Mestrado em Automao, Instrumentao e Controlo

Robtica Industrial

Acetatos

Especificao de robs e clulas robotizadas








Elaborados por:
Paulo Abreu


2001/2002

2
PA
Clulas robotizadas
Principais componentes:
Rob
Controlador do rob
Garra / ferramenta
Sistemas de alimentao/remoo de produtos
Sistemas de posicionamento do produtos
Sistemas de segurana
Sistema de controlo da clula











PA
Layouts para clulas
robotizadas
Rob central
Rob em linha
Rob mvel






3


PA
Rob central








PA
Robs em linha





4
PA
Rob mvel
Rob montado em sistema de carruagem no solo ou em
prtico











PA
Sistemas de movimentao
dos produtos
Intermitente
sncrono
no-sncrono
Contnuo





5
PA
Sistema de movimentao
sncrono










PA
Sistema de movimentao
assncrono





6
PA
Mesa de I ndexao










PA
Segurana
Causas de Acidentes com Robs
Comportamentos humanos incorrectos
No cumprimento das regras de segurana
Colocar-se em zona de funcionamento do rob
Desactivao dos sistemas de segurana
Condies de funcionamento inseguras
falhas mecnicas
erros de programao
erros de ligao dos sistemas de segurana





7
PA
Situaes de risco
Fase de Programao do rob e equipamento perifrico
Fase de Funcionamento da clula robotizada
Fase de Manuteno do equipamento da clula










PA
Sistemas de Segurana
Barreiras fsicas
Cortinas de luz
Tapetes sensores
Sistemas de interligao dos dispositivos de segurana
com o funcionamento do rob
Sistema de paragem de emergncia






8
PA
Especificao de Robs
Caractersticas fsicas
Estrutura mecnica
Configurao fsica
forma e volume do espao de trabalho
N de eixos de movimento / N de graus de liberdade
Tipo de eixos
Sistemas de accionamento / requisitos do sistema de accionamento
Controlador
Memria disponvel / Processo de armazenagem de programas
N de eixos possveis de controlar
Tipo de sistema de controlo / capacidade de interpolao
Mtodo de programao
Comunicaes com o exterior










PA
Especificao de Robs
Caractersticas de Performance
Repetibilidade
Preciso
Resoluo de sensores
Gama de velocidades
Gama de aceleraes
Capacidade de carga
Tempo de ciclo de trabalho
Vida til
Fiabilidade
Tempo mdio entre avarias
Tempo mdio de reparao





9
PA
Gama de Robs
4400/45 4400/60 4400FS 4400L/10 4400L/30
Main Applications:
Arc Welding,
Material handling,
Machine tending,
Grinding, Polishing
Main Applications:
Palletizing, Welding,
Material handling,
Machine tending,
Grinding, Polishing
6400 6400/3.0-75 6400/2.8-75 6400/2.4-120 6400/2.4-150
1400 1400H 2400/10 2400/16 2400L
6400/2.4-200 6400FHD 6400PE 6400S
SMALL ROBOTS
LARGE ROBOTS










PA
Main Applications:
Palletising
Main Applications:
Painting, coating,
gluing, sealing
540 5402 5403
840A 840L 8400A 8400L
S4C
Gama de Robs
GANTRY ROBOTS
PAINT ROBOTS
ROBOT CONTROLLER





