# Gantt diagram

```VEDLEGG 1
Gantt diagram
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VEDLEGG 2
KONSEPTGENERERNIG
Gruppe 9
Innholdsfortegnelse:
Innledning: .............................................................................................................................................. 3
Konklusjon: ............................................................................................................................................. 4
Funksjonsl&oslash;snings -tre ............................................................................................................................ 5
Konseptl&oslash;sning 1: ................................................................................................................................... 6
Konseptl&oslash;sning 2: ................................................................................................................................... 9
Konseptl&oslash;sning 3 .................................................................................................................................. 12
Konseptl&oslash;sning 4: ................................................................................................................................. 15
Konseptl&oslash;sning 5: ................................................................................................................................. 17
Konseptl&oslash;sning 6: ................................................................................................................................. 18
Konseptl&oslash;sning 7: ................................................................................................................................. 20
Konseptl&oslash;sning 8: ................................................................................................................................. 21
Konseptl&oslash;sning 9: ................................................................................................................................. 22
Konseptl&oslash;sning 10: ............................................................................................................................... 23
Konseptl&oslash;sning 11: ............................................................................................................................... 24
Konseptl&oslash;sning 12: ............................................................................................................................... 27
Konseptl&oslash;sning 13: ............................................................................................................................... 28
Konsept l&oslash;sning 14: .............................................................................................................................. 30
Konseptl&oslash;sning 15: ............................................................................................................................... 32
Konseptl&oslash;sning 16: ............................................................................................................................... 34
Konseptl&oslash;sning 17: ............................................................................................................................... 35
Konseptl&oslash;sning 18: ............................................................................................................................... 36
Konseptl&oslash;sning 19: ............................................................................................................................... 37
Konseptl&oslash;sning 20: ............................................................................................................................... 38
Side | 2
Innledning:
Konseptene som er generert er alt fra re design av flenser(som vil gj&oslash;re automatisering lettere),
verkt&oslash;y konsepter, samt komplette l&oslash;snings -konsepter.
Litt av grunnen til at vi har tillatt oss &aring; gj&oslash;re alt mulig med flenser og ventiler, er for og ikke sette
noen brems p&aring; genereringen. For &aring; illustrere v&aring;re konsepter, bruker vi SolidWorks 3D – modellerings
program.
Utgangspunktet for konseptgenereringen er hovedsakelig kravspesifikasjonen. En effektiv
produktutviklingsgruppe vil kunne generere mange forskjellige konsepter. Deretter grovsiles
konseptene slik at gruppen sitter igjen med noen f&aring; konsepter.
For &aring; f&aring; et godt resultat er det viktig at produktutviklingsgruppen:
•
Generer mange ideer
•
Ville ideer er velkomne
•
Benytt grafiske og fysiske media
•
Anvend likheter
•
L&oslash;s konflikter under prosessen
•
Anvend relaterte impulser
•
Formuler kvantitative m&aring;l
•
Bytt ideer i gruppen
•
Hold tilbake kritiske bemerkninger
Side | 3
Konklusjon:
Konseptgenereringsfasen av prosjektet viste seg &aring; v&aelig;re en meget l&aelig;rerik prosess, b&aring;de med tanke p&aring;
modelleringsferdigheter, kreativitet og m&aring;lrettet samarbeid.
Siden det var f&oslash;rste ganget dette prosjektet ble gitt, ble en viktig del av prosessen &aring; forme oppgaven
og gi den et realistisk m&aring;l. Til dette ble konseptgenereringsfasen en stor hjelp, spesielt det &aring;
visualisere og beskrive en ide eller et konsept til flere involverte parter.
For &aring; komme frem til et produkt som kunden kunne bli forn&oslash;yd med var det kritisk &aring; opprettholde en
god dialog med ABB, slik at avsporinger og missforst&aring;elser ble luket ut s&aring; tidlig som mulig og at det
ble lagt vekt p&aring; de viktigste kravene. Kravene endret seg noe etter som konseptgenereringsfasen
utviklet seg.
Side | 4
Funksjonsl&oslash;snings tre
For &aring; gjennomf&oslash;re en god konseptgenerering er det en stor fordel &aring; benytte seg av et
funksjonsl&oslash;snings tre som man kan se under. Treet viser de fire hovedkategoriene(drivkraft, flenstype,
funksjonalitet og sikkerhet) l&oslash;sningen vil basere seg p&aring;, som igjen har sine undergrupper med
kombinasjoner av l&oslash;sninger.
L-1,1,1 Line&aelig;r
aktuatorer
L-1,1 Pneumatisk
L-1,1,2 roterende
aktuator
L-1,2,1 Roterende
aktuator
F-1 Drivkraft
L-1,2 Elektrisk
L-1,2,2
L-1,3 Manuel
Line&aelig;re aktuatorer
L-2,1,1 Bolt festing
L-2,1 Standar
L-2,1,2 Klemme
koblinger
F-2 Flenstype
L-2,2 Redesigne
L-3,1 Design
verkt&oslash;y for utbytting
av ventiler
L-3,1,1 Levetid
L-3,2,1 ofte
L-3,2 Vedlikehold
L-3,2,2 sjeldent
F-3 Funksjonalitet
L-3,3,1
Overdimensjonert
L-3,3
Dimensjonering
L-3,3,2
Underdimensjonert
L-3,4 Klarer
oppgaven
L-3,3,3 Ikke
beregnet
L-4,1 Kolisjon
sensor
L-4,2 Flens L&aring;s
F-4 Sikkerhet
L-4,3 EX sikkert type
1 eller 0
L-4,4 Deksler /
Isolasjon
Figur 1: Funksjonsl&oslash;snings tre
Side | 5
Konseptl&oslash;sning 1:
Tanken er en muttertrekker, bygd inn i et hus. Muttertrekkeren kan bevege seg opp til 8cm ut fra huset
ved hjelp av en liten sylinder i bakkant. P&aring; toppen er det en st&oslash;rre sylinder som gj&oslash;r at mutterholderen
kan bevege seg i posisjon. Det er opp til 19 cm bevegelighet p&aring; den store sylinderen som gir mulighet
for &aring; kunne bytte bolt/skrue p&aring; rimelig store flens - tykkelser.
P&aring; grunn av den store bevegelsesfriheten til mutterholderen, &aring;pner det for mulige
spesialbolter/kombinasjonsbolter (bolt og mutter i ett).
Stor sylinder.
Mutterholder.
Muttertrekker.
”Hus” for muttertrekker.
Bilde 1: Overblikk av verkt&oslash;yet.
L-1,1,1 Line&aelig;r
aktuator
L-1,1,2
roterende
aktuator
L-2,1,1
Botlfesting
L-3,2,2 sjeldent
L-3,4 klarer
oppgaven
L-3,3,3 ikke
beregnet
L-4,4 deksel /
isolasjon
Side | 6
Bilde 2: Her ser vi verkt&oslash;yet plassert p&aring; r&oslash;ret
St&oslash;tte slik at verkt&oslash;yet kan ”hvile”
p&aring; r&oslash;ret.
Bilde 3: Sett fra andre siden
Side | 7
190 mm
Bilde 4: Utstrakt posisjon
20 mm
Bilde 6: Sammentrykt posisjon
Side | 8
Konseptl&oslash;sning 2:
R&oslash;rflens
Ventil med
mutterinnsats
Verkt&oslash;y
Bilde 7: Sammensetning med ventil og r&oslash;rflens
L-1,1,2 roterende
aktuator
L-2,1,1
Botlfesting
L-3,2,1 Ofte
L-3,3,3 ikke
beregnet
L-4,4 deksel /
isolasjon
For &aring; forhindre at roboten mister en komponent under arbeidsprosessen; i dette tilfellet den minste
delen (mutteren), monterer vi en slags mutterinnsats i ventilflensen f&oslash;r ventilen er i posisjon til &aring; bli
koblet til r&oslash;rflensen. Deretter kj&oslash;rer roboten frem verkt&oslash;yet for &aring; skru p&aring;/av bolten.
Side | 9
Bilde 8: Ventil med mutterinnsats.
Bilde 9: Luftskralle med magasin
Verkt&oslash;yet er basert p&aring; en luftskralles arbeidsprinsipp. Det geniale med verkt&oslash;yet er at det blir
montert et boltmagasin slik at skrallen kan bli matet etter behov.
Side | 10
Bolt magasinet
Skrallehus
Bolt
Mutterpipe
Bilde 10: Boltmagasin
Luftskrallen med magasin fungerer slik at bolten blir dyttet ned mot en mutterpipe, pipen holder
bolten p&aring; plass p&aring; grunn av et innvendig magnetfelt rundt seg. Deretter beveger skrallehuset seg frem
til posisjon en for &aring; feste r&oslash;rflensen mot ventilflensen.
Side | 11
Konseptl&oslash;sning 3
Multil&oslash;sning som krever re design av flenser (vilt forslag).
L&oslash;sningen baserer seg p&aring; firkantede flenser der det er frest ut to spor i flensen. I disse sporene er det
plass til et magasin som inneholder to bolter.
Det er ogs&aring; laget et enkelt multiverkt&oslash;y som kan hente boltmagasinene ved hjelp av magnet, fra for
eksempel et bord og sette de p&aring; plass. Verkt&oslash;yet har ogs&aring; en liten ”muttertrekker” som skrur tingene
sammen.
Bolter og muttere er ogs&aring; redesignet slik at verkt&oslash;yet kan brukes p&aring; begge. I dette tilfelle er det brukt
umbrako.
