The device like a semi automatic or robotic machine and the movements of the links are operated by the pneumatic system. It is a device which works in a pneumatic system, used to transfer the object from one place to another place.by picking vacuum is used.

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2.  Our project aims to pick and transfer
the object or material which is done by
the help of a vacuum picker.
 This device is basically a pneumatic
device .
 handling objects is one of the
important task in automation.
 System can be manipulated to pick up
complex shaped bodies..
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3.  here we make a simple machine to pick
the object.
 its ideal for light weight and sensitive
bodies.
 The device is designed to transfer small
objects conveniently without any
deformation.
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4. OBJECTIVE OF OUR
PROJECT
 To save the time consumption and to minimize
difficulties to picking and transferring of objects.
 To avoid the bending and deformations occurring on
the object while transferring it by hydraulic pickers.
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5.  George Devol and Joe Engleberger design the first
programmable robot arm.
 Honda launches a project to build a walking
humanoid robot in 1986
 Companies like VMECA make and distribute V-grip
robotic arms.
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6.  Schmalz the world's leading partner for vacuum
technology in automation, handling and clamping
applications produces vacuum grippers since late 2000.
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7. Modification
 Conventional pick and place robots are provided with
metallic grippers which could deform objects while
holding and transferring.
 We have replaced mechanical gripper to a vacuum
gripper arm so that it pick the objects using vacuum
and there by retaining the shape.
 Vacuum grippers are among the most flexible and
useful EOAT options available for material
handling robots.
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8. Pneumatic system
 Compressed air is supplied by the compressor
and is transmitted through a series of hoses.
Air flows are regulated by valves and the
pneumatic cylinder transfers the energy
provided by the compressed gas to
mechanical energy
Easy maintenance
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9. less damage to equipment.
 no fire hazard is presented and machines
could be made to be overload safe.
No leaks
Low noise
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Comparison between hydraulics and pneumatics

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12. Compressor unit
Compressor Storage tank
Tap connector Air hose
Filter regulator lubricator
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13. Filter regulator lubricator
 It consist of units for filtration, regulation and
lubrication.
 Filtration– for filtering air from dust particles and
moisture.
 Regulation—regulate required pressure to the system
 Lubrication—it helps air a smooth passage through the
compression PU tubes.
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15. Main components
1. Air cylinder
2. Electric solenoid valve
3. Male & female connectors
4. PU tube
5. Flow control valve
6. Tap connectors
7. Pressure gauge
8. Ball valve
9. Diaphragm valve
10. Timer circuit
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16. Materials required
1. Gas tube
2. MS square & rectangular pipe
3. Nuts and bolts
4. Tee
5. Adapters
Main equipments
1. Compressor
2. Vacuum pump
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17. AIR CYLINDER
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18. CONNECTORS
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19. DIRECTIONAL CONTROL VALVE
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20. WORKING OF DCV
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21. PU TUBE (Polyurethane Tubes)
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22. Diaphragm valve
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23. VACUUM PUMB
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24. Pressure gauge & Tee
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25. Ball lever valve
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We have designed the setup for picking up light
weight objects around 1kg. A pressure of 3 – 4
bar is required for the working of the two air
cylinders. Both cylinders get equal amount of
compressed air from compressor but the big
cylinder need less air for working. Even though
it’s bigger, it runs the placing motion. So it has
to be slow. Therefore we have placed a pressure
regulator to the big cylinder.
Design

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We assume our prototype is medium level one. So
we set length to 65cm, width 45cmand height to
50cm.
The arm for picking is assumed to cover ¾ of the
total length. We assumed it to 45cm. The length
of pipe in which small cylinder bolted is 30cm
which can vary height using screw arrangement
like in figure. Since the small cylinder makes total
length of 10cm, the length from arm tip is above
10cm. Bolts and screws are selected according to
cylinder shape, frame shape.

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Angle at the joint where big cylinder meets the picking
arm is perpendicular and also arm rotates 45° from center
to the container where to be placed.
For obtaining different link lengths we used sine law of
triangle

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Transferring arm is 45cm long, It’s hinged to the frame at a
distance of 13.5 from the center of the frame. Arm makes a
45° angular movement. So the corresponding angle is 72.5°.
A right angled triangle can be drawn by measuring the arm
length as hypotenuse; altitude is the line from tip of arm to
the center of width. By sine law altitude and distance from
which arm is hinged to the frame is obtained
Arm is hinged 13.5cm from center of the width. Since big
piston with total length 20 combined with nut and bolts
makes a length of 35cm perpendicular to the arm. Draw a
line which makes 90° to the arm and meets the arm at 35cm.
There by all distance is obtained.
Vacuum picker is set for picking 250g with a vacuum
pressure of 50psi.

31. Our project arrangement consist of 3 foot length
and 2 foot wide pipe column. Two pneumatic
cylinders are hinged to the column in such a way
that one cylinder have liner motion and other
have longitudinal motion.
Arrangement is provided with an IR sensor. The
convey chain carrying materials cut the IR sensor
path and as a result cylinders are actuated and
pneumatic picker arm picks object and place it in
desired location.
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34. Operations
1. picking-by means of vacuum created with help
of vacuum cleaner.
2 .transferring – by means of moving link
operated by a pneumatic cylinder
3 . object releasing – it is done by cut-off vacuum
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35. Solenoid 1 (S1)---- solenoid of big cylinder
Solenoid 2 (S2)---- solenoid of small cylinder
Solenoid 3 (S3)---- solenoid of diaphragm valve
 Object senses ------- IR cutoff
 S2 and S3 on -------- object pickup
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36. S2 off -------- object up
S1 on --------- outward
S3 off --------- Vacuum drops
object released
S1 off --------- inward to initial
position
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37. TIMER
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38. It consist of microcontroller, IR sensor and relays
There are 3 relays for actuation of 3 solenoids.
The operation sequence and time delay is coded in
the microcontroller.
IR sensor senses the object and actuates
microcontroller.
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39. IR Sensor
A pair of IR LEDs can be used as motion detectors.
The first IR LED is wired to emit LED and the
second LED is wired to transmit a signal when it
receives an IR input. When an object comes within
range of the emitted IR, it reflects the IR back to
the receiving LED and produces a signal.
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efficiency

42. Advantages
 Deformation is reduced
 Sensitive objects as well as hollow objects
can be picked
 Time consumption is less.
 Energy consumption is less since its
pneumatic.
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43. Disadvantages
dust particles might enter through dcv valves
which can reduce efficiency.
It needs good caring
Expensive
Not suitable for heavy works
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44. Applications
 Surgical manufacturing industry
 Packing bottles in cases
 handling eggs ,fruits, vegetables to boxes
 Small components manufacturing
company
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45. REFERENCE
Data is collected from works of
 Pick & Place Robot by Mohammed Ahmed Sabri
 Automation and mobile pick and place robot system for small
scale food industry by Mir Sajjad Hussain
 Task level planning of pick and place robot motions by Thomas
Lozano peras & Joseph johns
 Technologies for robot grippers in pick
and place operations for fresh fruits and vegetables by C. Blanes
M. Mellado ,C. Ortiz and A. Valera
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