MPR027 - GROUP 3 - BIKE PUMP PROJECT

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HITACHI A3020

In our cell we had acces to two robots. One of them was a Hitachi which is a SCARA robot. The Hitachi is able to move in the x-, y- and z-plane. This type of robots is mainly used for assembling task in the production. Programming the Hitachi was not that difficult. In order to program the robot you just move the robot to a point you want it to go to and then press "add-teach". You can choose how you want the robot to move between the different points in the program aswell as you can choose in what speed the robot should move. At a point you can choose what conditions that is to be fullfilled for example

you can put in a timer or you can close/open the grippers. The robots have a number of out put / in put siganals which it use to comunicate with the PLC, which recives or send signals to the Hitachi. This communication is necessary in order to create a "dialog" between the Hitachi and the rest of the cell. In order to make the Pump we had to make three different programs for the Hitach. One for the drilling and tapping of the cylinder, one for just the package plate and one for the package plate and the rapair tool kit. These three different program were put into one JOB. In the JOB different conditions were set in order to make the Hitachi to WAIT for different signals from the PLC to perform the different programs. In the JOB we also used some logical expressions like IF, THENE and ELSE in order to choose the right program depending on what parts the finished product was to consist of. As earlier mentioned the Hitachi was quite easy to program but there was one limitation. The hand culdn`t be turned which lead to some limitation in placing the magazines and fixtures on the landscape.

The screwer is nessasary for retreaving the screw from the "Snail" and inserting the screw into the tapped whole made made by "Rocco".  The most difficult part off using this tool was aligning the screw with the drilled hole.  Because of robot position error in both robots, and error in the positioning of the screw bit in the screwer itself, getting the two to line up consistantly was a project in itself.