robótica industrialaml/maic_files/celulas_rob.pdf · industrial robot, irb 6 (patented in 1972)...
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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 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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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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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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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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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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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
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