Multiverkt&oslash;y
Magasin
”Ventil”
Bilde 11: Overblikk med r&oslash;r, ventil, modifiserte flenser samt robotverkt&oslash;yet.
L-1,1,2 roterende
aktuator
L-2,1,1 Botlfesting
L-4,2 flens l&aring;s
L-4,4 deksel /
isolasjon
L-3,2,2 sjeldent
L-3,3,3 ikke
beregnet
Side | 12
Magasinet.
Utfrest spor i flens.
Bilde 12: Magasinet og utfrest spor i flens
Bilde 13: Snitt av magasinet.
Magasinet som best&aring;r av hovedbolter(gr&oslash;nne), samt sm&aring; bolter(bl&aring;), som enkelt og greit f&oslash;rer de
gr&oslash;nne hovedboltene gjennom flensene.
Side | 13
Bilde 14: Verkt&oslash;yet er inne og fester en mutter
Side | 14
Konseptl&oslash;sning 4:
Muttertrekker.
Klemme.
Gir hus.
Luft.
Standard flens.
Bilde 15: Overblikk
L-1,1,2 roterende
aktuator
L-2,1,1 Botlfesting
L-3,2,2 sjeldent
L-3,4 Klarer
oppgaven
L-4,2 flens l&aring;s
L-4,4 deksel /
isolasjon
L-3,3,3 ikke
beregnet
Luft for &aring; presse bolten frem.
Muttertrekker.
Bilde 16: Snitt 1
Side | 15
Rektangul&aelig;rt
bolthode.
Bilde 17: Snitt 2
Bilde 18: Gir hus
Vi bruker en tannreim eller et kjede, for overf&oslash;ring av kreftene.
Side | 16
Konseptl&oslash;sning 5:
M&aring; freses ned litt p&aring; r&oslash;ret
for finere overfalte.
Ventil.
Glidemuffe.
Bilde 19: Overblikk
L-2,2
Redesigne
L-3,2,2
sjeldent
L-3,3,3 ikke
beregnet
L-3,4 klarer
oppgaven
L-4,2 flens
l&aring;s
Klo for
robotfeste.
Skr&aring; kant som gir mulighet for
litt grovtilpassing.
Bilde 20: Snitt 2
Side | 17
Konseptl&oslash;sning 6:
Mulighet for at kloa kan
festes i ventilen.
Hvordan vil krefter
virke inn i dette
punktet?
M&aring; ha mulighet for &aring; kunne
flytte litt p&aring; r&oslash;rene.
Bilde 21: Oversikt
Bilde 22: Arbeidsprinsipp girkasse
L-1,3
Manuel
L2,1,standar
L-3,2,2
sjeldent
L-3,3,3 ikke
beregnet
L-4,4 deksel
/ isolasjon
Side | 18
Girkasse(se bilde)
Kan bruke standard
flenser.
Bilde 23: Sammensatt
Bilde 24: Overblikk
Side | 19
Konseptl&oslash;sning 7:
Klemmer som holder flensene sammen.
Bilde 25: Overblikk
L-1,3 Manuel
L-2,1,2 Klemme
koblinger
L-3,2,2 sjeldent
L-3,3,3 ikke
beregnet
L-4,2 flens l&aring;s
Bilde 26: &Aring;pen
Side | 20
Konseptl&oslash;sning 8:
Ventil side.
M&aring; ha en pakning p&aring;
denne eller andre siden.
Skr&aring;kanter gir mulighet for
enkelt flenssystem.
Bilde 27: R&oslash;rene m&aring; v&aelig;re noe l&oslash;se
L-1,3
Manuel
L-2,2
Redesigne
L-3,2,2
sjeldent
L-3,3,3 ikke
beregnet
L-4,2 flens
l&aring;s
Trenger ikke stor
n&oslash;yaktighet, den vil dra
seg inn p&aring; plass.
Bilde 28: Sammenstilling
Side | 21
Konseptl&oslash;sning 9:
Konsept for &aring; gripe rundt og skru en bolt.
Glidemuffe.
Bilde 29: &Aring;pen
Glidemuffen vil
klemme p&aring; bolten.
Bilde 30: Lukket
L-1,1,2 roterende
aktuator
L-2,1,1
Botlfesting
L-3,2,2 sjeldent
L-3,3,3 ikke
beregnet
L-4,4 deksel /
isolasjon
Side | 22
Konseptl&oslash;sning 10:
Gjenger p&aring; et av r&oslash;rene, og en mutter del p&aring; andre r&oslash;ret.
muttersiden lages en flens p&aring;, s&aring;nn at ikke mutteren kan skli av r&oslash;ret, deretter skrus r&oslash;rene sammen.
Skrue funksjon
Bilde 1: Skruefunksjon
L-1,3
Manuel
L-2,2
Redesigne
L-3,2,1 Ofte
L-3,3,3 ikke
beregnet
L-4,2 flens
l&aring;s
R&oslash;r m&aring; ha mindre
diameter, for at
skruen skal passe.
Bilde 32: Oversikt
Side | 23
Konseptl&oslash;sning 11:
Bilde 33: Sett utenfra
L-1,1,2 roterende
aktuator
L-2,1,1 Botlfesting
L-3,2,2 sjeldent
L-3,3,3 ikke
beregnet
L-4,2 flens l&aring;s
L-4,4 deksel /
isolasjon
Den gule muffa er muligens av plast, som gj&oslash;r det lett for roboten &aring; putte inn det gr&oslash;nne torx
mutteren(fig.34). Alts&aring;, den gr&oslash;nne er b&aring;de en mutter og skrue samtidig. Lett og entre, sterk, kan
designes med skr&aring;kant(innerside), for &aring; f&aring; fin entring fra skruen som kommer fra andre siden
Gr&oslash;nn mutterskrue
Gul ”muffe” som
s&oslash;rger for lett
entring
Bilde 34: Overblikk
Side | 24
Bilde 35: Sett innenifra 1
R&oslash;d skrue er hovedskrue, den dyttes/skrues gjennom flensene ved hjelp av den lilla/bl&aring; skruen. N&aring;r
den er p&aring; plass er det bare &aring; putte inn den gr&oslash;nne mutteren og skru fast.
Hovedbolt.
Dytteskrue.
Bilde 36: Sett innenifra 2
Side | 25
Styring for muffe.
Ventilflenshette.
Bilde 37: Styring for muffe og ventilflenshette
Side | 26
Konseptl&oslash;sning 12:
For at ventilen skal holde seg i posisjon f&oslash;r flensene blir festet, foresl&aring;r vi &aring; dreie et spor p&aring; en flens
og monterer en kule (fj&aelig;rmekanisme p&aring; den andre?)
Kule.
Spor.
Skrue til justering.
Fj&aelig;r.
Bilde 38: Konseptl&oslash;sning 12
L-1,3
Manuel
L-2,2
Redesigne
L-3,2,1 Ofte
L-3,3,3 ikke
beregnet
L-4,2 flens
l&aring;s
Side | 27
Konseptl&oslash;sning 13:
Forslaget handler om &aring; sveise fast to bolter p&aring; ventilflensen, en p&aring; hver side; og freser en spor p&aring;
r&oslash;rflensen slik at ventilen holder seg fast mens skrueforbindelser blir utf&oslash;rt.
Bolt (Sveiset fast p&aring;
ventil flensen)
Bilde 39: Ventil med tapp
L-2,2
Redesigne
L-3,2,2
sjeldent
L-3,3,3 ikke
beregnet
L-4,2 flens
l&aring;s
Bilde 40: Flens redesign
Side | 28
Bilde 41: Sammensetning
Side | 29
Konsept l&oslash;sning 14:
Forslag for sammensetning av to flenser med ulik ytre diameter:
Lager et lite hakk i ventilflensens indre ring, og et spor i r&oslash;rflensens indre ring, slik at hakket og
sporet tilpasses. P&aring; denne m&aring;ten holder ventilen seg i posisjon f&oslash;r skrueforbindelsen blir utf&oslash;rt.
Tapp.
Bilde 42: Hannside
L-2,2
Redesigne
L-3,2,2
sjeldent
L-3,3,3 ikke
beregnet
L-4,2 flens
l&aring;s
Spor.
Bilde 43: Hunnside
Side | 30
Bilde 44: Montert sammen
Bilde 45: Snitt
Side | 31
Konseptl&oslash;sning 15:
L&oslash;sning for &aring; skru en bolt eller mutter. Sirkul&aelig;r bevegelse som griper og slipper rundt bolt hode i tur
og orden.
Bilde 46: Gripere ute
L-1,1,2 roterende
aktuator
L-2,1,1
Botlfesting
L-3,2,1 Ofte
L-3,3,3 ikke
beregnet
L-4,4 deksel /
isolasjon
Bilde 47: Sammentrukket
Side | 32
Bilde 48: Utstrakt posisjon
Side | 33
Konseptl&oslash;sning 16:
L&oslash;sning for &aring; skru en bolt
Stempel(aktuator) som gir en
skrubevegelse.
Bilde 49: Konseptl&oslash;sning 16
L-1,1,2 roterende
aktuator
L-2,1,1 Botlfesting
L-3,2,1 Ofte
L-3,3,3 ikke
beregnet
L-4,2 flens l&aring;s
L-4,4 deksel /
isolasjon
Side | 34
Konseptl&oslash;sning 17:
L&oslash;sning for &aring; montere flere bolter samtidig, med luft.
Bilde 50: Bolter ute
L-1,1,1 Line&aelig;r
aktuatorer
L-2,2
Redesigne
L-3,2,2
sjeldent
L-3,3,3 ikke
beregnet
L-4,2 flens l&aring;s
L-4,4 deksel /
isolasjon
Kobler til luft og boltene sendes
ut samtidig.
