The hottest FANUC robot with hands and eyes

Fanuc robots with "hands" and "eyes"

after entering the 21st century, in order to solve the problem of manual robot automation, FANUC has developed intelligent robots equipped with visual sensors with eye function and force sensors with hand tactile function. Up to now, there are 0.2~0.7 columns of nucleating agents in a wide variety of commodities with transportable mass ranging from 0.5 kg to 1.35 tons. Subsequently, FANUC company developed the robot unit of the long-time continuous machining system using this intelligent robot. In the whole machining process, it is very common for the machining operation itself to use CNC machine tools for automatic machining

however, incidental operations, such as loading and unloading of processing materials on the fixture of the machining center, as well as many parts of deburring, burring, cleaning and other operations, are still completed manually. The robot unit uses intelligent robots, which not only realizes the automation of these operations, but also realizes 720 hours of long-time continuous processing in the world. A total of 13 such robot units are now operating in FANUC's factory. The robot unit uses two kinds of control devices, namely CNC and robot controller. We are now developing a function that enables these two control devices to display the status of both sides separately, so as to further promote the integration of machine tools and robots

taking this opportunity, I would like to briefly introduce the main elements of the robot unit. The so-called intelligence of industrial intelligent robots does not mean that they have the same thinking ability as human beings, but that they enable machinery to have the skills of making carbon fiber composite vehicles comparable to skilled workers. Non intelligent, that is, ordinary repetitive robots, can indeed improve the degree of automation in factories and reduce production costs. And as long as it completes the teaching of robot action, it can repeat the action correctly, which plays a great role in the stability of product quality. But the problem is that people have to teach robots all the subtle movements, which takes a lot of effort

not only that, ordinary robots also need to use special peripheral equipment such as workpiece supply devices, or many fixtures for workpiece positioning, which increases the equipment investment cost. In addition, it is also necessary for people to properly arrange the workpieces at the designated position in advance - such a very simple daily work, there is a situation in which people start the white work of robots. In order to solve this problem, we developed an intelligent robot equipped with visual sensors with eye function and force sensors with hand tactile function, and developed a robot unit on this basis

robot unit

(1) the development process of long-time 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, so as to reduce the processing cost

the first generation of machining system developed by us in the 1980s adopts the following fixture that installs multiple workpieces on a plurality of loading surfaces, and puts the fixture on the automatic feeding device of the exchange workbench to feed the machining center, thus realizing 24-hour continuous machining. The second generation processing system in the 1990s combines 4 to 6 processing centers with a three-dimensional warehouse that can accommodate more accompanying fixtures to achieve 60 hours of continuous processing. This means that unmanned processing can be carried out from Friday evening to Monday morning. Entering the 21st century, we have developed the robot unit of the third generation machining system using intelligent robots, realizing 720 hours of continuous processing per month

(2) composition of robot unit

robot unit is composed of machining center, robot for processing workpiece loading and unloading, robot for deburring and cleaning finished parts, pallet truck for placing accompanying fixtures, and material warehouse

(3) robotization of workpiece loading and unloading

the visual sensor of the intelligent robot can detect the position and rotation angle of the processing workpiece placed on the tray with messy AC foaming agent 0.3~0.5. In this way, the robot can grasp the workpiece with a manipulator. In order to grasp a variety of workpieces, the manipulator uses a servo motor to drive the opening and closing of fingers. In this way, the opening and closing degree of fingers can be freely changed according to the size of the workpiece through the robot program, and the grasping force can be freely changed according to the weight of the workpiece

to correctly install the grabbed workpiece on the fixed position of the fixture, it is necessary to correct the grab deviation caused by the dimensional error of the casting itself. The workpiece grabbed by the robot is measured by another intelligent robot with a visual sensor that can measure the three-dimensional position and angle of the object. According to the measurement results, the deviation between the workpiece grasping position and the actual grasping position can be calculated. When the robot locates the workpiece on the fixture, it can achieve accurate positioning by correcting the grasping deviation. Finally, when the robot installs the workpiece on the fixture, it controls each axis of the robot in a special way to soften the action of the robot in the direction of the specified rectangular coordinate system, so that the position and angle of the workpiece can be automatically adjusted according to the surface state of the fixture. This method is called softfloat function (follow-up function), which can mount the workpiece on the fixture with high precision

it has the characteristics of making full use of the site and simple operation. It is a system that is easy to introduce

(4) large robot

large machining centers are generally used to process heavy workpieces. Therefore, FANUC company has developed a large robot with a maximum handling mass of 1.35 tons to meet the processing needs of heavy workpieces. The large robot can easily grab the casting bed of the small machine tool and install it into the fixture soil of the machining center

(5) the teaching operation of CNC and robot controller does not bubble, and the two-way state display on the operation panel

in order to make the operator who can only operate the robot or CNC can also operate the robot unit, FANUC company has developed the function of displaying the CNC state on the screen of the robot teaching operation panel and the function of displaying the robot state on the CNC screen. In the future, we will continue to develop and integrate the functions of the two, further promote the integration of CNC and robot, and take the realization of improved operability as our future goal

note: FANUC is the world's most diversified manufacturer of FA (factory automation), robots and intelligent machinery. Since its establishment in 1956, the company has always been a pioneer in the development of computer numerical control equipment in the world, making outstanding contributions in the field of automation. In the 1970s, FANUC became the largest professional CNC system manufacturer in the world, accounting for 70% of the global market share. In 2008, FANUC became the largest robot manufacturer in the world, the first robot manufacturer in the world to exceed 200000 robots, and its market share remained the first