10
PA
www.abb.com









PA





11
PA










PA
Histria dos robs da ASEA /ABB
1974 The worlds first microcomputer controlled electric
industrial robot, IRB 6 (patented in 1972) from
ASEA, was delivered to company in Sweden.
1975 The second robot model from ASEA, the IRB 60,
was delivered to car manufacturer SAAB (used
for spot welding).
1978 First robots installed at Volvo.
1982 Launch of IRB 90, a big robot with handling
capacity of 90 kg aimed for spot welding.Launch
of new control system with which it is possible
to control more axis; the joy stick is introduced.
1984 Launch of IRB 1000, the worlds fastest 5-axis
robot and the only existing pendulum robot.
1986 Launch of IRB 2000 (10 kg) which is controlled by
a new control system and driven by AC-motors
1987 Launch of IRB 3000, a 30 kg robot
1988 The 1000th robot is installed in Sweden
1988 ABB is born by the merger of Swedish
Asea and Swiss Brown Boveri
1991 The last robots of type IRB 6 were
manufactured. (18 years on the market,
7,000 units sold world-wide).
1991 Launch of the big robot IRB 6000
1992 Launch of a new small robot IRB 1500
mainly aimed for arc welding
1994 New control system S4
1997 Launch of FlexPalletizer robot
1998 Launch of the FlexPicker robot, which is a
super fast pick and place robot
1999 At Magnussons, in Sweden, there is an
IRB6 in operation which was installed in
1975 (more than 100 000 working hours)
(Source: http://www05.abb.se/robotics/info/history.html)





12
PA
www.motoman.se










PA





13
PA
KR 6
Low weight class KR 15
KR 30
Medium class KR 45
KR 30L15
Heavy weight class
KR 125 KR 125L90 KR 150
KR 125L100 KR 200 KR 150L120
KR 350 KR 150L150
KR 125 S
KR 125 K
KR 125 W
KR 60 P
KR 100 P
KR 100 PA
KR 160 PA
KL 250 KL 1500
Standard models
Special models
Linear units
Controller: KR C1
Gama de Robs
www.kuka.de










PA
KUKA Robot KR 15
KUKA Robot KR 15/2
KR 6/2 KR 15/2
Payl oad kg 6 15
Supplementary l oad kg 10 10
Max. reach mm 1570 1570
Repeatabil ity mm <0.1 <0.1
Weight kg 205 222
Mounting posi tion variable variable
KR 6/2 e KR 15/2





14
PA
Rob KR 15/2










PA
KR 15/2





15
PA
www.adept.com
AdeptOne-XL









PA
www.adept.com
AdeptOne-XL
Robot Brakes
J oints 1, 2, 3, 4 Pneumatic brakes
Robot/Controller Cables
5 m (16.4') is standard
Design Life
120 Million Production Cycles
User Connections
Electrical:
Fieldbus:
Pneumatic:
Group one-7 pair
Group two-4 pair
2 pair w/MircoDIN
2 @ 6 mm
Options
Adept HyperDrive
AdeptForce
AdeptVision VXL
Solenoid valve kit (4)
Robot-mounted camera bracket
Extended length cables (8 m & 15 m)
Cleanroom Upgrade Kit
IP-54 Kit
Available Controllers
C-40
1060
C-60
1060+
Operating Environment
Robot: 5-50C (40-122F)
Reach
800 mm
Payload
12kg (26.5 lbs)
Joint 4 Inertia (max)
3181 kg-cm
2
(1087 lb-in
2
)
Downward Force
45 kg (100 lbs)
Repeatabil ity
(x,y):
(z):
Theta:
0.025 mm (0.001")
0.038 mm (0.0015")
0.05
Joint Range
J oint 1:
J oint 2:
J oint 3:
Standard:
Extended Stroke:
J oint 4:
150
140
203 mm
356 mm
270
Maximum Joint Speed
J oint 1:
J oint 2:
J oint 3:
J oint 4:
650/sec
920/sec
1,200mm/sec
3300/sec
Weight
265 kg (583 lbs)





16
PA
Model RX60 RX60 L
Number of axis 5/6 5/6
Nominal payload 2.5 kg 1.5 kg
Maximum payload 4.5 Kg 2.5 Kg
Reach 665 mm 865 mm
Repeatabil it y 0,02 mm 0,03 mm
Control Unit CS7/ CS7M CS7/ CS7M
Programming language V+ V+
www.staubli.com









PA
Gama de Robs
SCARA - A520i
Srie ARCMATE
ARC Mate 100 i, 120 i, 120 iL
Arc Mate mini
Srie LR Mate
LR Mate 100i, 200i
Srie M
M-6i, M-16i, M-410i, M500, M710i
Srie P (paint & sealing)
P100, P120, P145, P200, P300 ,
P400
Srie S (spot)
S420i, S430i, S500, S900
Serie I 21 i
ARC Mate 100 i
LR Mate 100 i
ARC Mate mini
www.fanuc.co.jp





