{"id":115,"date":"2020-05-12T12:11:58","date_gmt":"2020-05-12T12:11:58","guid":{"rendered":"http:\/\/www.tthk.ee\/inlearcs\/?page_id=115"},"modified":"2022-04-04T09:55:33","modified_gmt":"2022-04-04T09:55:33","slug":"2-bending-cycle-description","status":"publish","type":"page","link":"https:\/\/www.tthk.ee\/inlearcs\/2-bending-cycle-description\/","title":{"rendered":"3.\tRobot bending cycle description"},"content":{"rendered":"<div id=\"pl-115\"  class=\"panel-layout\" ><div id=\"pg-115-0\"  class=\"panel-grid panel-no-style\" ><div id=\"pgc-115-0-0\"  class=\"panel-grid-cell\" ><div id=\"panel-115-0-0-0\" class=\"so-panel widget widget_sow-editor panel-first-child panel-last-child\" data-index=\"0\" ><div\n\t\t\t\n\t\t\tclass=\"so-widget-sow-editor so-widget-sow-editor-base\"\n\t\t\t\n\t\t>\n<div class=\"siteorigin-widget-tinymce textwidget\">\n\t<h4><strong>3.1 Production cycle optimization in a robot-cell<\/strong><\/h4>\n<p>In general the <strong>Production Cycle<\/strong> is a time period during which inventories are being turned by the company into finished good.<\/p>\n<p>For the company the decrease of the production cycle is desirable. Such dynamics means that the company is decreasing the amount of time needed for turning its average inventories into finished goods. Short operation cycle allows to decrease the share of fixed expenses in each dollar of manufactured goods and provided services. The production cycle is different for different industries and business segments. For example, the production cycle for the windows manufacturing enterprise would be much shorter, than for the automobile manufacturers. For more precise estimation of the company\u2019s financial condition it is reasonable to compare the company\u2019s production cycle with main competitors.<\/p>\n<p>Production cycle for the whole company is characterized by the total throughput time.<\/p>\n<div><span lang=\"ET\"><img loading=\"lazy\" decoding=\"async\" src=\"data:image\/png;base64,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\" width=\"369\" height=\"59\" \/><\/span><\/div>\n<div>\n<p>T<sub>T<\/sub>\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 - \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 machining time (t\u00f6\u00f6tlemisaeg)<\/p>\n<p>m\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 -\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 number of manufacturing positions in production route (t\u00f6\u00f6tlemispositsioonide arv toote valmistamisel)<\/p>\n<p>T<sub>K<\/sub>\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 -\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 assembly time\u00a0 (koostamisaeg)<\/p>\n<p>k\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 -\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 number of needed\u00a0 positions for assembly fin the production route (erinevate koostamise t\u00f6\u00f6kohtade arv toote valmistamisel)<\/p>\n<p>T<sub>M<\/sub>\u00a0\u00a0\u00a0\u00a0\u00a0 -\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 time for measurements, check time (m\u00f5\u00f5tmise ja kontrolliaeg)<\/p>\n<p>l\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 -\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 number of check positions (erinevate m\u00f5\u00f5tmisoperatsioonide arv)<\/p>\n<p>T<sub>P<\/sub>\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 -\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 time for set-up (paigaldusteks\/seadistustusteks kuluv aeg)<\/p>\n<p>\u03c1\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 -\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 number of set-up operations in the production process (paigaldus-seadistusoperatsioonide arv)<\/p>\n<p>T<sub>R<\/sub>\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 -\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 time for inbound logistics (transpordiaeg)<\/p>\n<p>n\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 -\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 transpordioperatsioonide arv<\/p>\n<p>T<sub>O<\/sub>\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 -\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 idle time\u00a0 (summaarne ooteaeg)<\/p>\n<\/div>\n<p>Manufacturing process is a logical sequence of <strong>production operations<\/strong>. Production operation is connected with a workplace (Cell). Here we consider on the Cell level.