Mestrado em Automação, Instrumentação e Controlo

Robótica Industrial

Acetatos

Especificação de robôs e células robotizadas

Elaborados por:

Paulo Abreu

2001/2002

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Células robotizadas

� Principais componentes:– Robô– Controlador do robô– Garra / ferramenta– Sistemas de alimentação/remoção de produtos– Sistemas de posicionamento do produtos– Sistemas de segurança– Sistema de controlo da célula

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Layouts para célulasrobotizadas

� Robô central

� Robô em linha

� Robô móvel

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Robô central

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Robôs em linha

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Robô móvel

� Robô montado em sistema de carruagem no solo ou empórtico

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Sistemas de movimentaçãodos produtos

� Intermitente

– síncrono

– não-síncrono

� Contínuo

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Sistema de movimentaçãosíncrono

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Sistema de movimentaçãoassíncrono

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Mesa de Indexação

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Segurança

� Causas de Acidentes com Robôs– Comportamentos humanos incorrectos

» Não cumprimento das regras de segurança» Colocar-se em zona de funcionamento do robô» Desactivação dos sistemas de segurança

– Condições de funcionamento inseguras» falhas mecânicas» erros de programação» erros de ligação dos sistemas de segurança

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Situações de risco

� Fase de Programação do robô e equipamento periférico

� Fase de Funcionamento da célula robotizada

� Fase de Manutenção do equipamento da célula

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Sistemas de Segurança

� Barreiras físicas� Cortinas de luz� Tapetes sensores

� Sistemas de interligação dos dispositivos de segurançacom o funcionamento do robô

� Sistema de paragem de emergência

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Especificação de Robôs� Características físicas

– Estrutura mecânica» Configuração física» forma e volume do espaço de trabalho» Nº de eixos de movimento / Nº de graus de liberdade» Tipo de eixos» Sistemas de accionamento / requisitos do sistema de accionamento

– Controlador» Memória disponível / Processo de armazenagem de programas» Nº de eixos possíveis de controlar» Tipo de sistema de controlo / capacidade de interpolação» Método de programação» Comunicações com o exterior

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Especificação de Robôs� Características de Performance

– Repetibilidade– Precisão– Resolução de sensores

– Gama de velocidades– Gama de acelerações– Capacidade de carga

– Tempo de ciclo de trabalho

– Vida útil– Fiabilidade– Tempo médio entre avarias– Tempo médio de reparação

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Gama de Robôs

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

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Main Applications:Palletising

Main Applications:Painting, coating,gluing, sealing

540 5402 5403

840A 840L 8400A 8400L

S4C

Gama de RobôsGANTRY ROBOTS

PAINT ROBOTS

ROBOT CONTROLLER

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História dos robôs da ASEA /ABB1974 The world’s 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 world’s 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)

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www.motoman.se

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KR 6Low weight class KR 15

KR 30Medium class KR 45

KR 30L15

Heavy weight class

KR 125 KR 125L90 KR 150KR 125L100 KR 200 KR 150L120KR 350 KR 150L150

KR 125 S KR 125 K

KR 125 W

KR 60 PKR 100 PKR 100 PAKR 160 PA

KL 250 KL 1500

Standard models

Special models

Linear units

Controller: KR C1

Gama de Robôswww.kuka.de

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� KUKA Robot KR 15

KUKA Robot KR 15/2

KR 6/2 KR 15/2

Payload kg 6 15

Supplementary load kg 10 10

Max. reach mm 1570 1570

Repeatability mm <± 0.1 <± 0.1

Weight kg 205 222

Mounting position variable variable

KR 6/2 e KR 15/2

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Robô KR 15/2

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KR 15/2

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AdeptOne-XL

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www.adept.com

AdeptOne-XL

Robot BrakesJoints 1, 2, 3, 4 Pneumatic brakesRobot/Controller Cables5 m (16.4') is standardDesign Life120 Million Production CyclesUser ConnectionsElectrical:

Fieldbus:Pneumatic:

