1. Foreword After entering the 21st century, FANUC developed an intelligent robot equipped with a vision sensor and a force sensor. Up to now, we have a wide range of products that can handle quality from 2 kg to 1.2 tons. Subsequently, FANUC developed a long-term continuous machining system "robot unit" using this intelligent robot. In the entire processing process, it is very common for the machining operation itself to use the CNC machine tool for whitening machining. However, the incidental work, such as the loading and unloading of processing materials on the jig of the machining center, and the many parts of the work such as deburring, cleaning, etc., are now done manually. The use of intelligent robots in the robot unit not only achieved the whitening of these operations, but also achieved the longest continuous processing of 720 hours in the world. There are currently 13 such robot units operating at the FANUC plant. The robot unit uses two controls, the CNC and the robot controller. We are now developing a feature that allows both controls to display the status of each side individually to further advance the fusion of machine tools and robots. Taking this opportunity, I would like to briefly introduce the main components of the robot cell. The so-called intelligence of industrial intelligent robots does not mean having the same thinking ability as human beings, but means that the machinery has the working skills comparable to skilled workers. The lack of intelligence, that is, ordinary repetitive motion robots, can indeed increase the automation of the factory and reduce production costs. And as long as the teaching of the robot movement is completed, it can repeat the action correctly, which plays a great role in the quality of the product. But the problem is that it is necessary to teach all the subtle aspects of the action to the robot, which is very hard work. Not only that, but also ordinary robots need to use special peripheral equipment such as workpiece supply devices, or many workpiece positioning fixtures, which increases equipment investment costs. In addition, it is necessary for the person to correctly discharge the workpiece in the predetermined position in advance - this is a very simple daily labor, and the situation in which the artificial robot's whitening work is handed down. In order to solve this problem, we developed an intelligent robot equipped with an eye sensor and a force sensor with a tactile function of the hand, and developed a robot cell based on this. 2. Robot unit (1) The development process of the long-term continuous machining system For the machining system, the initial investment should be reduced as much as possible, and the continuous operation time should be extended as much as possible to reduce the processing cost. In the 1980s, we developed the first generation of machining systems, which used multiple workpieces on a pallet with multiple loading surfaces, and placed the fixtures on the exchange table automatic feeding device to feed the machining center. Achieve 24 hours of continuous processing. The second generation of processing systems in the 1990s combines 4 to 6 machining centers with a three-dimensional warehouse that can accommodate more pallets, enabling 60 hours of continuous machining. This means that no one can be processed from Friday night to Monday morning. In the 21st century, we developed the third-generation machining system "Robot Unit" using intelligent robots, which achieved 720 hours of continuous processing per month. (2) Composition of the robot unit The robot unit is composed of a machining center, a robot for machining workpieces, a robot for machining deburring and cleaning of workpieces, a pallet truck for placing pallets, and a material warehouse. (3) Robotization of workpiece loading and unloading operations The intelligent robot's vision sensor detects the position and rotation angle of the workpiece placed on the pallet. This allows the robot to grab the workpiece with the robot. In order to capture a variety of workpieces, the robot uses a servo motor to drive the opening and closing of the fingers. This makes it possible to freely change the opening degree of the finger according to the size of the workpiece by the robot program, and freely change the gripping force according to the weight of the workpiece. In order to correctly fit the grasped workpiece to the fixed position of the jig, it is necessary to correct the gripping deviation caused by the dimensional error of the casting itself. The workpiece captured by the robot is measured by the position and angle of another intelligent robot with a visual sensor that can measure the three-dimensional position and angle of the object. According to the measurement result, the deviation between the workpiece gripping position and the actual gripping position at the time of the teaching teaching can be obtained. When the robot is positioning the workpiece on the fixture, accurate positioning can be achieved by correcting the gripping deviation. Finally, when the robot mounts the workpiece on the fixture, the robot's individual axes are controlled in a special way, and the robot's motion is softened in the direction of the specified Cartesian coordinate system, so that it can be automatically adjusted according to the surface state of the fixture. The position and angle of the workpiece. This method, called the Soft Float function (follow-up function), allows the workpiece to be mounted on the fixture with high precision. It is a system that is easy to introduce because it has the characteristics of making full use of the site and being easy to operate. (4) Large robot Large machining centers are typically used to process heavy workpieces, so FANUC has developed a “large robot†with a maximum transportable mass of 1.2 tons to meet the processing needs of heavy workpieces. The large robot can easily grab the casting bed of a small machine tool and load it into the fixture soil of the machining center. (5) CNC and robot controller teach the bidirectional status display on the operation panel In order to operate the robot unit only if the robot is operated, or only the operator who operates the CNC, FANUC has developed a function to display the CNC status on the screen of the robot teaching panel and can be displayed on the CNC screen. The function of the robot state. In the future, we will continue to develop the integration of the two functions, further promote the integration of CNC and robots, and realize the improvement of operability as a future goal. 3. end We believe that the robotic unit is an internationally competitive machining system that can significantly reduce machining costs through long-term continuous machining. I would be very happy if this information can provide useful information to readers. Enameled Wire,Enameled Copper Wire,Copper Wire Copper Clad Aluminum Wire Co., Ltd. , http://www.aluminum-wire.com
Fusion of machine tools and intelligent robots