<\/p>\n<p><strong>Cycle time<\/strong> for the production operation \u2013 is the period required to complete one operation, or to complete a function, job, or task from started to finish\u00a0 in a certain workplace.<\/p>\n<p>As production tasks are different, different are also the workplaces for fulfilling these tasks, the components of cycle time are depending directly from the character of the duty the workplace is needed to do.<\/p>\n<p>A cycle time analysis is any method that collects and analyzes time data for a process to improve the total process or system. Cycle time determines the robot production rate for the job. The production rate depends a lot from the workplace management. Prerequisites for effective work are created by choosing the right equipment and designing the layout. Cycle time is in tight correlation with the production cycle organisation in the workplace.<\/p>\n<p>A production cycle example for machine tending is given below:<\/p>\n<ul>\n<li>Cycle starts with arm located at position 1<\/li>\n<li>Robot picks up part<\/li>\n<li>Then moves to position 2<\/li>\n<li>Loads part into machine<\/li>\n<li>Returns to position 2 and waits<\/li>\n<li>Moves into machine and gets part<\/li>\n<li>Moves to output conveyor and releases part<\/li>\n<\/ul>\n<p><a name=\"Ben32\"><\/a><\/p>\n<h4><strong>3.2 Bending cycle description<\/strong><\/h4>\n<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-119 size-full\" src=\"http:\/\/www.tthk.ee\/inlearcs\/wp-content\/uploads\/2020\/05\/Picture-2-1.png\" alt=\"\" width=\"954\" height=\"430\" srcset=\"https:\/\/www.tthk.ee\/inlearcs\/wp-content\/uploads\/2020\/05\/Picture-2-1.png 954w, https:\/\/www.tthk.ee\/inlearcs\/wp-content\/uploads\/2020\/05\/Picture-2-1-300x135.png 300w, https:\/\/www.tthk.ee\/inlearcs\/wp-content\/uploads\/2020\/05\/Picture-2-1-768x346.png 768w\" sizes=\"auto, (max-width: 767px) 89vw, (max-width: 1000px) 54vw, (max-width: 1071px) 543px, 580px\" \/><\/p>\n<ul>\n<li>Feeding<\/li>\n<\/ul>\n<p>The entire stock of sheets to be processed is manually or automatically (with the mobile robot, etc) placed on the feeding table (holder or raw materials buffer). A sheet detection switch is installed on the feeding table to prevent the robot from grabbing the tray.<\/p>\n<ul>\n<li>Reclamping<\/li>\n<\/ul>\n<p>The robot moves to the position of the loading table and detects the height of the plate by an ultrasonic sensor installed on the gripper. According to the detection data, it will automatically run to the appropriate position to grab the sheet. After the sheet is grapped the thickness of the sheet is measured by the thickness measurement device.<\/p>\n<ul>\n<li>Alignment<\/li>\n<\/ul>\n<p>The robot runs to the position of the positioning table and places the sheet on the positioning table for precise positioning. After positioning, grab the sheet again and prepare for bending.<\/p>\n<p><a href=\"http:\/\/www.tthk.ee\/inlearcs\/wp-content\/uploads\/2020\/05\/Picture-4.png\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-121 size-full\" src=\"http:\/\/www.tthk.ee\/inlearcs\/wp-content\/uploads\/2020\/05\/Picture-4.png\" alt=\"\" width=\"958\" height=\"476\" srcset=\"https:\/\/www.tthk.ee\/inlearcs\/wp-content\/uploads\/2020\/05\/Picture-4.png 958w, https:\/\/www.tthk.ee\/inlearcs\/wp-content\/uploads\/2020\/05\/Picture-4-300x149.png 300w, https:\/\/www.tthk.ee\/inlearcs\/wp-content\/uploads\/2020\/05\/Picture-4-768x382.png 768w\" sizes=\"auto, (max-width: 767px) 89vw, (max-width: 1000px) 54vw, (max-width: 1071px) 543px, 580px\" \/><\/a><\/p>\n<ul>\n<li>Bending<\/li>\n<\/ul>\n<p>The robot moves to the position of the press brake machine, places the sheet flat on the lower die, and accurately positions it by means of the rear finger sensor of the press brake machine. After the positioning is completed, the robot sends a bending signal to the press brake machine and cooperates with the bending machine to complete the bending action.