Group one-7 pairGroup two-4 pair2 pair w/MircoDIN2 @ 6 mm

OptionsAdept HyperDriveAdeptForceAdeptVision VXLSolenoid valve kit (4)Robot-mounted camera bracketExtended length cables (8 m & 15 m)Cleanroom Upgrade KitIP-54 KitAvailable ControllersC-401060

C-601060+

Operating EnvironmentRobot: 5-50°C (40-122°F)

Reach800 mmPayload12kg (26.5 lbs)Joint 4 Inertia (max)3181 kg-cm2 (1087 lb-in2)Downward Force45 kg (100 lbs)Repeatability(x,y):(z):Theta:

±0.025 mm (±0.001")±0.038 mm (±0.0015")±0.05°

Joint RangeJoint 1:Joint 2:Joint 3:Standard:Extended Stroke:Joint 4:

±150°±140°

203 mm356 mm±270°

Maximum Joint SpeedJoint 1:Joint 2:Joint 3:Joint 4:

650°/sec920°/sec1,200mm/sec3300°/sec

Weight265 kg (583 lbs)

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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

Repeatability ± 0,02 mm ± 0,03 mm

Control Unit CS7/ CS7M CS7/ CS7M

Programming language V+ V+

www.staubli.com

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Gama de Robôs� SCARA - A520i� Série ARCMATE

– ARC Mate 100 i, 120 i, 120 iL– Arc Mate mini

� Série LR Mate– LR Mate 100i, 200i

� Série M– M-6i, M-16i, M-410i, M500, M710i

� Série P (paint & sealing)– P100, P120, P145, P200, P300 ,

P400

� Série 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

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Gama de Robôs

M 16i

M 410i

M 6i

M500

S 430iM 710i I 21 i

P 120

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A-520i

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A-520i

� Hollow joint construction enclosesall cable routing to eliminatesnagging

� Rear-located vertical axis improvesclearance for restrictive installations

� Low profile, small footprint increaseinstallation flexibility

� Brushless AC servo motors� Absolute encoder positioning� Designed to meet USDA

requirements for incidental foodcontact

� Chemical resistant external surfacesto prevent corrosion

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FANUC Robot F-100 i / 200 i

F-100 i F-200 i

www.fanuc.co.jp

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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(J1,J2,J3,J4,J5,J6)

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° 45º (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

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FANUC Robot F-100 i / 200 i

F-100 i F-200 i

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ABB IRB 340 FlexPicker

www05.abb.se

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ABB IRB 340 FlexPicker

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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

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RobohexTM

http://www.hexapods.com/

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Robohex StandardOverall Dimensions Accuracy Feed rate & Feed ForceLength 1.00m Volumetric +/- 25 microns Feed Rate 13m/minWidth 1.00m Ballscrew Increment .310 microns Axial Feed Rate 9m/minHeight 2.20m Repeatability +/- 5 microns Feed Force 1800KgsWeight 3,000Kgs Stiffness Payload 150KgsMachining Envelope (VerticalSpindle)

Static Stiffness 13 N per micron Operating Conditions

X-Axis 2000mm Dynamic Stiffness 20 N per micron Process Chiller 20C to 25CY-Axis 1800mm Services Ambient Temp +5C to +35CZ-Axis 900mm Voltage 400V 3-Phase Humidity NC 85%Control Options Total Power 63Amp/25kWController A2PNC500 Air Supply 6bar/90psiSuitable ApplicationsGrinding/DeburringEducationInspection AssemblyForging Palletizing

Spot Welding MachiningLaser CuttingArc WeldingWater Jet Cutting

Adhesive layingSurface CoatingM/C LoadingInjection Molding

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M-850 HEXAPOD 6-AxisParallel Kinematics Robot

http://www.physikinstrumente.com

• Six Degrees of Freedom• Load Capacity 200 kg Vertically, 50 kg Random

Orientation• Repeatability ±1 µm (Z-axis), ±2 µm (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