GANTRY ROBOTS FLEXIBILITY SPEED PRECISION

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1 GANTRY ROBOTS FLEXIBILITY SPEED PRECISION

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3 GANTRY ROBOTS FLEXIBILITY SPEED PRECISION FPT gantry robots have a modular design and the standard versions are provided with 3 axes. The Subito Coro is the maximum configuration and combines the standard module with the Subito Solo 6, i.e. it has as many as 3+6 axes. The Subito Solo 6 robot features 3 linear and 3 rotary axes. It performs fast overlapping movements and offers all degrees of freedom of a 6-axis robot. This flexibility combined with a high operating speed makes it extremely powerful: Solo 6 achieves pick & place cycles of only one second. Its design configuration with 3+6 axes makes it possible to use several gripper systems in parallel. In this way, the system can perform machine loading functions and peripheral tasks at the same time and in addition load the loading gripper in a shake-hand operation in addition. So that you have a grip on everything. Nine axes on the move: Subito Coro gantry robot QUALITY TO THE VERY DETAIL SOPHISTICATED, PRECISE, COMPATIBLE Technical features Low-noise linear guiding unit Helical toothed racks Synchronized drive technology KUKA servo equipment Precision gear reducers for rotary axes KUKA control technology Energy supplied electrically to the fifth axis, pneumatically to the sixth axis Precision ball roller guides Standardized energy couplings Gripper quick change system Rotary drive technology - Servo motors - Reduction gear - Toothed belt drive Quick change head - 3 axes - Double angle drive - Feed-through for energy and air ROTARY DRIVE UNIT 3 motors with absolute encoders Mounting flange Drive housing 3 gear reducer units 3 toothed belts QUICK CHANGE HEAD C-axis housing 3 drive pulleys Angle drive with feed-through duct Options Automatic lubrication system Motor current measurements to determine joining force and torque for: - Crash stop - Force/torque controlled movements Automatic gripper change system Rotating feature (0-90 degrees) Drive axis A Drive axis C Drive axis Y Housing of axis A with integrated toothed belt for the vertical axis Vertical axis Y with ISO flange (optionally, rotary axis B) 3

4 1 2 GANTRY ROBOT MONO 3-AXIS ROBOT GANTRY ROBOT STEREO DOUBLE 3-AXIS ROBOT Field of application Unloading and loading (feeding) operations for production machines, e.g. injection molding or metal cutting machines. Field of application Loading of machines combined with parallel pick & place operations. Advantages Rugged high-precision 3-axis robot Excellent cost/performance ratio PC-based control system 1 Application example Unloading and loading system for plastic toothed wheels with metal shafts at the Mast company. Project description Ingenious design: The gripper system lets the shafts float in the gripper by an air bearing effect during handling. This makes it possible to place the shafts into the precise position in the injection mold without leaving any sliding traces. Separation system for shaft feeding with integrated camera system for part position detection Modular transfer system for finished-part buffering in containers (capacity for 4 hours) Positioning accuracy for the shafts (8-way) 0.02mm Advantages Task sharing can shorten the cycle to half Synchronous sequences are possible 2 Application example Robotized automation for all-around coating of coils and metal bodies at the Sigwart company. Project description The double 3-axis system performs several tasks simultaneously: Finished-part unloading, loading the adjusting station and feeding the metal body with the coil into the injection molding machine. The pallet gripper system can handle 5 layers of metal bodies and finished parts in the system container. The parts are checked and corrected in the adjusting station so that they fulfill the requirements for loading. The gripper system is designed in such a way that the inserts (metal body and coil) are joined one into the other and then placed into the die. The 3-component production is provided with position detection. 4

5 3 4 GANTRY ROBOT SUBITO CORO 6+3-AXIS ROBOT Field of application Flexible unloading and loading tasks for injection molding machines. Subito Coro combines a 3-axis system with a 6-axis system. This makes it a multi-tasking artist: Several pick & place grippers in the 6-axis system load the loading gripper of the 3-axis system with the parts to be loaded in a variable way. In addition, the 6-axis system can perform, for example, assembly tasks at the periphery. Advantages Fast cycles are achieved by overlapping movements 6-axis robot with all degrees of freedom for peripheral tasks such as, for example, assembly tasks or direct loading of the 3-axis system in a shake-hand operation by the 6-axis system (dynamic transfer) 3 Application example 1 Robotized automation for all-around coating of filters at the Karcoma company. Project description The 6-axis robot system with its pick & place grippers picks up the filter jackets in the adjusting station behind the bowl feeder in the correct position with a clearance of 1mm and loads the loading gripper of the 3-axis system dyna mically. Subsequently the 3-axis loading robot feeds the parts into the injection molding machine in one go with its floating 8-way gripper; the correct alignment and the positioning accuracy during transfer are monitored by a contact sensing system installed in the gripper system. 4 Application example 2 Automation of a rotary table injection molding machine: Loading contact pins and unloading the shell at the KBS company. Project description The particular feature: The 6-axis robot receives the contact pins directly from the stamping machine and loads them into the injection mold with the special loading gripper. The finished parts are then inspected for proper contact insulation in the inspection station and subsequently packed. 5

