Top Banner
Care & Feeding of Machines Feeding parts – orientation – singulation Material obtained from: Boothroyd, Automatic Assembly Ken Goldberg, UCB Industrial Engr Oper. Rsrch (http://www.ieor.berkeley.edu/~goldberg/in dex.html) Robert-Paul Berretty, PhD thesis, Utrecht (http://www.library.uu.nl/digiarchief/dip/diss/1940 512/full.pdf)
39

Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Dec 29, 2015

Download

Documents

Blaise West
Welcome message from author
This document is posted to help you gain knowledge. Please leave a comment to let me know what you think about it! Share it to your friends and learn new things together.
Transcript
Page 1: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Care & Feeding of Machines

• Feeding parts– orientation– singulation

• Material obtained from:– Boothroyd, Automatic Assembly– Ken Goldberg, UCB Industrial Engr Oper. Rsrch

(http://www.ieor.berkeley.edu/~goldberg/index.html)

– Robert-Paul Berretty, PhD thesis, Utrecht (http://www.library.uu.nl/digiarchief/dip/diss/1940512/full.pdf)

Page 2: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Designing Parts for Feeding

• Symmetry• Asymmetry• Tangling• Shingling• Wedging

Page 3: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Symmetry

Page 4: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Asymmetry

Page 5: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Tangling

Page 6: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Shingling

Page 7: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Wedging

Page 8: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Designing for Insertion

Page 9: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Inserting Pegs in Round Holes

Page 10: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Screw Thread Mating

Page 11: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Simplifying the Design

Page 12: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Fastener Feeding Requirements

• Orientation– vibrating bowl– non-vibrating feeders

• (see Boothroyd - Assembly Automation)

• Singulation– escapement mechanisms– pick and place

• Vision and Robots• Pre-collated components

Page 13: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Singulation

Page 14: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Singulation

Page 15: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Singulation

Page 16: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Singulation

Page 17: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Variety of Feeding Methods

Page 18: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Gravity Feeders

Page 19: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Bowl Feeders

Page 20: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Bowl Feeders

Page 21: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Bowl Feeders

Page 22: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Bowl Feeders

Page 23: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Bowl Feeders

Page 24: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Bowl Feeders

• Design Factors– Part symmetry

– Selector efficiency E=Fo/Fi

– Recirculation effects

Page 25: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Bowl Feeders - Trap Design

Page 26: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Bowl Feeders - Trap Design

Page 27: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Non-vibrating Feeders

Page 28: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Non-vibrating Feeders

Page 29: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Pick & Place

Page 30: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Pick & Place

Page 31: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Pre-collated Components

Page 32: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Conveyors

• Orienting with pins or fences

Page 33: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Conveyor part orientation - pins

Page 34: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Conveyor part orientation - pins

Page 35: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Conveyor part orientation - pins

Page 36: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Conveyor part orientation - fences

• Any polygonal part can be oriented up to symmetry by a fence design

Page 37: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Conveyor part orientation - fences

Page 38: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Conveyor part orientation - fences

Page 39: Care & Feeding of Machines Feeding parts –orientation –singulation Material obtained from: –Boothroyd, Automatic Assembly –Ken Goldberg, UCB Industrial.

Conveyor part orienting - 3D parts