17
PA
Gama de Robs
M 16i
M 410i
M 6i
M500
S 430i
M 710i
I 21 i
P 120









PA
A-520i





18
PA
A-520i
Hollow joint construction encloses
all cable routing to eliminate
snagging
Rear-located vertical axis improves
clearance for restrictive installations
Low profile, small footprint increase
installation flexibility
Brushless AC servo motors
Absolute encoder positioning
Designed to meet USDA
requirements for incidental food
contact
Chemical resistant external surfaces
to prevent corrosion








PA
FANUC Robot F-100 i / 200 i
F-100 i
F-200 i
www.fanuc.co.jp





19
PA
FANUC Robot F-100 i / 200 i
F-100 i
F-200 i
Item F-100i F-200i
Type Stewart Platform type parallel-mechnism
Controlled axes 6 axes(J 1,J 2,J 3,J 4,J 5,J 6)
Installation Floor, Upside-down, Wall Floor, Upside-down
Max. load capacity Dynamic 36 Kg 100 Kg
Allowable
payload(Static)
Vertical 140 Kg
Horizontal 75 Kg
Speed Horizontal : 400 mm/sec
Vertical 200mm/sec
Repeatability 0.1mm
Drive method Electric servo drive by AC servo motor
Weight 103 Kg Approx. 170 kg
Ambient temperature: 0 45 (No dew,noe frost allowed)
Ambient humidity: Normally: 75%RH or less
Short term:95%RH or less(within one month)
Installation
environment
Vibration:0.5G or less









PA
FANUC Robot F-100 i / 200 i
F-100 i
F-200 i





20
PA
ABB IRB 340 FlexPicker
www05.abb.se










PA
ABB IRB 340 FlexPicker





21
PA
Delta Aria
Demaurex Robotique & Microtechnique S.A.
CH-1032 Romanel s/Lausanne, Suisse
E-mail: sales@demaurex-robot.ch
http://dmtwww.epfl.ch/isr/lrp/DeltaAria_eng.html











PA
Robohex
TM
http://www.hexapods.com/





22
PA
Robohex Standard
Overall Dimensions Accuracy Feed rate & Feed Force
Length 1.00m Volumetric +/- 25 microns Feed Rate 13m/min
Width 1.00m Ballscrew Increment .310 microns Axial Feed Rate 9m/min
Height 2.20m Repeatability +/- 5 microns Feed Force 1800Kgs
Weight 3,000Kgs Stiffness Payload 150Kgs
Machining Envelope (Verti cal
Spindle)
Static Stiffness 13 N per micron Operating Conditions
X-Axis 2000mm Dynamic Stiffness 20 N per micron Process Chiller 20C to 25C
Y-Axis 1800mm Services Ambient Temp +5C to +35C
Z-Axis 900mm Voltage 400V 3-Phase Humidity NC 85%
Control Options Total Power 63Amp/25kW
Controller A2PNC500 Air Supply 6bar/90psi
Suitable Applications
Grinding/Deburring
Education
Inspection Assembly
Forging Palletizing
Spot Welding Machining
Laser Cutting
Arc Welding
Water J et Cutting
Adhesive laying
Surface Coating
M/C Loading
Injection Molding










PA
M-850 HEXAPOD 6-Axis
Parallel Kinematics Robot
http://www.physikinstrumente.com
Six Degrees of Freedom
Load Capacity 200 kg Vertically, 50 kg Random
Orientation
Repeatability 1 m (Z-axis), 2 m (Six-Axis Moves)
Significantly Smaller Package than Conventional Six-Axis
Positioners
True Path-Control
Significantly Smaller Package than Conventional Six-Axis
Positioners
Linear and Rotary Multi-Axis-Scans
Random Definition of the Pivot Point to any Location
Inside or Outside the M-850 Envelope
Sophisticated, User-Friendly Software and Control
Electronics
Higher Stiffness allows for faster Step and Settle than
Conventional Multi-Axis Systems