6 GRIPPER SYSTEMS GRASPING AND RELIABLE FPT gripper systems are provided with 3-dimensional floating bearings and achieve maximum precision and process reliability when loading the parts to be coated. Furthermore, they are provided with an alignment or fixing feature which safeguards precise transfer without alignment error. The grippers are designed on the basis of a standardized quick change system which facilitates quick product change. This makes FPT gripper systems perfectly suited for demanding fields of application e.g. injection molding with inserted parts (in-mold process). Applications of gripper systems for in-mold injection processes: Contact pins Soldering lugs Coil bobbins Coil cores Gear shafts In-mold labeling 2-component coating Filters Bushes Armatures FPT gripper systems for injection molding production 6

7 THE CONTROL PHILOSOPHY ROBOT CONTROL CPU Microprocessor technology Programming CONTROL CABINET Type Standards and regulations KUKA PC PENTIUM (or equivalent) Technology-oriented user programming KR C2 Degree of protection IP 54 73/23/EC, 89/336/EC, 98/37/EC; DIN EN: 292-1, 292-2, 418, 614-1, 775, 954-1, , , 55011, , , , ) Number of additional axes depends on motor size 2) Valid for standard version 3) Option 4) Depth incl. recessed handle and emergency stop button Warning: The KR C2 control cabinet may only be operated on power circuits with a grounded star point. KR C2 control cabinet Ambient temperature, operating 278K - 318K (278K - 328K with heating/cooling unit) Max. number of axes 12 max. 1) Weight, approx. Cabinet paint, front door, inside 185kg without transformer Acc. to customer s requirements, inside galvanized Rated supply voltage 3 AC 400V ± 10 % (DIN IEC 38) Mains frequency Rated input power Mains fuses Networking 49-61Hz kW depending on drive class 3 x 25A slow-blow min., 3 x 32A slow-blow max. ETHERNET 2), CAN 2), INTERBUS-S 3), Profibus Admissible connection cable length 7, 15 3), 25 3) Noise emission 67dB (A) (DIN ) HAND-HELD PROGRAMMING UNIT Dimensions (W H D) mm 4) KR C2 robot control Your benefits from the KUKA compatibility: Advanced industry standard Pentium PC processor State-of-the-art technology Windows Operation, display, data management PC-based control World-wide service Upload/download Commands, variables Real-time module VxWorks Command processing, path planning TCP/IP Previously special protocol PCI Optional Standard Ethernet Serial interface Interbus, Profibus, DeviceNet, ControlNet, Ethernet CAN Bus (DeviceNet) Soft PLC CAN Digital I/O KUKA-VGA ISA/PCI Suitable plug-in card CAN MFC multi-function card DSE-IBS (Digital Servo Electronics) Control, commutation, fault monitoring Drive bus IBS Serial Drive amplifier RDC (resolver-to-digital converter) resolver values, calibration position 7

8 TECHNICAL DATA GANTRY ROBOT MONO 3-axis robot GANTRY ROBOT MONO 3-axis robot GANTRY ROBOT STEREO Double 3-axis robot GANTRY ROBOT SUBITO CORO 6+3-axis robot 3D view Linear servo axes Rotary servo axes 3 Length of X-axis 2,000-6,000mm 2,000-6,000mm 3,000-6,000mm 3,000-6,000mm Length of Y-axis 600-1,200mm 600-1,200mm 600-1,200mm 600-1,200mm Length of Z-axis 600-1,500mm 600-1,500mm 600-1,500mm 600-1,500mm X-axis step size 500mm Y-axis step size 100 mm Z-axis step size 100 mm Rotary angle of axes A4-A6 360 Maximum load capacity (depending on design type) 10kg 25kg 10/25kg 25/5kg Repetition accuracy < ± 0.03 mm < ± 0.03 mm < ± 0.03 mm < ± 0.03 / 0.05mm Maximum axis speed (linear) 2m/s Maximum axis speed, axes A4/A /s Maximum axis speed, axis A /s Degree of protection IP64 Operating temperature 0-40 C Electrical connection 400V AC 32A Pneumatic connection 6 bar Technical data and figures may differ from your specific configuration. Subject to modification. V1 - FPT Design: Schattbucher Straße 10, Amtzell Tel.: , Fax: Mail: info@fpt.de,