Automation of a Pick and Place Application using a Customized Robotic Gripper

During my internship at Deeyem CNC, I had the opportunity to contribute to a project conducted by a team of 8 individuals. Our collective responsibility was to automate a pick and place application. Specifically, I was assigned the task of designing the grippers. For a comprehensive overview of the project, please refer to the video provided below

Working of the Automation

The automation module incorporates two sliding mechanisms that are activated when the machine door opens. The first sliding mechanism moves the module in the x-direction to enter the machine. During this movement, two components are loaded onto the gripper's loading station. Once inside, the two unloading stations are lowered by the z-axis slide, allowing the retrieval of machined components. Each station accesses the components due to the gripper module's ability to rotate. Once the components are picked, the other two components are placed on the fixtures to continue the machining cycle. Afterward, the x-direction sliding mechanism retracts, and the two unloaded components are placed in the output bin. This design choice stems from the presence of only two fixtures capable of securely holding the components during the machining process.

The intricate design of every component involved in the automation process can be observed in the below video.There are two sliding mechanisms that are in play one mechanism slides in the x-direction and the other in the z-direction .The sliding mechanism in the x direction allows the gripper assembly to go into the machine and the sliding mechanism in the z-direction allows the gripper to move towards the component.This movenment can be seen in the above video

Gripper Design

As previously mentioned, my main role in this project involved designing the Grippers responsible for the precise handling of components, facilitating their smooth insertion and extraction from the machine.

The gripper module comprises four stations, with two stations dedicated to loading components and the remaining two stations designated for unloading. The entire gripper assembly possesses the ability to rotate along the x-axis, enabling each station to conveniently access the components.This can be seen in the working of the automation (video 1)

The stations are equipped with two jaw grippers actuated hydraulically, each covering 40% of the component's surface area. The intention behind allocating 40% coverage was to ensure efficient and secure gripping of the component by the gripper system.

The below image shows the front view of the Gripper assembly

The Below animation shows the working of the gripper module

Result

Following the introduction of the automation process at Deeyem CNC, the outcomes proved to be productive, leading to a notable 30% increase in output. As a result, the company experienced significant benefits, with operators' responsibilities reduced to solely loading components onto the input station, thereby significantly decreasing the workload of workers.