ROBOT HÀN (Hay)

Dipl Ing. M. Holthaus - Robotics - Fully Mechanized Processes Fully Mechanized Processes II / III II / III - Robotic Welding - - Robotic Welding - M. Holthaus M. Holthaus - SLV Duisburg NL GSI mbH - EWE Part 3: 1.15-2/3 Dipl Ing. M. Holthaus - Robotics - Telemanipulato Telemanipulato r r Dipl Ing. M. Holthaus - Robotics - Robot Systemes Kinematics of Robots Operation Space Positioner Tilt Turn Table Hints for Design Sensors Examples Economic Aspects Welding Equipment Programming Introduction and Definition Laser Applications Dipl Ing. M. Holthaus - Robotics - Industrial Robot with Main Industrial Robot with Main and Secondary Axis and Secondary Axis  more than three freely more than three freely programmable axis programmable axis  Difference between main Difference between main and secondary axis and secondary axis  Secondary axis: Secondary axis: – Orientation of the tool Orientation of the tool  Main axis: Main axis: – Form the working area Form the working area Possibilities of motion Possibilities of motion for the main axis for the main axis Possibilities of motion Possibilities of motion for the secondary axis for the secondary axis Dipl Ing. M. Holthaus - Robotics - Industrial Robots Industrial Robots - Kinematic Structures - - Kinematic Structures -  Possible combinations of Possible combinations of transnational and rotational transnational and rotational axis systems axis systems  Classification of main and Classification of main and secondary axis secondary axis source: IPA cylindrical cylindrical spherical spherical Cartesian Cartesian secondary axis : S secondary axis : S main axis : M main axis : M main axis : M main axis : M main axis : M main axis : M M 1 M 1 M 2 M 2 M 3 M 3 M 1 M 1 M 2 M 2 M 3 M 3 M 1 6 M 1 6 M 1 M 1 M 2 M 2 M 3 M 3 S 1 S 1 S 2 S 2 hexapod hexapod Dipl Ing. M. Holthaus - Robotics - Industrial Robot with a Industrial Robot with a Bending arm Construction Bending arm Construction Horizontal Horizontal Vertical Vertical source: IPA Secondary axis : S Secondary axis : S Main axis : M Main axis : M M 1 M 1 M 2 M 2 M 3 M 3 S 1 S 1 S 3 S 3 S 2 S 2 Main axis : M Main axis : M Secondary axis : S Secondary axis : S M 1 M 1 M 2 M 2 M 3 M 3 S 1 S 1 S 2 S 2 Dipl Ing. M. Holthaus - Robotics - 6 Axis Bending Arm Robot Axis 5 Axis 5 Axis 6 Axis 6 Axis 2 Axis 2 Axis 1 Axis 1 Axis 3 Axis 3 Axis 4 Axis 4  Robot kinematics for a Robot kinematics for a bending arm construction bending arm construction with 6 rotational axis with 6 rotational axis  Application mainly for Application mainly for resistance spot resistance spot and arc welding and arc welding Dipl Ing. M. Holthaus - Robotics - Range of Application Range of Application for Industrial Robot in 2000 for Industrial Robot in 2000 and the Trend of the Total Stock and the Trend of the Total Stock in Germany From 1985 to 1999 in Germany From 1985 to 1999 2.572 3.908 3.326 13.008 13.525 23.463 2.548 gluing/sealing machine coating cont. welding assembling spot welding others Tool- handling `99 `98 `97 `95 `93 `91 `85 `87 `89 8.800 14.900 34.140 22.395 56.175 43.715 85.556 75.625 96.000 2.419 2.781 7.039 7.789 10.502 12.994 3.355 tension machine tool Research/education Work piece -handling Source: VDMA / Robotic & Automation; *geschätzt measuring/checking forging palletizing die-/injection-cutting other work piece handling Total Stock: 2000: 109.000 2004: 139.000 Dipl Ing. M. Holthaus - Robotics - Arguments for the Using Robots Arguments for the Using Robots We employ We employ : : 2 lathe 2 lathe operators operators 8 welders 8 welders I w ant to apply I w ant to app ly for for the 8 jo bs ! the 8 jo bs !  Economic reasons? Economic reasons?  Less error frequency? Less error frequency?  Less filler material consumption? Less filler material consumption? Dipl Ing. M. Holthaus - Robotics - Degrees of Freedom of Degrees of Freedom of Body in Space Body in Space  Degrees of freedom: Degrees of freedom: – max. 6 independent degrees max. 6 independent degrees of freedom in a coordinate of freedom in a coordinate system system – 3 transitional (linear) 3 transitional (linear) degrees of freedom x, y, z degrees of freedom x, y, z – 3 rotational (rotating) 3 rotational (rotating) degrees of freedom A, B, C degrees of freedom A, B, C  Example 6 axis bending arm robot Example 6 axis bending arm robot [...]... operation area – freely programmable – or mechanical end stop - Robotics - Dipl.-Ing M Holthaus Layout of Welding Robots Overhead suspension Rotating C-stand for 8 positions fixable source: Cloos - Robotics - Dipl.