<a href=\"http:\/\/www.tthk.ee\/inlearcs\/wp-content\/uploads\/2020\/05\/Picture-5.png\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-122 size-full\" src=\"http:\/\/www.tthk.ee\/inlearcs\/wp-content\/uploads\/2020\/05\/Picture-5.png\" alt=\"\" width=\"972\" height=\"480\" srcset=\"https:\/\/www.tthk.ee\/inlearcs\/wp-content\/uploads\/2020\/05\/Picture-5.png 972w, https:\/\/www.tthk.ee\/inlearcs\/wp-content\/uploads\/2020\/05\/Picture-5-300x148.png 300w, https:\/\/www.tthk.ee\/inlearcs\/wp-content\/uploads\/2020\/05\/Picture-5-768x379.png 768w\" sizes=\"auto, (max-width: 767px) 89vw, (max-width: 1000px) 54vw, (max-width: 1071px) 543px, 580px\" \/><\/a><\/p>\n<p>The technical difficulty of the bending lies in the cooperative action of the robot and bending machine, that is bending following. When the robot grips or supports the sheet during bending, the sheet is deformed. The robot needs to follow the sheet to make a circular motion according to the specific trajectory algorithm, and always maintain a relatively fixedposition with the sheet.<\/p>\n<ul>\n<li><strong><span style=\"color: #ff0000;\">OFF-LINE AND ON-LINE PROGRAMMING OF IR\u00a0<\/span><\/strong><\/li>\n<li><strong><span style=\"color: #ff0000;\">The teaching materials are presented separately<\/span><\/strong><\/li>\n<\/ul>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-138\" src=\"http:\/\/www.tthk.ee\/inlearcs\/wp-content\/uploads\/2020\/05\/Picture-9.png\" alt=\"\" width=\"920\" height=\"440\" srcset=\"https:\/\/www.tthk.ee\/inlearcs\/wp-content\/uploads\/2020\/05\/Picture-9.png 920w, https:\/\/www.tthk.ee\/inlearcs\/wp-content\/uploads\/2020\/05\/Picture-9-300x143.png 300w, https:\/\/www.tthk.ee\/inlearcs\/wp-content\/uploads\/2020\/05\/Picture-9-768x367.png 768w\" sizes=\"auto, (max-width: 767px) 89vw, (max-width: 1000px) 54vw, (max-width: 1071px) 543px, 580px\" \/><\/p>\n<ul>\n<li>Palletizing<\/li>\n<\/ul>\n<p>The robot runs to the position of the unloading table (buffer of finished goods). Due to the difference of the forming of the workpiece there are variety of palletizing actions. Such as conventional matrix palletizing, single and double layer cross palletizing and negative buckle palletizing, etc.<\/p>\n<p><a name=\"Ben33\"><\/a><\/p>\n<h4><strong>3.3 Bending cycle optimization<\/strong><\/h4>\n<\/p>\n<p>Optimization means the best possible solution to a problem given a constraint set, which is also called the feasible set. \u00a0Here, we do not solve a typical optimization problem with a goal function and constraint conditions (they may also not exist). The goal function in production is typically to ensure maximum productivity or minimum production cost. In this section, we will focus a little on issues that are directly related to the efficiency of the bending process.<\/p>\n<p>We have previously stated that the bending cycle is performed at the workplace and largely depends on the equipment\u00a0used in the workplace and their layout scheme. The time of the bending cycle (production cycle) depends directly on the technological capabilities of the robot and the travelled length covered by the industrial robot.<\/p>\n<p><em>Tasks T2<\/em><\/p>\n<ol>\n<li style=\"list-style-type: none;\">\n<ol>\n<li style=\"list-style-type: none;\">\n<ol>\n<li><em>Design a robot-bending cell for a given part. Justify the choice of equipment. Justify the layout (location of equipment.)<\/em><\/li>\n<li><em>Design the movements of a robot. Working cycle. Determine approximately the time for the cycle.