Bilde 51: Snitt 1
Side | 35
Konseptl&oslash;sning 18:
Konsept 18 er basert p&aring; Clamp connector prinsippet. Et verkt&oslash;y er ment &aring; kunne feste en Clamp p&aring;
hver side samtidig og skru alle fire boltene samtidig.
Muttertrekker skal
v&aelig;re her
Feste mot robot
Bilde 52: Sett fra baksiden
L-1,1,1 Line&aelig;r
aktuatorer
L-2,2
Redesigne
L-3,2,2
sjeldent
L-3,4 Klarer
oppgaven
L-4,2 flens l&aring;s
L-4,4 deksel /
isolasjon
Mulighet for &aring; skru
flere bolter samtidig.
L-3,3,3 ikke
beregnet
Verkt&oslash;yet skal ikke
st&aring; igjen men
montere en clamp
som er midletidig
festet her.
Bilde 53: Fronten av verkt&oslash;yet
For at verkt&oslash;yet skal greie &aring; holde p&aring; ”clampen” er det en tanke &aring; legge til festeanordninger p&aring; sidene.
Side | 36
Konseptl&oslash;sning 19:
ST&Oslash;TTE ARM
(HOLDER
VENTILUNDERSIDE)
KLEMMER
(&Aring;PNES OG LUKKES AV
TANNHJUL OVERF&Oslash;RING)
STYREARMENE
(OVERF&Oslash;RE
TANNHJUL
BEVEGELSEN SLIK
AT KLEMMENE
&Aring;PNES ELLER
LUKKES)
TANNHJUL OVERF&Oslash;RING
PNEUMATISK SYLINDER
(UTVIDE H&Oslash;YDEN)
Bilde 54: Konseptl&oslash;sning 19
L-1,1,1 Line&aelig;r
aktuatorer
L-1,1,2 Roterende
aktuator
L-3,3,3 ikke
beregnet
L-4,2 flens l&aring;s
L-2,2 Redesigne
L-3,2,1 Ofte
Side | 37
Konseptl&oslash;sning 20:
Pneumatisk drevet verkt&oslash;y basert p&aring; diskl&oslash;sning. Et forholdsvis kompakt verkt&oslash;y designet for &aring; klare
mesteparten av jobben.
Bilde 55: Konsept 20
L-1,1,1 Line&aelig;r
aktuatorer
L-2,1,1 Boltfesting
L-3,4 Klarer
oppgaven
L-4,4 deksel /
isolasjon
L-3,2,2 sjeldent
L-3,3,1
overdimensjonert
Side | 38
Boks for bolter
Bilde 56: Her ser vi verkt&oslash;yet, gr&oslash;nt illustrerer flensene som sitter p&aring; r&oslash;rene.
Bilde 57: Tanken er at verkt&oslash;yet skal begynne jobben p&aring; hodet for s&aring; &aring; rotere om r&oslash;rets akse
helt til alle boltene er l&oslash;snet.
Side | 39
Spesialpipe m/boks for muttere
Vippearm
Stempel for &aring; dytte ut bolt
Bilde 58: Det skal brukes en luftskralle som monteres p&aring; vippearm og pipe. Vippearmen skal ha
et p&aring;montert stempel, for &aring; vippe opp og ned, samt et lite stempel for &aring; dytte ut bolten.
Disk presset tilbake
Stempel i front
Bilde 59: N&aring;r boltene er l&oslash;snet(verkt&oslash;y i nedre posisjon), er disken l&oslash;s(gull farge), og da g&aring;r
stempelet i front ut for og presse disken inn i et spor p&aring; verkt&oslash;yet, s&aring;nn at den st&aring;r fast og
roboten kan kj&oslash;re ut.
Side | 40
VEDLEGG 3
GROVSILING
Gruppe 9
Side | 1
Innholdsfortegnelse:
Innledning: .............................................................................................................................................. 3
Konsept 1: ............................................................................................................................................... 4
Konsept 2: ............................................................................................................................................... 4
Konsept 3: ............................................................................................................................................... 5
Konsept 4: ............................................................................................................................................... 5
Konsept 5: ............................................................................................................................................... 6
Konsept 6: ............................................................................................................................................... 6
Konsept 7: ............................................................................................................................................... 7
Konsept 8: ............................................................................................................................................... 7
Konsept 9: ............................................................................................................................................... 8
Konsept 10: ............................................................................................................................................. 8
Konsept 11: ............................................................................................................................................. 9
Konsept 12: ............................................................................................................................................. 9
Konsept 13: ........................................................................................................................................... 10
Konsept 14: ........................................................................................................................................... 10
Konsept 15: ........................................................................................................................................... 11
Konsept 16: ........................................................................................................................................... 11
Konsept 17: ........................................................................................................................................... 12
Konsept 18: ........................................................................................................................................... 12
Konsept 19: ........................................................................................................................................... 13
Konsept 20: ........................................................................................................................................... 13
Konklusjon: ........................................................................................................................................... 14
Side | 2
Innledning:
Grovsilingen tar utgangspunkt i vedlegg x fra forprosjektet, konseptgenerering, hvor man kan lese om
hvert enkelt konsepts virkem&aring;te.
For &aring; sile ut konsepter som ikke n&aring;r opp til Screening og scoring prosessen gjennomf&oslash;rte vi en
grovsiling av konseptene. Her eliminerte vi konseptene som enten var veldig kostbare &aring; utvikle, d&aring;rlig
designmessig, usikre, samt de som var mest tungvinne &aring; bruke. Konseptenes positive og negative
egenskaper nevnes, samt en liten oppsummering.
Side | 3
Konsept 1:
Figur 1
Fordeler: Konseptet er et godt bilde p&aring; hva vi s&aring; for oss n&aring;r vi begynte konseptgenereringsfasen.
Verkt&oslash;yet er ment &aring; l&oslash;se utfordringen, skur en bolt eller mutter uten &aring; minste noen deler.
Ulemper: Verkt&oslash;yet l&oslash;ser ikke utfordringen &aring; holde ventilen mens ventilen gj&oslash;res fri. Konseptet er
ogs&aring; kompleks, stort og klumpete.
Oppsummering: Konseptet har potensial hvis det ble kraftig modifisert, mutterl&oslash;sne funksjonen kan
brukes videre.
Konsept 2:
Figur 2
Fordeler: Verkt&oslash;yet l&oslash;ser problematikken med &aring; l&oslash;sne en bolt og hvordan boltene kan mates til
skruenheten.
Ulemper: Mutter innsats er ikke tillatt.
Oppsummering: Det er ikke tillat &aring; endre p&aring; standardflenser, bolter og annet standardisert utstyr.
Boltmagasinet kan brukes videre men kun pipedelen.
Side | 4
Konsept 3:
Figur 3
Fordeler: Verkt&oslash;yet er ment &aring; kun v&aelig;re en muttertrekker.
Ulemper: Konseptet avviker fra all standard og er komplisert, tungt og dyrt.
Oppsummering: Det er ikke tillat &aring; endre p&aring; standardflenser, bolter og annet standardisert utstyr.
Muttertrekker er en potensial id&eacute; siden den er luft drevet.
Konsept 4:
Figur 4.
Fordeler: Konseptet er basert p&aring; standard flenser.
Ulemper:
•
•
Konseptet l&oslash;ser ikke utfordringen med &aring; st&oslash;tte opp ventilen. Konseptet er ogs&aring; relativt
komplisert og tungt.
Konseptet har en umiddelbar svakhet, hvis en bolt blir skadet eller setter seg fast, vil det v&aelig;re
komplisert &aring; bytte den ut.
Oppsummering: Det er ikke tillat &aring; endre p&aring; standardflenser, bolter og annet standardisert utstyr.
Konseptet er basert p&aring; endring av standard bolter noe som gj&oslash;r det mindre interessant, men med noe
re design er det mulig til rette det opp.
Side | 5
Konsept 5:
Figur 5
Fordeler: L&oslash;ser alle utfordringer, med utgangspunkt i at ventilen blir st&oslash;ttet opp fra undersiden.
Ulemper: Kostbart &aring; utvikle et s&aring; nytt konsept. Usikkert om konseptet vil v&aelig;re tett.
Oppsummering: Dette konseptet hadde v&aelig;rt en god tanke s&aring; fremt vi hadde friheten til &aring; redesigne
standard utstyr. Kanskje vil noe lignende bli brukt i fremtiden.
Konsept 6:
Figur 6.
Fordeler: Nytenkende.
Ulemper: Konseptet er stort og klumpete og komplisert noe som gj&oslash;r det for tungt for v&aring;re
begrensninger. Det er en fare for at konseptet ville gj&oslash;re skade p&aring; r&oslash;rene med tanke p&aring; krefter og
friksjon.
Oppsummering: Konseptet l&oslash;ser ikke utfordringen med &aring; holde ventilen p&aring; plass. Det er ikke tillat &aring;
endre p&aring; standardflenser, bolter og annet standardisert utstyr.
Side | 6
Konsept 7:
Figur 7
Fordeler: Benytter seg av ”Clamp connector” prinsippet.
Ulemper: Stort og tungt, samt holder ikke ventilen oppe.
Oppsummering: Dette er ikke en l&oslash;sning men mer en gjenskapning av et eksisterende produkt. Det
er ikke tillat &aring; endre p&aring; standardflenser, bolter og annet standardisert utstyr, s&aring; uten &aring; gj&oslash;re store
endringer er ikke konseptet noen l&oslash;sning.
