prikaz prve stranice dokumenta Pneumatski manipulator za izbjegavanje prepreka na pokretnoj traci
  Download
PDF 3.25 MB
undergraduate thesis
Pneumatski manipulator za izbjegavanje prepreka na pokretnoj traci
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. urn:nbn:hr:235:991552
Ivanković, Ante
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Institutional repository: Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb

Cite this document

Ivanković, A. (2023). Pneumatski manipulator za izbjegavanje prepreka na pokretnoj traci (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:991552

Ivanković, Ante. "Pneumatski manipulator za izbjegavanje prepreka na pokretnoj traci." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. https://urn.nsk.hr/urn:nbn:hr:235:991552

Ivanković, Ante. "Pneumatski manipulator za izbjegavanje prepreka na pokretnoj traci." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2023. https://urn.nsk.hr/urn:nbn:hr:235:991552

Ivanković, A. (2023). 'Pneumatski manipulator za izbjegavanje prepreka na pokretnoj traci', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 19 December 2024, https://urn.nsk.hr/urn:nbn:hr:235:991552

Ivanković A. Pneumatski manipulator za izbjegavanje prepreka na pokretnoj traci [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2023 [cited 2024 December 19] Available at: https://urn.nsk.hr/urn:nbn:hr:235:991552

A. Ivanković, "Pneumatski manipulator za izbjegavanje prepreka na pokretnoj traci", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2023. Available at: https://urn.nsk.hr/urn:nbn:hr:235:991552

Metadata
TitlePneumatski manipulator za izbjegavanje prepreka na pokretnoj traci
Title (english)Pneumatic manipulator for obstacle avoidance on conveyor belt
AuthorAnte Ivanković
MentorŽeljko Šitum (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2023-09-28, 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
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:991552
Study programmeTitle: 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 resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence Attribution-ShareAlike 4.0 International (CC BY-SA 4.0) icon
Created on2023-09-27 22:52:49