<\/em><\/li>\n<li><em>Analysis of the effects of cycle time on productivity, quality, process flexibility.<\/em><\/li>\n<li><em style=\"font-size: 1rem;\">What are the criteria to flexibility and how these are in correlation with the manufacturing task and robot-cell functionality<\/em><\/li>\n<\/ol>\n<\/li>\n<\/ol>\n<\/li>\n<\/ol>\n<p><em>Questions Q3<\/em><\/p>\n<ol>\n<li style=\"list-style-type: none;\">\n<ol>\n<li style=\"list-style-type: none;\">\n<ol>\n<li><em>What are the main components of a bending press, what is their function and how do the technological possibilities of the device develop?<\/em><\/li>\n<li><em>Describe the job of robot bending. What determines the layout of the equipment used<\/em><\/li>\n<li><em>How the choice of a robot in a painting workplace is related to the functionality of an existing bending press<\/em><\/li>\n<li><em>Under what circumstances is it expedient to automate the bending operation in the company<\/em><\/li>\n<li><em>What is the purpose of using sensors in a bending operation and what is the role of the gripper system. Whether they can be related to each other or whether it is expedient to use them separately<\/em><\/li>\n<\/ol>\n<\/li>\n<\/ol>\n<\/li>\n<\/ol>\n<p><em>Qestions Q4<\/em><\/p>\n<ol>\n<li style=\"list-style-type: none;\">\n<ol>\n<li style=\"list-style-type: none;\">\n<ol>\n<li><em>What are the main components of a bending press, what is their function and how would be formed the technological possibilities of the device ?<\/em><\/li>\n<li><em>Describe the\u00a0 robot bending workplace. What determines the layout of the robot-bending workplace (robot-bending cell)<\/em><\/li>\n<li><em>How the choice of a robot in a robot-bending workplace is related to the functionality of an existing bending press<\/em><\/li>\n<li><em>Under what circumstances is it expedient to automate the bending operation in the company<\/em><\/li>\n<li><em>What is the purpose of using sensors in a bending operation and what is the role of the gripper system. Whether they can be related to each other or whether it is expedient to use them separately<\/em><\/li>\n<\/ol>\n<\/li>\n<\/ol>\n<\/li>\n<\/ol>\n<p><strong>Workflow in the bending cell<\/strong><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-140\" src=\"http:\/\/www.tthk.ee\/inlearcs\/wp-content\/uploads\/2020\/05\/Untitled-12.gif\" alt=\"\" width=\"819\" height=\"1180\" \/><\/p>\n<\/div>\n<\/div><\/div><\/div><\/div><\/div>","protected":false},"excerpt":{"rendered":"<p>3.1 Production cycle optimization in a robot-cell In general the Production Cycle is a time period during which inventories are being turned by the company into finished good. For the company the decrease of the production cycle is desirable. Such dynamics means that the company is decreasing the amount of time needed for turning its &hellip; <\/p>\n<p class=\"link-more\"><a href=\"https:\/\/www.tthk.ee\/inlearcs\/2-bending-cycle-description\/\" class=\"more-link\">Loe edasi<span class=\"screen-reader-text\"> &#8220;3.\tRobot bending cycle description&#8221;<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-115","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/www.tthk.ee\/inlearcs\/wp-json\/wp\/v2\/pages\/115","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.tthk.ee\/inlearcs\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/www.tthk.ee\/inlearcs\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/www.tthk.ee\/inlearcs\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.tthk.ee\/inlearcs\/wp-json\/wp\/v2\/comments?post=115"}],"version-history":[{"count":14,"href":"https:\/\/www.tthk.ee\/inlearcs\/wp-json\/wp\/v2\/pages\/115\/revisions"}],"predecessor-version":[{"id":706,"href":"https:\/\/www.tthk.ee\/inlearcs\/wp-json\/wp\/v2\/pages\/115\/revisions\/706"}],"wp:attachment":[{"href":"https:\/\/www.tthk.ee\/inlearcs\/wp-json\/wp\/v2\/media?parent=115"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}