Konsept 8:
Figur 8
Fordeler: Enkelt og lettvint l&oslash;sning.
Ulemper: L&oslash;ser ikke utfordringen &aring; st&oslash;tte opp ventilen. Krever total rekonstruksjon.
Oppsummering: Det er ikke tillat &aring; endre p&aring; standardflenser, bolter og annet standardisert utstyr.
Side | 7
Konsept 9:
Figur 9
Fordeler: Holder en bolt p&aring; plass uten &aring; miste deler.
Ulemper: Noe komplisert.
Oppsummering: Dette konseptet er ikke ment som en komplett l&oslash;sning men visualisere en l&oslash;sning
for &aring; holde og skru en bolt eller mutter.
Konsept 10:
Figur 10
Fordeler: Konseptet gj&oslash;r det mulig for en robot &aring; enkelt l&oslash;sne eller feste to r&oslash;r.
Ulemper: Konseptet er avhengig av &aring; redesigne alt.
Oppsummering: Det er ikke tillat &aring; endre p&aring; standardflenser, bolter og annet standardisert utstyr. Det
er heller ingen komplett l&oslash;sning.
Side | 8
Konsept 11:
Figur 11.
Fordeler: Konseptet gj&oslash;r det mulig &aring; automatisere feste og frigj&oslash;ring av ventilen.
Ulemper: St&oslash;tter ikke opp ventilen, Ville ikke fungert med tanke p&aring; at ventilen n&aring; er en disk.
Oppsummering: Det er ikke tillat &aring; endre p&aring; standardflenser, bolter og annet standardisert utstyr.
Konsept 12:
Figur 12
Fordeler: Holder ventilen i riktig posisjon menes flenser festes.
Ulemper: Konseptet er anhengig av redesign av flens.
Oppsummering: Det er ikke tillat &aring; endre p&aring; standardflenser, bolter og annet standardisert utstyr.
Side | 9
Konsept 13:
Figur 13
Fordeler: Holder ventilen p&aring; plass n&aring;r den er l&oslash;snet fra boltene.
Ulemper: Dette er ingen komplett l&oslash;sning. Avhenger av &aring; endre p&aring; standard flenser.
Oppsummering: Det er ikke tillat &aring; endre p&aring; standardflenser, bolter og annet standardisert utstyr.
Konsept 14:
Figur 14
Fordeler: Konseptet l&oslash;ser utfordringen &aring; f&aring; flensene til &aring; monteres rett sammen til et vist punkt.
Ulemper: Dette er ingen komplett l&oslash;sning og det krever av vi endrer p&aring; standard flenser.
Oppsummering: Det er ikke tillat &aring; endre p&aring; standardflenser, bolter og annet standardisert utstyr.
Side | 10
Konsept 15:
Figur 15
Fordeler: Kan skru en bolt.
Ulemper: Dette er ingen komplett l&oslash;sning og selve verkt&oslash;yet er komplisert og best&aring;r av mange sm&aring;
deler.
Oppsummering: For &aring; skru en bolt eller mutter kan muligens ideen brukes videre.
Konsept 16:
Figur 16
Fordeler: Kan skru en bolt eller mutter.
Ulemper: Dette er ingen komplett l&oslash;sning.
Oppsummering: Mulig, men lite sannsynelig at vi f&aring;r bruk for denne metoden &aring; skru en bolt.
Side | 11
Konsept 17:
Figur 17
Fordeler: Konseptet l&oslash;ser problemstillingen med &aring; feste flere bolter samtidig.
Ulemper: Konseptet krever store endringer av standard flenser og bolter.
Oppsummering: Det er mulig &aring; bruke luft p&aring; mange m&aring;ter, og tankegangen kan muligens brukes
videre. Det er ikke tillat &aring; endre p&aring; standardflenser, bolter og annet standardisert utstyr.
Konsept 18:
Figur 18
Fordeler: Verkt&oslash;yet er basert p&aring; ”Clamp connector” som er moderne og alternativt.
Ulemper: Avhengig av &aring; endre p&aring; standard Clamp connector . Verkt&oslash;yet blir stort og tungt.
Oppsummering: Det er ikke tillat &aring; endre p&aring; standardflenser, bolter og annet standardisert utstyr.
Konseptet er interessant.
Side | 12
Konsept 19:
Figur 19
Fordeler: Ideen og metoden for &aring; holde og flytte p&aring; en ventil kan muligens brukes videre.
Ulemper: Verkt&oslash;yet l&oslash;ser kun utfordringen med &aring; holde ventilen, konseptet er komplisert og
antagelig dyrt &aring; produsere.
Oppsummering: Verkt&oslash;yet l&oslash;ser kun utfordringen med &aring; holde ventilen og er derfor ikke egnet
videre uten store endringer.
Konsept 20:
Figur 20
Fordeler: Konseptet er relativt ukomplisert og mulig &aring; realisere med prosjektbudsjettet. L&oslash;ser de
fleste utfordringene.
Ulemper: En del bevegelige deler
Oppsummering: Dette konseptet l&oslash;ser de fleste utfordringene som er spesifisert i oppgaven og
im&oslash;tekommer kravene i kravspesifikasjonen. Konseptet er basert p&aring; &aring; benytte standard flenser
samtidig som det har gode muligheter for redesign.
Side | 13
Konklusjon:
Ut i fra grovsilingsprosessen skal de mest potensielle konseptene velges ut, &aring; g&aring; videre til screening
og scoring prosessen.
V&aring;rt viktigste krav for at et konsept skulle velges videre til screening og scoring, var om konseptet
l&oslash;ser s&aring; mange som mulig av oppgavens utfordringer og tar hensyn p&aring; kravspesifikasjonen.
De syv valgte konseptene ble nr: 1, 2, 4, 5, 18, 19 og 20
Side | 14
VEDLEGG 4
Datasheet IRB 4400
Robotics
IRB 4400
Industrial Robot
Main Applications
Cutting and deburring
Grinding and polishing
Machine tending
Material handling
Fast, compact and versatile industrial robot
An extremely fast, compact robot for medium to heavy handling. Exceptional all-round capabilities make it suitable for a
variety of manufacturing applications. The load capacity of
60 kg at very high speeds usually permits handling of two
parts at a time. A rigid, well-balanced design and patented
TrueMove TM function provide smooth and fast movement
throughout the entire working range.
This ensures very high quality in applications such as cutting.
Rapid maneuverability makes the IRB 4400 perfectly matched
for applications where speed and flexibility are important. The
compact design and protected versions enables use in situations where conventional robots cannot work, such as foundry
and spraying applications. The foundry plus version is IP 67
protected and can be washed with high pressure steam,
which makes it ideal for use in harsh environments.
Reliability and economy
The robust, rigid construction means long intervals between
routine maintenance. Well-balanced steel arms with double
bearing joints, a torque-strut on axis 2 and use of maintenance-free gearboxes and cabling also contribute to the very
high levels of reliability. The drive train is optimised to give
high torque with the lowest power consumption for economic
operation.
Extensive communication for easy integration
The extensive communication capabilities include serial links,
network interfaces, PLC, remote I/O and field bus interfaces.
This makes for easy integration in small manufacturing stations as well as large scale factory automation systems.쇓
IRB 4400
Specification
Electrical Connections
1.96 m 60 kg
Prime 2
x
x
x
Supply voltage
200-600 V, 50/60 Hz
Rated power
Transformer rating
7.8 kVA
Physical
on axis 2 35 kg
Robot mounting
on axis 3
15 kg
on axis 4
0-5 kg
Dimensions
Number of axes
IRB 4400 Robot manipulator 6
Weight
External devices 6
Integrated signal supply
23 signals and
Environment
10 power on upper arm
Ambient temperature
Integrated air supply Max. 8 bar on upper arm
Floor
Robot base 920 x 640 mm
Robot 1040 kg
Manipulator 5 – 45&deg;C
Relative humidity
Performance
Max. 95%
Position repeatability
0.19 mm
Degree of protection
Path repeatability at 1.6 m/s
0.56 mm
Standard version
Foundry Plus 2 and
Foundry Prime 2
Axis movements
.
IRB 4400/60 Plus 2
IP 54
IP 67 and high pressure steam washable
Working range
Axis Working range
Maximum speed
Noise level Max. 70 dB (A)
1, C Rotation Axis 1 + 165 to - 165 Axis 1 150&deg;/s
Safety Double circuits with supervision,
2, B Arm Axis 2 + 96 to - 70
Axis 2 120&deg;/s
emergency stops and safety functions,
3, A Arm Axis 3 + 65 to - 60 Axis 3 120&deg;/s
3-position enable device
4, D Wrist Axis 4 +200 to - 200
Axis 4 225&deg;/s
Emmission EMC/EMI-shielded
4, Option Unlimited 5, E Bend Axis 5 +120 to - 120
Axis 5 250&deg;/s
6, P Turn
Axis 6 + 400 to - 400 Axis 6 330&deg;/s
6, Option Unlimited Data and dimensions may be changed without notice
IRB 4400/60
300
400
1020
300
60 kg
2140
1720
890
680
200
100
290
1225
1955
www.abb.com/robotics
100
200
&copy; Copyright ABB Robotics. PR10035 EN_R7 November 2009
Robot versions
VEDLEGG 5
Datasheet IRB 6600
IRB 6660- 205/1.9
Industrial Robot
Main Applications
Machining
Milling
Grinding
Cutting
Sawing
IRB 6660 –
a robot for high-performance applications
IRB 6660 -205/1.9 is a robot designed for highperformance applications. The superior stiffness
and robustness of the robot allow for high productivity
in challenging applications like cleaning and premachining of castings. The accuracy of the robot
also makes for consistent and higher part quality,
even during high and fluctuating process forces.
