Ir al contenido principal

Pinza de chatarra - Diego Arce González 2ºA.R.I.


PINZA COMPLETA




COMPONENTES DE LA PINZA

















CIRCUITO FUNCIONAMIENTO NEUMÁTICO


EXPLICACIÓN DEL FUNCIONAMIENTO

Este tipo de pinza se ha creado para poder mover materiales irregulares, es decir, tipos de materiales que tengan diferentes formas y tamaños. Esta pinza está formada por un cilindro neumático el cual está encargado de accionar las 4 garras por las que está formado el conjunto. Para poder accionar el cilindro se han añadido unos relés que están encargados de accionar eléctricamente la electroválvula y realizar el cambio de entrada y salida del cilindro. Cuando el vástago salga las garras se cierran y cuando el vástago e guarde las garras se abren. Todos estos pasos se han añadido a la programación del robot y realizara los movimientos de acorde a la posición en la que se encuentre el robot, coger material de la tolva y soltarlo encima de una cinta.

Además de todo esto este tipo de pinza está formada por un cardan el cual está encargado de mantener todo el conjunto de la garra en posición vertical para poder trabajar de una manera optima.

PROGRAMA:



MODULE MainModule
            CONST robtarget diego_0:=[[244.40,-13.16,683.34],[0.734642,0.015194,0.677954,-0.0211819],[-1,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_10:=[[224.41,-97.69,683.35],[0.719226,0.13526,0.664496,-0.151209],[-1,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_20:=[[151.71,-192.06,683.35],[0.660807,0.2929,0.611604,-0.321688],[-1,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_30:=[[37.10,-241.92,683.35],[0.556763,0.439357,0.516542,-0.479755],[-1,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_40:=[[-83.88,-229.93,683.35],[0.420173,0.553876,0.391244,-0.602996],[-2,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_50:=[[-106.11,-291.17,634.39],[0.0908235,0.341923,0.656285,-0.66643],[-2,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_60:=[[-133.16,-365.09,617.18],[0.08778,0.351622,0.674627,-0.643067],[-2,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_70:=[[-145.79,-399.58,567.76],[0.0816636,0.369363,0.708148,-0.596178],[-2,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_80:=[[-135.43,-371.42,552.51],[0.0790808,0.376256,0.721283,-0.576133],[-2,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_90:=[[-144.27,-385.31,519.31],[0.073721,0.387628,0.740033,-0.544666],[-2,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_100:=[[-144.27,-385.31,519.31],[0.0737219,0.387627,0.740034,-0.544666],[-2,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_110:=[[-144.59,-386.16,517.72],[0.0735271,0.38813,0.740959,-0.543074],[-2,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_120:=[[-141.14,-377.00,534.61],[0.0756318,0.382664,0.730823,-0.56013],[-2,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_130:=[[-143.76,-383.97,521.92],[0.0740872,0.386832,0.738472,-0.547294],[-2,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_140:=[[-140.45,-375.19,537.78],[0.0760594,0.381624,0.728821,-0.563381],[-2,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_150:=[[-141.87,-378.95,531.16],[0.0752352,0.383832,0.732906,-0.556652],[-2,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_160:=[[-138.33,-369.56,547.26],[0.0772498,0.37838,0.722807,-0.573071],[-2,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_170:=[[-140.30,-374.77,538.50],[0.0761626,0.381387,0.728353,-0.564132],[-2,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_180:=[[-136.27,-364.09,556.02],[0.078356,0.375286,0.717062,-0.582102],[-2,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_190:=[[-130.29,-348.21,579.25],[0.0813256,0.366607,0.700938,-0.606359],[-2,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_200:=[[-104.78,-280.48,653.65],[0.0914154,0.332452,0.637314,-0.689166],[-2,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_210:=[[-76.94,-206.57,706.30],[0.0996617,0.297669,0.572346,-0.757549],[-2,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_220:=[[73.10,-208.86,698.98],[0.537857,0.314772,0.606561,-0.493673],[-1,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_230:=[[146.37,-165.96,698.98],[0.622573,0.192555,0.655678,-0.381329],[-1,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_240:=[[153.86,-141.74,612.78],[0.586051,0.201221,0.726002,-0.298288],[-1,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_250:=[[170.97,-171.15,632.15],[0.579985,0.216099,0.721491,-0.310435],[-1,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_260:=[[230.81,-91.69,596.27],[0.595449,0.0683548,0.780911,-0.175913],[-1,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_270:=[[248.36,1.40,596.27],[0.618068,-0.0818355,0.779615,-0.0591201],[0,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_280:=[[177.60,50.25,638.49],[0