Electro-pneumatic Cell

Electropneumatic Cell for Classification

Maqueta 4 Tanques

This electro-pneumatic panel simulates an assembly line. Component parts move along the assembly line and they are subject to different manufacture processes (drilling simulation, removal of defective components, etc). The plant is composed of a series of pneumatic components with magnetic sensors and solenoid valves, as well as a conveyor belt controlled by an inverter. Registered users can remotely interact with the actuators of the panel, check the current state with a webcam, visualize historic data and load pre-defined strategies, etc.

SUPPRESS research group © from University of León designed and developed this system.

Content

The plant has a range of pneumatic components with magnetic sensors and solenoids as well as a conveyor belt controlled by a drive.

The components are:

  • ABB robot and controller. It consists of two structures: a robotic arm and the control cabinet.
  • Conveyor belt which includes:
    • Double acting cylinders
    • Photoelectric sensors
    • Webcam for computational vision
  • Pneumatic manipulator.
  • Classification ramp with 3 lanes for 3 types of pieces. Designed for a queues control system.

Fact Sheet

Fact sheets of the devices:

 ABB components.
       Robot IRB 1400.
 Schneider Electric components.
       Telemecanique Altivar 71 Variable speed drives. 
       PLC Telemecanique Modicon M340 for Utilities.
       PLC TSX57 premium for Control.
       Advantys STB Single Island.
       I/O modules for STB island.
 Actuators
      Combined linear and rotary actuator: MRQBS32-10CB
      Rotary table with rack and pinion: MSQB10A
      Parallel gripper: MHL2-100
      Double effect cylinder: CD85N25-100C-B
 SMC components.
       Pneumatic cylinder CD85N25-100C-B, double acting.
       Block of 10 Solenoid Valves (with valves SY5220-5LOU, SY5120-5LOU, SY3160-5LOU, SY3260-5LOU)
       Vacuum Unit.
       Magnetic sensors for cylinders D-H7A2, D-F79, D-A93.
       Soft Start-up Valve.
       Valve for general circuit.
       Pressure switch.
 Omron components.
       Inductive sensors E2A
       Photoelectric sensors E3F2.

Interactive Zone

Pictures Gallery



CONVEYOR BELT
The Conveyor belt is a system that allows us to move the boxes from the point where the robot deposits them to the point where the manipulator takes care of them. It is constructed with aluminum. In the picture, you can see all the subsystems mounted on the conveyor belt.


CONVEYOR MOTOR
Induction motor (0,12 Kw, 220/380 V, 0,76/0,44 A, cosφ=0,75, 1515 rpm) controlled by an inverter that rotates the roller causing the movement of the conveyor belt.


MANIPULATOR MOTORS
The linear translation table, where is mounted the pneumatic arm, has a worm screw in its horizontal axis on which you can slide a vertical axis also equipped with a worm screw that is attached to the pneumatic arm. Each of the screw worms is mechanically coupled to a three-phase induction motor, whose layout and basic features are seen in the image.


RELAYS
Group of four relays connected to the output of a drive that allow us to connect the two motors of the manipulator to this drive, thus allowing the movement in two dimensions. The only drawback of the system is that it does not allow simultaneous movements of both axes of the manipulator. The relays are designed to support effective currents of up to 8 A.


PNEUMATIC ACTUATORS
Double effect pneumatic cylinders that allow us to move the box perpendicular to the movement of the tape. The cylinders are provided with a chamber divided in two parts by a piston that generates a linear motion by means of the introduction of compressed air. Pressure and speed are adjustable.


SOLENOID VALVES
Group of Solenoid Valves controlled electrically by a relay, to control the passage of compressed air to one of the two parts of the actuator chamber.



PHOTOELECTRIC SENSORS
Photoelectric Sensors E3F2-DSIOC4 responsible for detecting what type of box has arrived to the conveyor belt for further processing. They are placed right in the position where the robot puts the boxes on the conveyor belt, and therefore, when it starts, the fate of the box is determined.



BAND ASSEMBLY SENSORS
Band assembly sensors DH7A2 installed on each pneumatic actuator that allow us to control the time to retract the cylinder to produce a moving subject.



MAGNETIC SENSORS
D-A93 magnetic detectors consist of an electrical relay that is activated by the presence of a metallic element as the actuator piston. Let you know if the stem is in the desired position or not by a binary signal. In our application will mount two detectors D-A93 that will allow us to know the status of the cylinder.



MANIPULATOR GRIPPERS
Parallel grippers that allow us to take the box to transport it. It has parallel rods to prevent rotation and a Y-59B sensor to determine its status (open or closed).



DRIVES
Set of two drives VD 0.37. One controls the speed of the motor that moves the Conveyor Belt, and the other to control the speed of the two motors of the manipulator, which can be done by a group of four relays that allow the entry into operation of either motor non-simultaneously.



SCHNEIDER PLC
Schneider PLC TSX Premium P57, which we have added several additional modules, responsible to control the entire system. The PLC is responsible to receive and send all the control signals to the other systems of the model, so that everything works according to the strategy implemented. The peripheral elements are connected to the PLC by a Modbus-TCP/IP network.