. If there is no forklift fork opening system in the facility, the robot should work in 2 positions, if there is a forklift fork opening system, the robot should work in 3 positions. The chassis length varies accordingly.
The width of the chassis should be designed according to the width of the blocks to be collected. In block machines, products are stacked squarely for convenience and savings during transportation. In 12 and 18 block machines, the pressed block sizes vary, but are stacked approximately 1200mm x 1200mm. It is designed in such a way that it can tighten these dimensions of the jaw part of the chassis of the robot and not to disturb the appropriate mechanical strength and balance by taking into account the walking speeds and jaw clamping weights of the walking car and by making the necessary analyzes. A demountable platform has been designed on its sides, which can be placed in both directions according to each area and settlement, in order to facilitate maintenance and breakdowns on the collecting robot chassis and walking cart.
. 4.2 collecting Robot Walking Trolley Collecting robot walking cart provides back and forth movement of the robot. The cycle time of the block machine varies between approximately 15-25 seconds. The designed collecing robot must complete all its movements before this cycle time and wait in a ready position on the pallet. The collecting robot walking car moves back and forth approximately 4800 mm. For the movement of the chassis, there is a square wheel track on the robot chassis and 4 wheels with roller bearings on the inside of the walking car that can rotate easily.
At the same time, there are two racks on the robot chassis. It is designed to be adjustable after the wears on the pinion gear walking car that will move in the rack and on the walking wheels over time. Gearmotor and gear selection has been made in accordance with the machine cycle. The motor control is designed to be the driver for speed adjustment and soft start and soft stops in the forward-backward movement of the walking car. Laser sensor will be used for forward-backward movement.
In case of a possible malfunction or electrical problems, mechanical stops are designed as a stopper in the forward-backward positions. Clamping Robot Clamping Jaws and Chassis In block machines, when the blocks come out of the machine, the blocks come out with a gap in 2 axes due to the mould walls. and it is completed to 18 blocks.
In these cases, the gap occurs on a single axis. While collecting the blocks, these gaps are collected by squeezing thanks to the clamping jaws of the picking robot and stacked on top of each other. The clamping jaws of the collecting robot consist of 4 jaws that squeeze the blocks in 2 axes.
The opening distances of the clamping jaws of the collecting robot are calculated by considering the widths of the blocks, including the blocks and giving the necessary shares. The design of the clamping jaws of the collecting robot can be made in different shapes and mechanics. In order to make the jaw clamping movements, a drive system is required to move the bedding and the jaws. In order for the opposing jaws to work equally and balanced, there must also be a balancing system. Otherwise, the jaw clamps will not tighten the blocks centered.
This drive system is generally hydraulic in the market. However, in our study and project, the clamping jaws are designed differently. Linear rail cars are machine equipment that allows movement on a linear plane. Linear rail and linear cars work interactively with each other. With the help of 4 marbles placed on the linear carriage, they are fixed on the linear rail and up-down, forward-backward movements are performed.