.671719,-0.371637,0.616426,-0.17521],[0,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_290:=[[140.50,119.70,638.49],[0.693634,-0.494584,0.522955,-0.0278855],[0,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_300:=[[155.16,163.89,759.80],[0.773913,-0.460469,0.434675,0.00924494],[0,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_310:=[[178.80,238.53,769.54],[0.768981,-0.487784,0.40965,0.054052],[0,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_320:=[[178.88,238.82,767.98],[0.73979,-0.411957,0.49683,0.190164],[0,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_330:=[[100.81,133.72,839.70],[0.866611,-0.283536,0.348542,0.217049],[0,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_340:=[[209.74,39.17,741.41],[0.808006,-0.178054,0.552516,-0.100738],[0,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_350:=[[286.97,4.06,698.56],[0.745228,-0.145311,0.631342,-0.157886],[0,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_360:=[[217.41,-102.70,683.50],[0.71695,0.145757,0.661994,-0.162793],[-1,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_370:=[[158.91,85.17,638.58],[0.686757,-0.436061,0.572578,-0.101832],[0,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_380:=[[139.87,113.58,638.65],[0.693778,-0.48532,0.531218,-0.0307332],[0,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_390:=[[80.67,161.11,638.65],[0.684682,-0.586341,0.417051,0.116118],[0,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_400:=[[66.89,136.91,651.66],[0.711516,-0.565736,0.398212,0.122946],[0,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_410:=[[21.04,150.92,651.66],[0.683308,-0.621345,0.304238,0.233367],[0,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_420:=[[26.45,186.89,708.24],[0.70397,-0.600619,0.293494,0.239884],[0,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_430:=[[4.83,255.19,706.91],[0.663499,-0.643106,0.266982,0.273688],[0,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_440:=[[4.83,255.19,706.91],[0.663499,-0.643106,0.266982,0.273688],[0,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_450:=[[2.88,178.40,745.11],[0.717951,-0.583035,0.24046,0.294613],[0,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_460:=[[84.46,157.17,745.11],[0.767226,-0.509731,0.371383,0.116678],[0,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_470:=[[156.65,135.28,697.87],[0.727167,-0.471254,0.498682,-0.0215325],[0,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget diego_480:=[[186.29,90.20,697.87],[0.718158,-0.402237,0.55585,-0.116126],[0,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget jose_10:=[[184.03,-7.03,489.63],[0.885872,0.00589275,0.463817,0.00835356],[-1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget jose_20:=[[127.99,-135.19,487.55],[0.821449,0.195734,0.429849,-0.319591],[-1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget jose_30:=[[140.14,-182.45,437.29],[0.885349,0.126476,0.242366,-0.376058],[-1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget jose_40:=[[142.40,-217.50,342.91],[0.822036,0.171399,0.326766,-0.433709],[-1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget jose_50:=[[147.22,-224.72,314.53],[0.78586,0.214554,0.406212,-0.413984],[-1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget jose_60:=[[124.13,-189.04,437.07],[0.859173,0.103724,0.2081,-0.455804],[-1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget jose_70:=[[224.21,-29.56,437.07],[0.970933,0.00768316,0.23239,-0.056792],[-1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget jose_80:=[[-8.64,224.96,438.64],[0.669977,-0.170289,0.153331,0.706132],[1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget jose_90:=[[-9.83,262.52,351.30],[0.63036,-0.289574,0.27156,0.667119],[1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget jose_100:=[[-7.83,199.21,471.73],[0.680807,-0.115977,0.0996525,0.716324],[1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget Adri_10:=[[188.61,-0.30,493.22],[0.898147,-0.00715845,0.439426,-0.0136376],[-1,-1,3,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget Adri_20:=[[1.81,283.59,601.65],[0.677849,-0.218016,0.192484,0.675233],[0,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget Adri_30:=[[3.81,398.06,480.37],[0.627157,-0.334228,0.312813,0.63017],[0,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget Adri_40:=[[4.15,417.32,433.31],[0.606538,-0.369165,0.349244,0.611439],[0,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget Adri_50:=[[1.50,264.14,380.26],[0.567284,-0.425211,0.407946,0.575295],[0,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget Adri_60:=[[1.24,249.08,395.21],[0.581094,-0.406767,0.388649,0.588067],[0,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget PABLO_10:=[[260.70,0.14,409.91],[0.493547,0.0852557,0.864121,0.0493635],[0,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget PABLO_20:=[[233.18,-72.77,406.67],[0.500675,0.213946,0.838378,-0.0259756],[-1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget PABLO_30:=[[154.52,-242.36,359.07],[0.385117,0.553443,0.724898,-0.141097],[-1,0,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget PABLO_40:=[[171.64,-297.52,387.18],[0.414245,0.559112,0.699618,-0.162266],[-1,0,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget PABLO_50:=[[205.87,-326.79,364.38],[0.395974,0.552072,0.719043,-0.146281],[-1,0,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget PABLO_60:=[[219.61,-359.16,330.63],[0.369559,0.564344,0.724932,-0.139342],[-1,0,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget PABLO_70:=[[257.44,-19.59,409.26],[0.495536,0.118266,0.859956,0.0305329],[-1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget PABLO_80:=[[-15.94,246.53,430.89],[0.324226,-0.557204,0.636601,0.423249],[1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget PABLO_90:=[[-35.36,353.05,392.13],[0.268268,-0.599308,0.660871,0.363471],[1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget PABLO_100:=[[-36.66,366.09,378.81],[0.259055,-0.604458,0.666564,0.351018],[1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget PABLO_120:=[[-6.50,270.01,319.08],[0.304349,-0.694404,0.591063,0.275354],[1,-1,3,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget PABLO_130:=[[-12.50,164.70,391.49],[0.295998,-0.631317,0.631116,0.339878],[1,-1,4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget Edu_20:=[[172.04,-73.72,421.21],[0.964149,0.0389809,0.183029,-0.188145],[-1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget Edu_30:=[[140.31,-138.85,405.26],[0.904133,0.0882608,0.20996,-0.361482],[-1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget Edu_40:=[[65.22,-210.38,351.11],[0.759198,0.210699,0.280838,-0.548046],[-1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget Edu_50:=[[60.03,-193.62,395.62],[0.784788,0.150606,0.201,-0.566591],[-1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget Edu_60:=[[163.68,-119.58,395.62],[0.923062,0.0798137,0.238152,-0.291325],[-1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget Edu_70:=[[187.65,35.38,436.05],[0.947752,-0.0389766,0.300762,0.0989366],[0,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget Edu_80:=[[215.19,40.14,381.96],[0.918914,-0.043166,0.379335,0.0991934],[0,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST dionum dioval1:=0;
            CONST robtarget Edu_90:=[[215.19,40.14,381.96],[0.918914,-0.043166,0.379335,0.0991934],[0,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget Edu_10:=[[175.36,8.56,457.26],[0.958505,-0.0042817,0.283186,0.0324934],[0,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            VAR num reg6:=0;
            CONST robtarget Edu_100:=[[59.03,-200.09,383.25],[0.768465,0.180531,0.214342,-0.575263],[-1,0,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget Edu_110:=[[125.47,-156.31,399.87],[0.879144,0.105905,0.21646,-0.411139],[-1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget Edu_120:=[[285.65,-315.21,500.43],[0.891342,0.0876818,0.199364,-0.397586],[-1,-1,3,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget Edu_130:=[[332.17,-145.91,595.94],[0.973399,0.019933,0.0967646,-0.206722],[-1,-1,3,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget Edu_140:=[[362.24,56.46,595.79],[0.98934,-0.0101099,0.124818,0.0743277],[0,-1,3,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            VAR num i:=0;
            VAR num i1:=0;
            CONST robtarget Edu_150:=[[419.38,69.48,507.36],[0.969185,-0.0199083,0.232966,0.0775317],[0,-1,3,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget Edu_160:=[[443.64,73.49,450.42],[0.952001,-0.0251751,0.295395,0.0761694],[0,-1,3,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget Edu_170:=[[443.64,73.49,450.42],[0.952001,-0.0251751,0.295395,0.0761694],[0,-1,3,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget Edu_180:=[[418.99,69.09,508.21],[0.969423,-0.0197191,0.232109,0.0771726],[0,-1,3,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget Edu_190:=[[323.95,57.27,492.82],[0.96041,-0.0240506,0.265171,0.0819675],[0,-1,3,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget Edu_200:=[[353.81,62.54,428.9],[0.937301,-0.0305579,0.337837,0.0799982],[0,-1,3,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            CONST robtarget Edu_210:=[[74.98,175.84,415.43],[0.811684,-0.110594,0.170191,0.547698],[0,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
            PROC main()
                        IF DI_00=1 THEN
                PABLO;
            ELSE SetDO DO_01,0;
            ENDIF
            IF DI_01=1 THEN
                JOSE;
            ELSE SetDO DO_02,0;
            ENDIF
            IF DI_02=1 THEN
                DIEGO;
   