The new stiff design supports accuracy and short
cycle time, which in the end increases productivity.
The IRB 6660 is a member of the powerful ABB
large robots family. The robot is a combination of
ABB’s well proven technology and design; and
some new features making it the stiffest articulated
robot to date. This unique combination makes
IRB 6660 very reliable, accurate, cost efficient and
easy to maintain and to install. The robot is available
with ABB’s well proven Foundry Plus protection
and has also a dedicated chip protection to further
strengthen the reliability and uptime.
The new optimized pre-machining robot
High productivity in cleaning and pre-machining
applications requires a stiff and robust robot.
The IRB 6660 has a parallel arm structure and in
general a very compact and sturdy mechanical
design, which makes it suitable for applications
with external forces. This is further supported by
the special dual bearing design and its powerful
gears and motors. IRB 6660 is specially designed
for applications where robot stability and stiffness
is key factors for success.
IRB 6660 is attacking one of the remaining challenges
in robotized cleaning and pre-machining, the
inconsistent quality of moulded parts. The inconsistent parts lead to unpredictable and changing
forces on the robot, and in turn affect the final
product quality. The robot design makes it robust,
allowing for effective handling of fluctuating
process forces that are common within applications
such as milling, deburring and grinding.
As an option ABB can offer RobotWare Machining
Force Control. This software provides improved
process results and quality – secure controlled contact
force in grinding application gives improved and
consistent product quality.
Absolute Accuracy is another option that supports
the performance of IRB 6660. It makes a real robot
an ideal robot as it maintains the accuracy between
the real world and the offline world of CAD software and ABB’s RobotStudio. Programming is preferably done with RobotStudio’s offline capabilities,
including reusing data from CAD/CAM generated
programs and special supporting features that
makes it easy to create paths.
IRB 6660- 205/1.9
Industrial Robot
TECHNICAL DATA, IRB 6660 INDUSTRIAL ROBOT
SPECIFICATION
Robot versions
Reach
Handling Center of
Wrist
capacity gravity torque
IRB 6660-205/1.9 1.93
205
375 mm Axis 5 1177 Nm
Axis 6 620 Nm
Extra loads can be mounted on the robot
15 kg on upper arm with 205 kg payload and 500 kg on the frame.
Number of axes: 6
ProtectionComplete robot IP 67
Chip protection
Mounting: Floor mounted
PERFORMANCE
Positions repeatability 0,07
Axis movements
Working range
Axis 1 Rotation
+180&deg; to - 180 &deg;
Axis 2 Arm
+ 85&deg; to - 42 &deg;
Axis 3 Arm
+120&deg; to - 20 &deg;
Axis 4 Wrist
+300&deg; to - 300 &deg; Axis 5 Bend
+120&deg; to - 120 &deg;
Axis 6 Turn
+360&deg; to - 360 &deg;
Axis 2-3 +160&deg; to + 20 &deg;
Axis max speed
Axis 1 130 &deg;/s Axis 2 130 &deg;/s
Axis 3 130 &deg;/s
Axis 4 150 &deg;/s
Axis 5 120 &deg;/s
Axis 6 190 &deg;/s
A supervision function prevents overheating in applications with intensive
and frequent movements.
ELECTRICAL CONNECTIONS
Supply voltage
200-600 V,50/60 Hz
Power consumption
ISO-Cube 2.6kW
Normal robot movements
3.8kW
ELECTRICAL CONNECTIONS
Dimensions robot base
1206 x 798 mm
Weight 1730 kg
ENVIRONMENT
Ambient temperature for mechanical unit
During operation
+ 5&deg; C (41&deg; F) -+50&deg;C (122&deg; F)
During transportation and
storage for short periods
- 25&deg; C (13&deg; F) -+55&deg;C (131&deg; F)
(max 24h)
up to +70&deg; C (158&deg; F)
Relative humidity
Max 95%
Noise level Max 70 dB (A)
Safety
Double circuits with supervision, emergency stops
and safety functions, 3-positions enable device.
Emission
Selected Options
EMC/EMI-shielded
RobotWare Machining Force Control
Foundry Plus
Absolute Accuracy
Data and dimensions may be changed without notice.
Working range
IRB 6660 optimized for pre-machining
IRB 6660-205/1.9
1932,4
2083
751,5
www.abb.com/robotics
60,4
632,2
&copy; Copyright, ROB0053 EN_A, February 2008. Produced by ABB V&auml;ster&aring;s,
575
2217
743,4
VEDLEGG 6
Tegninger: Verkt&oslash;y, testjigg og
verkt&oslash;yholdejigg
2
3
ITEM PartNo Revision DESCRIPTION
NO.
1 03-105
1
Test Jigg
Produseres
59013.51 1
2 03-120
1
Verkt&oslash;y holder
Produseres
7114.78 1
Verkt&oslash;y
3 20-101
2
10103.98 1
Sammenstilling Sammenstilling
1
00
15
REV.
2
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
DESCRIPTION
Verkt&oslash;y oppdatert med nye
stempler
DO NOT SCALE DRAWING
DATE
08.04.2010
REVISION
APPROVED
04.05.2010
JIO
2
anskaffelse
Produseres
NAME
SIGNATURE
DATE
TITLE:
DRAWN
CHK'D
Test system
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
WEIGHT: 76232.27
SCALE:1:5
20-100
SHEET 1 OF 39
A3
ITEM PartNo Revision
NO.
5
4
3
6
DESCRIPTION
Material Weight QTY.
Hovedramme
Sammenstilling
sammenstilling
Multiramme
Sammenstilling
sammensetning
Vippearm
Sammenstilling
sammenstilling
3110_SG_M6
Kj&oslash;pes
193998_ESNU_12_25
Kj&oslash;pes
1
20-010
2
2
20-011
2
3
20-012
1
4
5
01-031
01-032
2
2
6
01-033
1
Bolt l&aring;ser
Produseres
7
01-019
2
193999_ESNU_16_40
Kj&oslash;pes
-
5596.47
1
-
1354.62
1
-
2639.72
1
Plain
Carbon 194.92
Steel
-
2
1
1
2
7
1
2
7
REV.
2
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
1
56
total lengde - 561mm
DESCRIPTION
Bytting av Pneumatiske
stempler
DATE
08.04.2010
2
Endring av fester til stemplene
08.04.2010
2
Omplasering av hull til stempel
festene
08.04.2010
DO NOT SCALE DRAWING
REVISION
APPROVED
04.05.2010
JIO
04.05.2010
JIO
04.05.2010
JIO
2
anskaffelse
Sammenstilling
NAME
SIGNATURE
DATE
TITLE:
DRAWN
CHK'D
Verkt&oslash;y Sammensettning
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
WEIGHT: 10103.98
SCALE:1:2
20-101
SHEET 2 OF 39
A3
4
5
2
ITEM PartNo Revision
NO.
1
1
01-010
2
2
01-011
1
3
01-012
2
4
01-013
1
5
01-014
1
6
01-015
1
8
7
01-016
2
9
8
01-017
1
9
01-018
2
3
DESCRIPTION
Plain
Hovedramme
Produseres Carbon 2795.19 1
Steel
Plain
ATI flens mot robot Produseres Carbon 1190.85 1
Steel
Plain
Stempel braket Produseres Carbon
172.79 1
front
Steel
Plain
Skive til st&oslash;ttebue Produseres Carbon 5.79
4
Steel
Plain
St&oslash;ttebue
Produseres Carbon 74.39
2
Steel
Plain
Foring
Produseres Carbon 330.81 2
Steel
Plain
Hylse til boltside Produseres Carbon
88.35
1
stempel
Steel
Plain
Hylse til boltisde Produseres Carbon 90.05
1
Steel
193999_ESNU_16_30 Kj&oslash;pes
2
6
7
5
5
5
5
5
5
REV.
2
2
2
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
DESCRIPTION
Bytting av
Pneumatiske
stempler
Endring av fester til
stemplene
Omplasering av hull
til stempel festene
DATE
APPROVED
08.04.2010
04.05.2010 JIO
08.04.2010
04.05.2010 JIO
08.04.2010
04.05.2010 JIO
DO NOT SCALE DRAWING
REVISION
2
anskaffelse
Sammenstilling
NAME
SIGNATURE
DATE
TITLE:
Hovedramme sammenstilling
DRAWN
CHK'D
APPV'D
561
MFG
Q.A
MATERIAL:
DWG NO.
WEIGHT: 5596.47
SCALE:1:5
20-010
SHEET 3 OF 39
A3
ITEM PartNo Revision DESCRIPTION MakeOrBuy Material Weight QTY.
NO.
Plain
1 01-020
2
Multiramme Produseres Carbon 768.86 1
Steel
Foring og
Plain
2 01-021
1
stopper for Produseres Carbon 85.53
1
vippe
Steel
Plain
3 01-022
1
Glidestang Produseres Carbon 198.13 2
Steel
Plain
4 01-023
1
Mellomstykke Produseres Carbon 28.03
1
Steel
Plain
Topp
5 01-024
2
20.90
1
stempel,feste Produseres Carbon
Steel
5
3
4
1
2
2
REV.
2
5
5
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
DESCRIPTION
Bytting av Pneumatiske
stempler
DATE
08.04.2010
2
Endring av fester til stemplene
08.04.2010
2
Omplasering av hull til stempel
festene
08.04.2010
DO NOT SCALE DRAWING
REVISION
APPROVED
04.05.2010
JIO
04.05.2010
JIO
04.05.2010
JIO
2
anskaffelse
Sammenstilling
NAME
SIGNATURE
DATE
TITLE:
Multiramme sammensetning
DRAWN
CHK'D
APPV'D
180
MFG
Q.A
MATERIAL:
DWG NO.
