Design of an Industry 4.0 Demonstrator Philipp König First Advisor: Veronika Lesch, Second Advisor: Marwin Züfle 07.04.2019 Ich begrüße euch zu meinem Antrittsvortrag meiner Bachelorarbeit. Mein Name ist Philipp König und mein Thema Lautet Design of an industry 4.0 demonstrator

Increasing Digitalisation Motivation Motivation PIBA Related Work Concept Realization Increasing Digitalisation Industry 4.0 Steigende Digitalisierung -> z.B. IoT -> Bundesreg. Ruft initiative ind. 4 ins Leben -> vorbereitung auf 4. indust. Rev. Connection Optimisation Individualisation

PIBA Idea Problem Benefit Action Motivation PIBA Related Work Concept Realization Problem Hard to get realistic production data of companies Idea Use a simple fischertechnik or Lego Mindstorms model plant Benefit Realistic data with low costs and full control Action Comparison of fischertechnik and Lego Mindstorms Concept for model plant Assembly of the Transportation module https://www.fischertechnik.de Großes Problem in der Forschung ist es an Daten zu kommen https://www.lego.com

Industry Demonstration Related Work Motivation PIBA Related Work Concept Realization Lego Mindstorms fischertechnik Industry Demonstration Education Internet-based remote control of industry robot[3] Automation software for plant model[4] Matlab and Lego Mindstorms[1] Autonomous self-replicating robot[2] Uni Aachen: Kurs für Erstsemester Electrotechnik Roboter der aus einzelteilen Nachbau baut Übers Internet gesteuerter 3 DOF Roboter Uni Johannesburg: fischertechnik prod. anlage

Concept Processor: Arm 9 Memory: 64 MB Sensors: 4 Actuators: 4 Motivation PIBA Related Work Concept Realization Lego Mindstorms EV3 Brick[5] fischertechnik Robotics TXT Controller[6] Processor: Arm 9 Memory: 64 MB Sensors: 4 Actuators: 4 Processor: Arm Cortex A8 & Cortex M3 Memory: 256 MB Sensors: 8 + 4 fast counting inputs Actuators: 4 Vergleich Lego Mindstorms und Fischertechnik … Beide können über graphische Entwicklungsumebung programmiert warden LeJOS -> JVM

Concept Modular structure with Lego Mindstorms, fischertechnik or both Motivation PIBA Related Work Concept Realization Storage Cart Station 2 Station 3 Station 4 Sorting line Station 1 Modular structure with Lego Mindstorms, fischertechnik or both One control unit to enable communication between the stations and to monitor the site Modules removable and replaceable Erster Entwurf Basiskonzept: Einzelne Module -> austauschbar, neue einfügbar, flexible Zentrale schnittstelle zur Kommunikation Sowohl untereinander als auch nach außen

Concept: Storage fischertechnik high-bay warehouse[7] Motivation PIBA Related Work Concept Realization Verschiedene Sets von fischertechnik Sortierstrecke Sortiert nach farbe fischertechnik high-bay warehouse[7]

Concept: Storage Fischertechnik set to store up to nine samples Motivation PIBA Related Work Concept Realization Fischertechnik set to store up to nine samples Shared in- and outtake Vacuum gripper set is needed to take sample bricks in and out Verschiedene Sets von fischertechnik Sortierstrecke Sortiert nach farbe fischertechnik high-bay warehouse[7]

Concept: Storage Lego Mindstorms storage site Motivation PIBA Related Work Concept Realization Lego Mindstorms storage site Storage dynamicly extendable Seperated in- and outtake Multiple samples can be stored in one compartment Verschiedene Sets von fischertechnik Sortierstrecke Sortiert nach farbe

Concept: Sorting fischertechnik color sorting line[8] Motivation PIBA Related Work Concept Realization Verschiedene Sets von fischertechnik Sortierstrecke Sortiert nach farbe fischertechnik color sorting line[8]