            ENDIF
            IF DI_03=1 THEN
                ADRI;
   
            ENDIF
            IF DI_04=1 THEN
                MARCOS;
   
            ENDIF
            IF DI_06 = 1 THEN
                EDU;
   
            ENDIF
            IF DI_05 = 1 THEN
                ANDRES;
   
            ENDIF
    ENDPROC
ENDPROC
    ENDPROC
    PROC DIEGO()
        WaitTime 1;
        SetDO DO_00, 1;
        WaitTime 1;
        SetDO DO_00, 0;
        WaitTime 1;
        MoveJ diego_0, v1000, z50, tool0;
        MoveL diego_10, v1000, z50, tool0;
        MoveL diego_20, v1000, z50, tool0;
        MoveL diego_30, v1000, z50, tool0;
        MoveL diego_40, v1000, z50, tool0;
        MoveL diego_50, v1000, z50, tool0;
        WaitTime 1;
        SetDO DO_01, 1;
        SetDO DO_00, 0;
        MoveL diego_60, v1000, z50, tool0;
        MoveL diego_70, v1000, z50, tool0;
        MoveL diego_80, v1000, z50, tool0;
        MoveL diego_90, v1000, z50, tool0;
        WaitTime 1;
        SetDO DO_01, 0;
        SetDO DO_00, 1;
        WaitTime 1;
        WaitTime 1;
        MoveL diego_100, v1000, z50, tool0;
        MoveL diego_110, v1000, z50, tool0;
        MoveL diego_120, v500, z50, tool0;
        MoveL diego_130, v500, z50, tool0;
        MoveL diego_140, v500, z50, tool0;
        MoveL diego_150, v500, z50, tool0;
        MoveL diego_160, v500, z50, tool0;
        MoveL diego_170, v500, z50, tool0;
        MoveL diego_180, v500, z50, tool0;
        WaitTime 1;
        SetDO DO_00, 0;
        MoveL diego_190, v1000, z50, tool0;
        MoveL diego_200, v1000, z50, tool0;
        MoveL diego_210, v1000, z50, tool0;
        MoveL diego_220, v1000, z50, tool0;
        MoveL diego_230, v1000, z50, tool0;
        MoveL diego_250, v1000, z50, tool0;
        MoveL diego_260, v1000, z50, tool0;
        MoveL diego_270, v1000, z50, tool0;
        MoveL diego_280, v1000, z50, tool0;
        MoveL diego_370, v1000, z50, tool0;
        MoveL diego_380, v1000, z50, tool0;
        MoveL diego_390, v1000, z50, tool0;
        MoveL diego_400, v1000, z50, tool0;
        MoveL diego_410, v1000, z50, tool0;
        MoveL diego_420, v1000, z50, tool0;
        MoveL diego_430, v1000, z50, tool0;
        MoveL diego_440, v1000, z50, tool0;
        WaitTime 2;
        SetDO DO_01, 1;
        WaitTime 2;
        SetDO DO_01, 0;
        MoveL diego_450, v1000, z50, tool0;
        MoveL diego_460, v1000, z50, tool0;
        MoveL diego_470, v1000, z50, tool0;
        MoveL diego_480, v1000, z50, tool0;





