Diseño e implementación de un sistema pick and place para frutillas mediante protocolo profinet y robot ABB

Abstract

This degree project focuses on the design and implementation of an automated “Pick and Place” system for strawberry automated “Pick and Place” system for the harvesting and handling of strawberries in the CPI Robotics CPI Robotics of the Salesian Polytechnic University. The system uses the ABB IRB 360 robot, which operates with a pneumatic Gripper, a Siemens PLC and a SINAMICS G120X that controls a WEG motor coupled to a conveyor belt. With this, the configuration of the SINAMICS G120X drive is detailed by means of SINAMICS Startdrive, allowing control of the speed and torque of the conveyor belt motor. conveyor belt. Likewise, the integration of the ABB IRB 360 robot was performed, ensuring the communication with the Siemens PLC and correct communication with the Siemens PLC and the correct interaction with the pneumatic gripper to handle the strawberries. the pneumatic gripper to handle the strawberries. Recognizing the presence sensor as a key factor to detect the arrival of products and coordinate detecting the arrival of the products and coordinating the actions of the system. Finally, the programming of the PLC, the robot Finally, the programming of the PLC, the ABB robot and the HMI interface was developed, guaranteeing a continuous continuous operation of the process. In this way, the problem of labor dependence in the strawberry harvesting process is addressed. the strawberry harvest, which entails risks of injury to the workers and difficulties in maintaining product quality, as well as the and difficulties in maintaining product quality, as well as providing the students of the Salesian Polytechnic also provides Salesian Polytechnic University students with hands-on experience in automation technologies, contributing to research in the field of automation.