WEIGHT: 1354.62
SCALE:1:2
20-011
SHEET 4 OF 39
A3
ITEM PartNo Revision
NO.
1
01-025
1
2
01-027
1
3
4
5
01-028
01-029
01-030
1
1
1
6
01-026
1
DESCRIPTION
Plain
Vippe arm
Produseres Carbon 365.01 1
Steel
Plain
Topp klemme til Produseres Carbon
18.46
2
skralle
Steel
Lang pipe til
Kj&oslash;pes
1
skralle
Skralle
Kj&oslash;pes
1
11647_EG_12_70 Kj&oslash;pes
1
Plain
Klemme til
Produseres
Carbon
366.47 2
skralle
Steel
2
4
6
1
5
15
7
3
REV.
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
DESCRIPTION
Ingen revisjon
DATE
-
DO NOT SCALE DRAWING
REVISION
APPROVED
1
anskaffelse
Sammenstilling
NAME
SIGNATURE
DATE
TITLE:
DRAWN
CHK'D
Vippearm sammenstilling
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
WEIGHT: 2639.72
SCALE:1:2
20-012
SHEET 5 OF 39
A3
440
30
3
R8
20
12
153
80
20
30
128
9,5
17&deg;
10
0
R5
149
07
R1
28,5&deg;
3
R8
0
R3
94
69,8
REV.
DESCRIPTION
DATE
Omplasering av hull til stempel 08.04.2010
2
festene
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
DO NOT SCALE DRAWING
REVISION
APPROVED
04.05.2010
JIO
2
anskaffelse
Produseres
NAME
SIGNATURE
DATE
TITLE:
DRAWN
CHK'D
Hovedramme
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 2795.19
SCALE:1:2
01-010
SHEET 6 OF 39
A3
25
6
12
45
44,8
E
60
16,8
15
28,2
12
6
12
32,6
10
97
25
28
47
DETAIL E
SCALE 1 : 1
REV.
2
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
DESCRIPTION
Omplasering av hull til stempel
festene
DO NOT SCALE DRAWING
20
15
10
35,3
15
DATE
08.05.2010
REVISION
APPROVED
04.05.2010
JIO
2
anskaffelse
Produseres
NAME
SIGNATURE
DATE
TITLE:
DRAWN
CHK'D
Hovedramme
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 2795.19
SCALE:1:5
01-010
SHEET 7 OF 39
A3
,5
16
&deg;
60
M6
M12
10
40
30
30
10
0
R40
40
60
10
20
30
70
60
M1
2
8
30
REV.
2
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
DESCRIPTION
Omplaseringer av hull til
stempel festene
DO NOT SCALE DRAWING
DATE
08.04.2010
REVISION
APPROVED
04.05.2010
JIO
2
anskaffelse
Produseres
NAME
SIGNATURE
DATE
TITLE:
DRAWN
CHK'D
Multiramme
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 768.86
SCALE:1:2
01-020
SHEET 8 OF 39
A3
147
50
40
R1
0
20
6
nk
su
r
e
nt x4
u
co ,600
6
6
M
15&deg;
150
7&deg;
M12
10
5
R16,
50
10
8
R20
R1
5
95
6
REV.
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
DESCRIPTION
Ingen revisjon
DATE
-
DO NOT SCALE DRAWING
REVISION
APPROVED
1
anskaffelse
Produseres
NAME
SIGNATURE
DATE
TITLE:
DRAWN
CHK'D
Vippe arm
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 365.01
SCALE:1:1
01-025
SHEET 9 OF 39
A3
M6
18
R17
12
95
12
5
M6
10
40
74
45
20
REV.
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
NAME
SIGNATURE
DATE
DESCRIPTION
Ingen revisjon
DO NOT SCALE DRAWING
Anskaffelse
DATE
REVISION
APPROVED
-
1
Produseres
TITLE:
DRAWN
Klemme til skralle
CHK'D
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 366.47
SCALE:1:1
A4
01-026
SHEET 10 OF 39
6
15
R1
7
,7
10
5
17,7
5
R1
REV.
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
NAME
SIGNATURE
DATE
DESCRIPTION
Ingen revisjon
DO NOT SCALE DRAWING
Anskaffelse
DATE
REVISION
1
APPROVED
-
Produseres
TITLE:
DRAWN
Topp klemme til skralle
CHK'D
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 18.46
SCALE:1:1
A4
01-027
SHEET 11 OF 39
&deg;
45
6
28
20
6
M
7
2,5
8
5
12
REV.
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
NAME
SIGNATURE
DATE
DESCRIPTION
Ingen revisjon
DO NOT SCALE DRAWING
Anskaffelse
DATE
REVISION
1
APPROVED
-
Produseres
TITLE:
DRAWN
Foring og stopper for vippe
CHK'D
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 85.53
SCALE:2:1
A4
01-021
SHEET 12 OF 39
sje
35
15
t
bro
60
10
25
REV.
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
NAME
SIGNATURE
DATE
DESCRIPTION
Ingen revisjon
DATE
REVISION
DO NOT SCALE DRAWING
Anskaffelse
1
APPROVED
-
Produseres
TITLE:
DRAWN
Foring
CHK'D
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 330.81
SCALE:1:1
A4
01-015
SHEET 13 OF 39
R3
12
17
38
4
6
19
25
10
REV.
2
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
NAME
SIGNATURE
DATE
DESCRIPTION
Endring av fester til stemplene
DO NOT SCALE DRAWING
Anskaffelse
DATE
08.04.2010
REVISION
2
APPROVED
04.05.2010
JIO
Produseres
TITLE:
DRAWN
Hylse til boltside stempel
CHK'D
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 88.35
SCALE:2:1
A4
01-016
SHEET 14 OF 39
20
57
25
12
15
20
10
REV.
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
NAME
SIGNATURE
DATE
DESCRIPTION
Ingen revisjon
DO NOT SCALE DRAWING
Anskaffelse
DATE
REVISION
1
APPROVED
-
Produseres
TITLE:
DRAWN
Hylse til boltisde
CHK'D
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 90.05
SCALE:2:1
A4
01-017
SHEET 15 OF 39
4
10
20
17
33
6
REV.
2
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
NAME
SIGNATURE
DATE
DESCRIPTION
Endring av fester til stemplene
DO NOT SCALE DRAWING
Anskaffelse
DATE
08.04.2010
REVISION
2
APPROVED
04.05.2010
JIO
Produseres
TITLE:
DRAWN
Topp stempel,feste
CHK'D
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 20.90
SCALE:2:1
A4
01-024
SHEET 16 OF 39
101,1
15
3
6
00
115,5
60
,5
R82
0
REV.
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
NAME
SIGNATURE
DATE
R3
R1
00
1
R1
DESCRIPTION
Ingen revisjon
DO NOT SCALE DRAWING
Anskaffelse
DATE
REVISION
APPROVED
-
1
Produseres
TITLE:
DRAWN
St&oslash;ttebue
CHK'D
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 74.39
SCALE:1:1
A4
01-014
SHEET 17 OF 39
35
50
M16
12
40
REV.
2
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
NAME
SIGNATURE
DATE
DESCRIPTION
Omplaseringer av hull til stempel
festene
DO NOT SCALE DRAWING
Anskaffelse
DATE
08.04.2010
REVISION
2
APPROVED
04.05.2010
JIO
Produseres
TITLE:
DRAWN
Stempel braket front
CHK'D
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 172.79
SCALE:2:1
A4
01-012
SHEET 18 OF 39
6
5
15
REV.
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
NAME
SIGNATURE
DATE
DESCRIPTION
Ingen revisjon
DO NOT SCALE DRAWING
Anskaffelse
DATE
REVISION
APPROVED
-
1
Produseres
TITLE:
DRAWN
Skive til st&oslash;ttebue
CHK'D
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 5.79
SCALE:5:1
A4
01-013
SHEET 19 OF 39
8
19
20
6
R9
15
60
24
45&deg;
9
R2
10
4
10
30
34
REV.
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
NAME
SIGNATURE
DATE
DESCRIPTION
Ingen revisjon
DO NOT SCALE DRAWING
Anskaffelse
DATE
REVISION
APPROVED
-
1
Produseres
TITLE:
DRAWN
Bolt l&aring;ser
CHK'D
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 194.92
SCALE:1:1
A4
01-033
SHEET 20 OF 39
80
8
80
6,7
5*
6
C
10
10
2
DETAIL C
SCALE 1 : 1
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
REV.
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
NAME
SIGNATURE
DATE
DESCRIPTION
Ingen revisjon
DO NOT SCALE DRAWING
Anskaffelse
DATE
REVISION
APPROVED
-
1
Produseres
TITLE:
DRAWN
ATI flens mot robot
CHK'D
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 1190.85
SCALE:1:2
A4
01-011
SHEET 21 OF 39
20
10
10
15
7
REV.
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
NAME
SIGNATURE
DATE
DESCRIPTION
Ingen revisjon
DO NOT SCALE DRAWING
Anskaffelse
DATE
REVISION
APPROVED
-
1
Produseres
TITLE:
DRAWN
Mellomstykke
CHK'D
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 28.03
SCALE:2:1
A4
01-023
SHEET 22 OF 39
128
9
30
M 12 - 1,5
6
15
D
DETAIL D
SCALE 2 : 1
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
ZONE REV.