Comentarios

Publicar un comentario

Entradas populares de este blog

PUENTE GRUA

1. Objetivo El proyecto intenta simular un puente grua impreso en 3D con piezas, programación de arduino y controlado por un mando en una aplicación de un movil. En él queremos realizar la simulación de la elevación y transporte de cargas suspendidas en un gancho. El mecanismo consta de dos movimientos horizontales para el desplazamiento y uno para subir y bajar el gancho. Estos movimientos serán realizados por tres motores paso a paso, los desplazamientos tendrán unos finales de carrera que controlan el final del recorrido por un lado y cuentan los pasos hacia el otro. A continuación veremos  los pasos  seguidos y la evolución del trabajo. 2. Componentes 2.1. Componentes impresos en 3D Para el diseño de componentes hemos usado el software Solid Edge ST9 y la impresión se ha realizado en la LION3D.  Las primeras partes que se han diseñado son la base que hace de soporte para el puente grua y las patas que lo levantan para simular mejor el efecto. Esto es ...
3 comentarios
Leer más

Automatización Elevador de tijera

Objetivo El proyecto que vamos a presentar es un elevador de tijera echo con arduino y una impresora 3D, a continuación vamos a ver los pasos que hemos seguido, y la evolución que ha tenido este proyecto. 1 Proceso Diseño. En primer lugar hemos diseñado la parte mecánica en el programa de diseño 3D ´´Solid edge`` de Siemens, empezando por las partes mas fáciles que en este caso es la tijera El primer problema que nos hemos encontrado es que el diseño pensado era demasiado grande para imprimirlo de una sola vez, para ello la solución que hemos escogido es dividir las piezas para luego ensamblarlas a través de unos encajes cuadrados. Viga 1 tijera En esta imagen se puede ver una de las partes que componen la tijera del elevador donde se ve el encaje de la pieza. Viga 2 tijera Otro de los encajes que hemos creado para el ensamblaje de la tijera.y el soporte exterior cilíndrico con varias maneras de cierre, con un agujero en el final para pasar un eje y cerrar...
Publicar un comentario
Leer más

Herramienta tipo tijera para brazo IRB120 ABB

MEMORIA DE LA HERRAMIENTA TIPO TIJERA CON APERTURA Y CIERRE MEDIANTE SERVO Profesor : Juan Primo Huerta Módulo: Robótica Industrial Ciclo Formativo: Automatización y Robótica Industrial (2018-2019) Centro Educativo: IES de Astorga Alumno: Pablo Álvarez González PRINCIPIO DEL FUNCIONAMIENTO La pinza posee una parte fija , la cual está apretada a la briza del robot mediante dos tornillos . En el otro extremo , tenemos el servo fijado a la propia brida y asociado a su eje tenemos la parte móvil de la pinza . Ambas partes, tienes dos dientes para facilitar el agarre de los diferentes objetos a coger. La orden de apertura la proporciona una placa de Arduino Mega , en la cual debemos programar los grados de cierre y apertura de la misma. Debemos aclarar que el servo necesita una salida PWM(por pulsos) de nuestra placa de Arduino. PARTES QUE COMPONEN LA PINZA -Brida de acople al brazo robótico con hueco para albergar el ser...
Publicar un comentario
Leer más