This paper discusses the application process of FANUC robot in the motor casing processing production line. It adopts robot automatic loading and unloading technology and iRVision vision system to reasonably plan the robot movement trajectory, organically combines industrial robot handling technology and CNC machine tool processing technology. Automatic loading and unloading of workpieces, automatic palletizing and processing of finished products, achieving high precision, high efficiency and low cost processing.
1. FANUC robot
The automatic processing line is equipped with two FANUC Robot M-20iA handling system robots, one of which is used as the walking robot R1, controlled by FANUC servo motor αiF12/3000, and driven by precision reducer , gear and rack, with high repeatability. It can be easily adapted to the arrangement of the machine on both sides of the rail. It is mainly used for the grabbing of blank workpieces, the loading of machine tools, the workpiece grabbing between machining processes, and the removal of finished products and transport them to the conveyor belt. Another fixed robot R2 combines FANUC's unique intelligent robot technology (iRVision vision function) for blanking and palletizing finished products in the basket.
Each joint of the FANUC Robot M-20iA robot is a joint point or coordinate system. Its shape and joint position are shown in Figure 1.
Figure 1 FANUC robot outline drawing
2. Automatic processing line equipment layout
Motor casing automatic processing production line consists of feeding conveyor and unloading conveyor belt (iRVision vision system respectively), walking robot R1 (rail type), fixed robot R2, two VM850 vertical machining centers, one CLX360 CNC lathe, finished product The basket and system control cabinet are composed, and the arrangement of each equipment is shown in Figure 2.
Figure 2 Processing line equipment layout
3. CNC machining process
The workpiece is the motor casing, as shown in Figure 3, for mass production, the material is ADC12 aluminum alloy. The machining content includes face milling drilling, tapping and bore turning.
Figure 3 Motor housing parts drawing
The parts processing operations are distributed as follows: (1) The VM850 vertical machining center 1 performs M4 thread bottom hole drilling, M4 thread tapping and milling outer circular boss processing, as shown in Figure 4.
Figure 4 machining center 1 processing diagram
(2) The VM850 machining center 2 drills six through-hole and hole chamfering processes of φ 5.5 mm, as shown in Fig. 5.
Figure 5 machining center 2 processing diagram
(3) The CLX360 CNC lathe performs the machining of the inner hole, the step hole and the hole chamfering process, as shown in Fig. 6.
Figure 6 CNC lathe processing diagram
In addition, special fixtures need to be designed. The machining center fixture adopts the internal clamp method, and the CNC lathe adopts the external clamp method. The figure 1 FANUC robot outline drawing uses the combined application technology of robot and CNC machine tool to process the workpiece by automatic loading and unloading to improve the processing efficiency.
4. Robot automatic loading and unloading action design
The robotic pneumatic gripper components are designed according to the shape characteristics of the workpiece, including pneumatics, sensors and mechanical components. The workpiece processing process is as follows:
1 The blank workpiece is placed on the loading conveyor.
2 The walking robot R1 composite gripper grabs the blank workpiece, walks to the machining center 1 position, and mounts the workpiece to the special fixture of the machining center 1, as shown in Fig. 7.
Figure 7 Machining Center 1 fixture on the workpiece
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