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
NAME
SIGNATURE
DATE
DESCRIPTION
Ingen revisjon
DO NOT SCALE DRAWING
Anskaffelse
DATE
REVISION
APPROVED
-
1
Produseres
TITLE:
DRAWN
Glidestang
CHK'D
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 198.13
SCALE:1:2
A4
01-022
SHEET 23 OF 39
ITEM PartNo Revision DESCRIPTION MakeOrBuy Material Weight QTY.
NO.
Understell Sammenstilling
1 03-101
1
16902.98 1
test jigg
St&oslash;tte f&oslash;tter Sammenstilling
2 03-100
1
3922.50 4
til r&oslash;r
3 03-104
1
R&oslash;r og flens
Produseres
13204.46 2
Total lengde 1,5M (1500mm)
3
00
15
2
4
4
1
4
4
4
4
4
4
4
4
REV.
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
DESCRIPTION
Ingen Revisjon
DATE
-
DO NOT SCALE DRAWING
REVISION
APPROVED
1
anskaffelse
Produseres
NAME
SIGNATURE
DATE
TITLE:
DRAWN
CHK'D
Test Jigg
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
WEIGHT: 59013.51
SCALE:1:5
03-105
SHEET 24 OF 39
A3
ITEM PartNo Revision DESCRIPTION MakeOrBuy Material Weight QTY.
NO.
Plain
1 03-004
1
6379.78 2
ratisk 40x40x4
Steel
2
03-005
1
3
03-006
1
ratisk 40x40x4
Festebrakett
40x40
Produseres
Plain
Carbon 2021.76
Steel
Plain
Carbon 48.35
Steel
2
2
4
2
1
3
4
4
4
4
00
15
REV.
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
DESCRIPTION
Ingen revisjon
DATE
-
DO NOT SCALE DRAWING
REVISION
APPROVED
1
anskaffelse
Sammenstilling
NAME
SIGNATURE
DATE
TITLE:
DRAWN
CHK'D
Understell test jigg
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
WEIGHT: 16902.98
SCALE:1:5
03-101
SHEET 25 OF 39
A3
2
1
ITEM PartNo Revision DESCRIPTION MakeOrBuy Material
NO.
Plain
1 03-001
1
R&oslash;rst&oslash;tte
Produseres Carbon
Steel
Plain
2 03-002
1
Topp plate Produseres Carbon
Steel
S355J2H_kva
Plain
3 03-003
1
dratisk
Produseres Carbon
40x40x4
Steel
3
Weight QTY.
394.97
1
199.68
1
1662.34
2
4
4
4
370
4
4
4
REV.
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
DESCRIPTION
Ingen revisjon
DATE
-
DO NOT SCALE DRAWING
REVISION
APPROVED
1
anskaffelse
Sammenstilling
NAME
SIGNATURE
DATE
TITLE:
DRAWN
CHK'D
St&oslash;tte f&oslash;tter til r&oslash;r
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
WEIGHT: 3922.50
SCALE:1:2
03-100
SHEET 26 OF 39
A3
ITEM PartNo Revision DESCRIPTION MakeOrBuy Material Weight QTY.
NO.
Plain
1 03-008
1
DN 50 flens
Kj&oslash;pes
Carbon 2448.87
1
Steel
Plain
St
52.3
N
63
x
2 03-007
1
Produseres Carbon 10753.94 1
40
Steel
1
4
2
1
74
REV.
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
DESCRIPTION
Ingen revisjon
DATE
-
DO NOT SCALE DRAWING
REVISION
APPROVED
1
anskaffelse
Produseres
NAME
SIGNATURE
DATE
TITLE:
DRAWN
CHK'D
R&oslash;r og flens
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
WEIGHT: 13204.46
SCALE:1:2
03-104
SHEET 27 OF 39
A3
1420
REV.
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
NAME
SIGNATURE
DATE
DESCRIPTION
Ingen revisjon
DO NOT SCALE DRAWING
Anskaffelse
DATE
REVISION
1
APPROVED
-
Produseres
TITLE:
DRAWN
CHK'D
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 6379.78
SCALE:1:10
A4
03-004
SHEET 28 OF 39
450
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
NAME
SIGNATURE
DATE
REV.
DESCRIPTION
DATE
APPROVED
-
Ingen revisjon
-
-
DO NOT SCALE DRAWING
Anskaffelse
REVISION
1
Produseres
TITLE:
DRAWN
CHK'D
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 2021.76
SCALE:1:5
A4
03-005
SHEET 29 OF 39
420
REV.
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
NAME
SIGNATURE
DATE
DESCRIPTION
Ingen revisjon
DO NOT SCALE DRAWING
Anskaffelse
DATE
REVISION
1
APPROVED
-
Produseres
TITLE:
DRAWN
CHK'D
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 1454.54
SCALE:1:5
A4
03-024
SHEET 30 OF 39
370
REV.
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
NAME
SIGNATURE
DATE
DESCRIPTION
Ingen revisjon
DO NOT SCALE DRAWING
Anskaffelse
DATE
REVISION
1
APPROVED
-
Produseres
TITLE:
DRAWN
CHK'D
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 1662.34
SCALE:1:5
A4
03-003
SHEET 31 OF 39
8
4
40
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
NAME
SIGNATURE
DATE
DO NOT SCALE DRAWING
Anskaffelse
REVISION
1
Produseres
TITLE:
DRAWN
Festebrakett 40x40
CHK'D
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 48.35
SCALE:2:1
A4
03-006
SHEET 32 OF 39
100
7
30
15,4
100
REV.
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
NAME
SIGNATURE
DATE
DESCRIPTION
Ingen revisjon
DO NOT SCALE DRAWING
Anskaffelse
DATE
REVISION
1
APPROVED
-
Produseres
TITLE:
DRAWN
Plate mot verkt&oslash;y
CHK'D
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 767.99
SCALE:1:1
A4
03-021
SHEET 33 OF 39
741
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
NAME
SIGNATURE
DATE
DESCRIPTION
DATE
APPROVED
See Test System
-
-
DO NOT SCALE DRAWING
Anskaffelse
REVISION
1
Produseres
TITLE:
DRAWN
St 52.3 N 63 x 40
CHK'D
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 10753.94
SCALE:1:10
A4
03-007
SHEET 34 OF 39
5
R31,
101
160
10
59,5&deg;
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
NAME
SIGNATURE
DATE
REV.
DESCRIPTION
DATE
APPROVED
-
Ikke revidert
-
-
DO NOT SCALE DRAWING
Anskaffelse
REVISION
1
Produseres
TITLE:
DRAWN
R&oslash;rst&oslash;tte
CHK'D
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 394.97
SCALE:1:2
A4
03-001
SHEET 35 OF 39
423,5
45&deg;
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
NAME
SIGNATURE
DATE
REV.
DESCRIPTION
DATE
APPROVED
-
See Test System
-
-
DO NOT SCALE DRAWING
Anskaffelse
REVISION
1
Produseres
TITLE:
DRAWN
CHK'D
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
1397.40
WEIGHT: 1397.40
SCALE:1:5
A4
03-023
SHEET 36 OF 39
40
4
160
REV.
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
NAME
SIGNATURE
DATE
DESCRIPTION
See Test System
DO NOT SCALE DRAWING
Anskaffelse
DATE
REVISION
1
APPROVED
-
Produseres
TITLE:
DRAWN
Topp plate
CHK'D
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 199.68
SCALE:1:2
A4
03-002
SHEET 37 OF 39
45&deg;
100
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
NAME
SIGNATURE
DATE
REV.
DESCRIPTION
DATE
APPROVED
-
Ikke revidert
-
-
DO NOT SCALE DRAWING
Anskaffelse
REVISION
1
Produseres
TITLE:
DRAWN
CHK'D
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 277.06
SCALE:1:2
A4
03-022
SHEET 38 OF 39
450
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
NAME
SIGNATURE
DATE
REV.
DESCRIPTION
DATE
APPROVED
-
See Test System
-
-
DO NOT SCALE DRAWING
Anskaffelse
REVISION
1
Produseres
TITLE:
DRAWN
CHK'D
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 1558.44
SCALE:1:5
A4
03-025
SHEET 39 OF 39
VEDLEGG 7
Tegninger: Mellomstykke
ITEM PartNo Revision DESCRIPTION MakeOrBuy Material Weight QTY.
NO.
Plain
Verkt&oslash;y
flens
1 04-001
1
1203.33 1
(ati side) Produseres Carbon
Steel
Plain
St 52.3 N - Produseres Carbon
2 04-002
1
1171.62 1
50x25
Steel
Plain
Kraftselle Produseres Carbon
3 04-003
1
1362.69 1
side irb 6600
Steel
122
150
REV.
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
DESCRIPTION
Ingen Revisjon
DATE
-
DO NOT SCALE DRAWING
REVISION
APPROVED
1
anskaffelse
Sammenstilling
NAME
SIGNATURE
DATE
TITLE:
DRAWN
CHK'D
Fra IRB4400 til IRB6600
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
WEIGHT: 3737.64
SCALE:1:2
04-010
SHEET 1 OF 4
A3
R7 6,8
4,
5
8
61&deg;
88
80
10
59
REV.
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
NAME
SIGNATURE
DATE
DESCRIPTION
Ingen revisjon
DO NOT SCALE DRAWING
Anskaffelse
DATE
REVISION
1
APPROVED
-
Produseres
TITLE:
DRAWN
Verkt&oslash;y flens (ati side)
CHK'D
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 1203.33
SCALE:1:2
A4
04-001
SHEET 2 OF 4
102
REV.
