When Your Articulated Robot Comes Up Short Joe Campbell Vice President, Sales & Marketing, BU Manager Products Gudel, Inc
Work Envelope Options Industry Trends Market Drivers 6 Axis Robot Examples Gantry Robot Examples Hybrid Gantry / 6 Axis Examples Application Considerations Q & A
Industry Trend: Bigger, Heavier
Expanding the Work Envelope: Reach Bigger parts Aerospace, ag equipment, oil field equipment. Applications enabled by advances in sensor technology, simulation and offline programming. Robot based ASRS Tires, totes, finished goods, pharma. Replacing traditional indexed automation with robots + 2 axis tracks. Large part shuttles Automotive. Replacing traditional indexed automation & conveyors with robots + track.
Expanding the Work Envelope: Utilization Increase robot utilization to reduce cost & justify investment. 1 robot: multiple machines versus 1 robot : 1 machine Cycle time dependent often requires multiple robots. Machine tending: machine tools, die casters, hot stamp. Arc welding: large weldments. Low volume / high mix palletizing.
Bigger Parts: Fracking Pump TMF-3 TMV with counter balance 11 Meter X 2 Meter Z 1,000 lb wire spool + torch reamer.
Bigger Parts: Commercial Aircraft FANUC M710 and P250 Robots Prep and Paint processes Y Stroke = 36 meters Z Stroke = 8 meters Each Robot on 1meter Swing Arm With internet connection: Youtube video of Encore Automation
Bigger Parts: Personal Jet Fanuc P250 robots 18 meter Y 18.5 meter X Dual 4.3 meter Z Static Z due to limited ceiling height.
Bigger Parts: Commuter Jets Fanuc M710 robot. 44 meter X 5.1 meter Z 270 degree rotate on Z tower.
Bigger Parts: Transportation FP-6 Gantry 3 axis wrist 30 meter X 8 meter Y 2 meter Z Laser welding
Bigger Parts: Industrial TMO-3-E Fanuc P250 Painter 21.2 Meters X Floor mount + 1.8 Meter legs.
Bigger Parts: Propeller ABB IRB 4600 10 meter X 10 meter Y Large, machined ship propeller. Metrology application robot assisted CMM.
Robot Utilization
Robot Utilization: Machine Tool Aircraft Engines Fanuc LR Mate Grinding process Enclosed cell Dual grip Palletizing Note 90 degree wall mount offset.
Robot Utilization: Welding TMF-1 6 Meter X Fanuc ARC Mate 120 Tier 1 Seat manufacturer. Resolved floor space issue with dual tooling sets.
Robot Utilization: Machine Tending Traditional TMO- E configuration. Note leg placement to solve clearance issue.
Robot based ASRS: Consumer Goods TMF-2 TMV with counter balance Motoman MH180 Robot 21 Meter X 5.4 Meters Z Static shelf to carry full layers.
Robot Based ASRS: Green Tires 34 meter X TMF-2 5 meter Z Eurofork pallet handling Controller carried on X axis carriage.
Gantry Applications: Big & Heavy If a commercial robot will do the job, use it. If the application is too big: Gantry. If the application is too heavy: Gantry.
Gantry Applications: Heavy ZP-7 Dual Carriage Gantry CAT 348 Cylinder Block 3,000 Kg payload
Gantry Application: Heavy + Big 2x ZP-6 5 meter X 1 meter Z Payload 950kg Rail car wheel machining.
Gantry Applications: Heavy + Big ZP-7 Gantry 12 meter X 2 meter Z Rail Car Axles 7,000 Kg total Payload Dual XZ mechanisms to handle load.
Gantry Applications: Heavy + Big ZP-7 gantry on TM-72 floor tracks. Handling and processing (cutting, gluing, screwing, nailing) of wood. Prefabed building elements: walls, floors, trusses.
Gantry Robot Controller Options Best performance features: Kinematic model specific! Straight line path interpolation Range of amplifier and motor sizes Multiple motion profiles for accel and decel. Support for ANSI 15.06 Safety standards. Independent carriage control Motion specific pendant and HMI Multiple programming environments: G Code, PLC and Robot. Robot controllers are good. PLC controllers are better. Hybrid CNC / PLC / Robot controllers are best.
Application Considerations How heavy / how fast / how big? Accuracy versus Repeatability: What is the Application?! Settling Time Dual Robots Peripherals to carry how heavy & where? E-Chain & controller location Cycletime Velocity versus Acceleration versus Cost. Pick 2! Environmental
Final Application Considerations It s just engineering but you better make sure it s done! Dynamic loading must be understood, from the robot EOAT to the floor. Watch for trade-offs in cost versus lifetime.
Contact Information Joe Campbell Vice President, Sales and Marketing / BU Manager, Products Güdel US 4881 Runway Blvd. Ann Arbor, MI 48108 United States Telephone: (734) 214-0000 Email: joe.campbell@us.gudel.com www.gudel.com/us