-Ing M Holthaus Robot Application: Overhead suspension Detail View of the Jig - Robotics - Dipl.-Ing M Holthaus 6 Axis Bending Arm Robot Load bearing capacity at the wrist : – Arc welding: 6... - Robotics - Dipl.-Ing M Holthaus CO2 - Laser Application Twin CO2-laser beam-system (each 6 kW) with beam guiding system Process feed: 5 m/min Application: top of a BMW (5 series) - Robotics - Dipl.-Ing M Holthaus Precision Welding with Robots Source: KUKA Schweißanlagen + Roboter - Robotics - Dipl.-Ing M Holthaus CO2 - Laser Application Video of the welding process Audi A6 source: Rofin Sinar - Robotics... Precision Welding with Robots Source: KUKA Schweißanlagen + Roboter - Robotics - Dipl.-Ing M Holthaus Nd:YAG- Laser Application Video of a cutting process source: Rofin Sinar - Robotics - Dipl.-Ing M Holthaus Robot Systems for Gas Shielded Metal Arc Welding gas/wire supply wire feed device flow regulator shield gas programming device supply Collision safety device welding torch welding robot mass control... extra device - Robotics - • Adding of welding dates Dipl.-Ing M Holthaus Programming - powder varnishing in the Play-back-mode - Quelle: Industrieanzeiger (01/03) - Robotics - Dipl.-Ing M Holthaus Rob2.ppt Robot Programming TIG welding with wire feed 6 axis robot with turning tipping unit - Robotics - Dipl.-Ing M Holthaus Manual Programming Device override safety during trial emergency stop - Robotics -... Industry Robots (according to DVS 0922) Industry robots for welding for welding purposes universally applicable automatic machines with more than 3 axis Motion freely programmable with regard to the motion sequence and paths or angles (without mechanical intervention) if necessary sensor guided They are equipped with welding tools and carry out welding tasks - Robotics - Dipl.-Ing M Holthaus Robot: -... its r a u m area Welding robot - zone classification- Welding torch tip Minor working area g in k Danger zone: The area, which the robot and its tools (torch, pliers) take, regarding all motion possibilities or w n ea ai ar M additional components must be considered (e.g positioners) Not usable area Envelope of danger zone - Robotics - Dipl.-Ing M Holthaus Layout of Welding Robots Suspended installation... Current source - Robotics - Dipl.-Ing M Holthaus Rob1.ppt Welding Equipment of an Industry Robot for Gas Metal Arc Welding Welding current source Controls Wire feed system Welding torch and equipment Wire uncoil unit Tube pack Supervision Torch Torch support Wire feed device Switch off safety device Torch adjustment device Torch exchange device Torch cleaning device Torch cooling device - Robotics - (Source:... of the gas nozzle as possible load measuring cell – collision control torch testing device - Robotics - Dipl.-Ing M Holthaus Torch Cleaning Station Detail Welding head Torch clamp Milling cutter system source: Binzel - Robotics - Dipl.-Ing M Holthaus Torch Changing Systems - TIG Welding - Source: Binzel - Robotics - Dipl.-Ing M Holthaus Programming Processes Direct programming Mixing process On-line... reached by the motion of all main axis - Robotics - Dipl.-Ing M Holthaus Robot : - secondary Operation Space Border of the main operation zone Reference point of the main operation zone The part of the operation zone, which could be reached e.g by the top of torch Area that is reached additional to the main operation zone by the motion of the secondary axis - Robotics - Dipl.-Ing M Holthaus G e f a... (start-up problems) – possible unbalance (buffer route, self driving) - Robotics - Dipl.-Ing M Holthaus Requirement on the Wire Feed, Tube Pack and Welding Torch gas/wire supply wire feed device flow regulator shield gas supply 4-roll wire feet unit collision safety device – (wire alignment) welding torch Push pull technique welding robot – thin wires (D=0,8) – aluminum filler materials Tube pack: – few . C  Example 6 axis bending arm robot Example 6 axis bending arm robot Dipl Ing. M. Holthaus - Robotics - Definition of Industry Robots Definition of Industry Robots (according to DVS 0922) (according. 2 Dipl Ing. M. Holthaus - Robotics - 6 Axis Bending Arm Robot Axis 5 Axis 5 Axis 6 Axis 6 Axis 2 Axis 2 Axis 1 Axis 1 Axis 3 Axis 3 Axis 4 Axis 4  Robot kinematics for a Robot kinematics for a. Part 3: 1.15-2/3 Dipl Ing. M. Holthaus - Robotics - Telemanipulato Telemanipulato r r Dipl Ing. M. Holthaus - Robotics - Robot Systemes Kinematics of Robots Operation Space Positioner Tilt