Concept: Sorting fischertechnik set to sort workpieces Motivation PIBA Related Work Concept Realization fischertechnik set to sort workpieces Three compartments for different colors Vacuum gripper can be used to take the workpieces out of the boxes Verschiedene Sets von fischertechnik Sortierstrecke Sortiert nach farbe fischertechnik color sorting line[8]

Concept: Sorting Lego Mindstorms sorting line Motivation PIBA Related Work Concept Realization Lego Mindstorms sorting line Extendable to up to eight colors Pushers used to seperate the workpieces Boxes or conveyor belts can be used to store/transport the bricks Verschiedene Sets von fischertechnik Sortierstrecke Sortiert nach farbe

Concept: Transportation Motivation PIBA Related Work Concept Realization Verschiedene Sets von fischertechnik Sortierstrecke Sortiert nach farbe fischertechnik transportation belt[9]

Concept: Transportation Motivation PIBA Related Work Concept Realization fischertechnik set to transport workpieces Verschiedene Sets von fischertechnik Sortierstrecke Sortiert nach farbe fischertechnik transportation belt[9]

Concept: Transportation Motivation PIBA Related Work Concept Realization Lego Mindstorms transport robot Takes boxes with workpieces Uses two sensors to follow a colored line Two motors to control the way Verschiedene Sets von fischertechnik Sortierstrecke Sortiert nach farbe

Concept: Further Stations Motivation PIBA Related Work Concept Realization More stations can be added to extend the model plant depending on the desired use cases fischertechnik Standart fischertechnik sets Sets by other manufacturer Custom sets Lego Mindstorms Custom sets designed with the Lego Digital Designer Lego Pneumatics also usable Verschiedene Sets von fischertechnik Sortierstrecke Sortiert nach farbe

Realization of the Transport Module Motivation PIBA Related Work Concept Realization Assembly of the Lego Mindstorms transportation robot Problems: Color sensor Steering behavior Motor power Changes: Wheel setup Gear train changes Verschiedene Sets von fischertechnik Sortierstrecke Sortiert nach farbe

Realization of the Transport Module Motivation PIBA Related Work Concept Realization Three wheel based robot Test setup with lines and different color codes Follows line, takes box and returns to starting position Sometimes problems with motor control Verschiedene Sets von fischertechnik Sortierstrecke Sortiert nach farbe

References [1] A. Behrens, L. Atorf, R. Schwann, et al., “Matlab meets lego mindstorms—a freshman introduction course into practical engineering,”IEEE Transactions on Education, vol. 53, no. 2, pp. 306–317, 2010 [2] J. Suthakorn, A. B. Cushing, and G. S. Chirikjian, “An autonomous self-replicating robotic system,” in Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on, vol. 1. IEEE, 2003, pp. 137–142 [3] Y. M. Wang, H. L. Yin, N. F. Xiao, and Y. R. Jiang, “Internet-based remote manipulation and monitoring of an industry robot in advanced manufacturing systems” The International Journal of Advanced Manufacturing Technology, vol. 43, no. 9-10, pp. 907–913, 2009 [4] Phillips, Kaylin, et al. "Connecting industrial automation software to a discrete manufacturing plant model for research and education." AFRICON, 2013. IEEE, 2013 [5] https://www.lego.com/de-de/mindstorms/products/mindstorms-ev3-31313 [6] https://www.fischertechnik.de/de-de/produkte/spielen/robotics/522429-robotics-txt-controller [7] https://www.fischertechnik.de/de-de/produkte/simulieren/trainingsmodelle/536626-sim-automatisiertes-hochregallager-9v-simulation [8] https://www.fischertechnik.de/de-de/produkte/simulieren/trainingsmodelle/536628-sim-sortierstrecke-mit-farberkennung-9v-simulation [9] https://www.fischertechnik.de/de-de/produkte/simulieren/trainingsmodelle/50463-sim-transportband-9v-simulation

Conclusion Problem Action Hard to get real production data of companies Action Comparison of fischertechnik and Lego Mindstorms fischertechnik more powerful, but Lego Mindstorms chaeper Concept for model plant Modular and expandable production site with different stations Assembly of one or more modules Realization of the transport module with Lego Mindstorms