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1 Project overview

1.1 Customer requirements

Use industrial robot to complete the automatic loading and unloading of spinning machine.

1.2 Actual situation

The raw material is disc-shaped, the workpiece is a circumferentially symmetrical rotary body, diameter: φ215mm Height: 7.3mm Weight: about 2kg. 

Part name: Reducer shell

Using spinning machine, the disc material is spin-formed into the reducer shell.

1.3 Note

In order to ensure the feasibility of the solution and the continuous and stable production of the automation cell, your company should meet:

1. System workflowThe spinning machine should have an I/O signal output function, which can be automatically controlled by transformation. The spinning machine top plate action can be controlled by an external signal, and the ejection speed and position can be adjusted. In order to ensure the stability of production, the equipment provided by customer should be able to operate stably, otherwise any problems caused by this will be solved by customer.
2. The blank is manually brushed and placed on a conveyor line, which transports it to the end V-shaped positioning, and then the jacking cylinder lifts it up. claw is suitable for workpieces within a specific size (robot grasping position size), if the workpiece size difference is large, you can do a series of claws or replace finger blocks and fingers.

2 Solution

The automatic loading and unloading project of spinning machine is composed of one spinning machine (on-site modification), one FANUC M-710iC/45M robot (including claw and base), one loading conveyor line, one unloading conveyor line, safety gate, safety fence and electrical control system integration. In order to meet the requirements of robot feeding, the spinning machine equipment must be mechanically and electrically modified, and the main transformation tasks involve manipulators, electricity, gas, oil circuits, etc. The following describes the systems and major devices referenced in this solution.

Figure 1 System composition diagram

The blank is manually placed on the blank feeding conveyor line, transported to the end V-shaped positioning groove, the cylinder at the end of the conveyor line will top it a certain distance, the blank feeding claw grabs the blank, after the mold is opened, the top plate of the spinning machine will push the finished product out a certain distance, the finished product cutting claw grabs the finished product and takes it off, and then the blank feeding claw places the blank on the spinning machine.

Figure 2 Layout

Figure 3 3D schematic

3 System workflow

4 Cycle time

5  Device Description      

5.1 Robotic

FANUC Robot M-710iC/45M Performance parameters: 45kg maximum load, ground mounted, 2606mm effective range of action.

Figure 4 Robot range of motion diagram

5.2 Blank loading conveyor

The blank is manually brushed and placed on a conveyor line, which transports it to the end V-shaped positioning, and then the jacking cylinder lifts it up.

Figure 6 Conveyor

5.3 Robotic two-handed claws

The schematic diagram of the structure of the robot two-hand claw is shown in the figure below, which is composed of two parts: blank feeding claw and finished feeding claw, mainly composed of flange plate, parallel claw cylinder, finger block, etc.

Figure 7 Robotic Claw

5.4 Finished part Conveyor

The finished part conveyor is used to output the finished workpiece, and its schematic diagram is shown in the figure below. The conveyor adopts L-shaped structure, and the opposite spinning machine can also be placed on this conveyor after manual unloading, and transported to the outside together.

Figure 8 Finished part conveyor