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
NAME
SIGNATURE
DATE
DESCRIPTION
Ingen revisjon
DO NOT SCALE DRAWING
Anskaffelse
DATE
REVISION
APPROVED
-
1
Produseres
TITLE:
DRAWN
St 52.3 N - 50x25
CHK'D
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 1171.62
SCALE:1:2
A4
04-002
SHEET 3 OF 4
DEBUR AND
BREAK SHARP
EDGES
FINISH:
ISO
NAME
SIGNATURE
DATE
0
15
8
REV.
HVIS IKKE ANNET ER FASTSL&Aring;TT
F&Oslash;LGES &quot;ISO&quot; STANDARD
10
DESCRIPTION
Ingen revisjon
DO NOT SCALE DRAWING
Anskaffelse
DATE
REVISION
1
APPROVED
-
Produseres
TITLE:
DRAWN
Kraftselle side irb 6600
CHK'D
APPV'D
MFG
Q.A
MATERIAL:
DWG NO.
Plain Carbon Steel
WEIGHT: 1362.69
SCALE:1:2
A4
04-003
SHEET 4 OF 4
VEDLEGG 8
Logg - M&oslash;ter og Referater
Hovedprosjektlogg – M&oslash;teagendaer og Referater
Gruppen har fast m&oslash;te med veileder hver fredag fra kl.11-12.00. Hovedansvarlig for &aring; skrive
m&oslash;teagenda er Elias, mens Knut er ansvarlig for &aring; ta notater og skrive m&oslash;tereferat.
Gruppen har ogs&aring; telefonkonferanser med veileder p&aring; ABB s&aring; ofte som n&oslash;dvendig for &aring; sikre at
oppgaven utvikler seg i riktig retning.
***
Agenda 12.03.2010 – Gruppem&oslash;te
Tilbakemelding forprosjekt
G&aring; gjennom Johan sin tilbakemelding(mail) p&aring; forprosjektet. Gruppen &oslash;nsker en
telefonkonferanse med ABB s&aring; snart Geir og Johan har tid.
Hovedprosjektet er i gang, status:
•
Status konseptgenerering
•
&Oslash;nske om &aring; begrense oppgaven
•
Diskutere videre strategi
Uke 10
Referat 12.03.2010 - Gruppem&oslash;te
Uke 10
M&oslash;tetittel: Tilbakemelding miniprosjekt, gj&oslash;re opp status og planlegge videre strategi.
M&oslash;tedato: Fredag 12. mars 2010
Referent: Knut Steinar Bakke Grini
Tilstede: Geir Hovland, veileder. Gruppemedlemmer: Jan Inge Omland, Elias Bjerke, Edwin Salazar,
Geir Sverre Land og Knut Steinar Bakke Grini.
Saksliste:
Sak 1: Tilbakemelding forprosjekt
•
Gruppen fikk en muntlig tilbakemelding om forprosjektet. Gruppen er forn&oslash;yd med resultatet
med tanke p&aring; at vi var fem stykker, derav mer arbeid som m&aring;tte leveres. Men m&aring;let for
hovedprosjektet blir &aring; sette inn et gir til for &aring; f&aring; et enda bedre resultat.
Sak 2: Johan sin tilbakemelding(forprosjektrapporten)
•
Johan sendte en mail med kommentarer til forprosjektrapporten 1.mars. Det var hovedsakelig
noen punkter i kravspesifikasjonen vi m&aring;tte ta en revurdering p&aring;. Noen av punktene ble rettet
opp f&oslash;r levering av forprosjektrapporten, mens de det var tvil om ble vurdert p&aring; m&oslash;tet. Det var
ogs&aring; et &oslash;nske fra Johan &aring; f&aring; ned konklusjoner p&aring; flens typene: Clamp Connector og Kompakt
flens.
•
Det har kommet frem et &oslash;nske om &aring; begrense oppgaven noe, s&aring; med tanke p&aring; at vi n&aring; har g&aring;tt
over p&aring; hovedprosjektet ble vi enige om &aring; f&aring; til en telefonkonferanse med Johan tirsdag
16.03.10, kl.14.30. I tiden f&oslash;r m&oslash;tet skal gruppen komme frem til de begrensinger som er
&oslash;nsket av gruppen, samt ta hensyn p&aring; de som er definert i kravspesifikasjonen.
Sak 3: Hovedprosjekt - status
•
Gruppen er n&aring; i sluttfasen av konseptgenereringen som ble p&aring;begynt i forprosjektet. Det er n&aring;
viktig &aring; f&aring; noen konkrete begrensinger p&aring; plass(derav &oslash;nske om telefonkonferanse), som vil
hjelpe gruppen &aring; velge de mest aktuelle konseptene.
•
Det skal gj&oslash;res en screening og scoring av konseptene vi har. Screeningen og scoringen skal
fungere som et ledd i produktutviklingsprosessen som skal med i den endelige rapporten.
•
Gruppen har et GANTT -diagram for forprosjektet og hovedprosjektet. Men det ble enighet
om &aring; lage et nytt og oppdatert GANTT for hovedprosjektet alene. GANTT -diagrammet skal
oppdateres ettersom nye oppgaver kommer til, samt at gamle revisjoner skal lagres slik at
gruppen senere kan reflektere over prosessen.
•
Gruppen har ogs&aring; bestemt seg for &aring; komme tilbake med en ny og bedre versjon av flensstudiet
som ble levert i forprosjektet, da vi anser det som et veldig viktig ledd i oppgaven.
Sak 4: Grovplan
•
Det ble laget en grovplan for &aring; f&aring; en rask oversikt over tidslinjen vi har p&aring; hovedprosjektet:
Bilde 1: Grovplan for hovedprosjekt
Agenda 16.03.2010 – Telefonkonferanse med ABB
Uke 11
Innledningsvis:
Siden omfanget p&aring; oppgaven er ganske stort, blir vi n&oslash;dt &aring; begrense den litt. N&aring;r det gjelder l&oslash;sningen
s&aring; har vi til n&aring; jobbet med tre forksjellige hovedpunkter:
1. Redesign av ANSI/DIN flenser for &aring; gj&oslash;re automatisert bytte av ventiler lettere. Selv om vi
ikke har hatt en diskusjon p&aring; det, s&aring; antar vi at vi g&aring;r bort fra redesign.
2. Mulighet for &aring; st&oslash;tte opp ventil slik at den st&aring;r i en kjent posisjon. Ved st&oslash;ttebraketter, krybbe,
redesign av flenser eller lignende.
3. Verkt&oslash;y l&oslash;sning. Hovedsakelig for bruk med ANSI/DIN flenser.
For noen uker siden begynte vi ogs&aring; &aring; se litt mer p&aring; l&oslash;sningen: Clamp Connector. Denne l&oslash;sningen
gj&oslash;r at eventuell testjigg og ventil m&aring; ha med kon-flenser som passer clamp connector l&oslash;sningen.
Derfor er det viktig at vi n&aring; i grovsilingen finner ut om dette er en mulig l&oslash;sning.
Begrensninger vi &oslash;nsker:
•
Prosess: Er det greit at ventilen st&aring;r festet fast, verkt&oslash;yet g&aring;r inn, l&oslash;sner ventil og flytter
ventilen til en bestemt posisjon?
o
Prosess: Hvor mye av prosessen m&aring; v&aelig;re automatisert? Kan vi for eksempel sette p&aring;
plass bolter manuelt(fremfor magasin og lignende).
o
Prosess: Holder det med kun fjerning av ventil?
•
Ventil: &Oslash;nsker at ventilen sin posisjon p&aring; testjigg er kjent.
•
Antall bolter: Vi &oslash;nsker &aring; l&oslash;sne 1 bolt pr. side(diagonalt p&aring; hverandre). Er dette greit?
•
Konsept: Hva er viktigst?
o
Konsept som l&oslash;ser mest mulig?
o
Konsept som l&oslash;ser en ting godt? (bygge og teste en del).
Andre &oslash;nsker:
Er det mulighet for &aring; l&aring;ne en ventil av ABB? Vi &oslash;nsker mer info om ventilene
brukt i ABB sine testlokaler(typisk den p&aring; bildet til h&oslash;yre).
Bilde 1: Ventil
Referat 16.03.2010 – Telefonkonferanse med ABB
Uke 11
M&oslash;tetittel: Begrensing av oppgaven
M&oslash;tedato: Tirsdag 16. mars 2010
Referent: Knut Steinar Bakke Grini
Tilstede: Geir Hovland, veileder. Johan, veileder ABB. Gruppemedlemmer: Jan Inge Omland, Elias
Bjerke og Knut Steinar Bakke Grini.
Saksliste(begrensninger):
Redesign av ANSI/DIN flenser? Kom frem til at ingen endring er tillat, Johan vil at standariserte
flenser brukes.
Mulighet for &aring; st&oslash;tte opp ventil slik at den st&aring;r i en stabil posisjon? Ikke aktuelt siden det ikke er
sikkert det finnes noe gulv eller feste.
Verkt&oslash;yets oppgaver. Verkt&oslash;yet / roboten m&aring; kunne l&oslash;sne minimum en bolt pr. side for s&aring; &aring; fjerne
”ventilen”. St&oslash;ttefunksjonen av ventilen m&aring; v&aelig;re p&aring; verkt&oslash;yet.
&Oslash;nske om &aring; l&aring;ne ventil fra ABB(verkt&oslash;yl&oslash;sning)? Tidlig i forprosjektet ble det nevnt at et alternativ
til en ventil kan v&aelig;re en disk(ca p&aring; st&oslash;rrelse med en flens). Siden dette er et prosjekt som hovedsakelig
fokuserer p&aring; prototyping, kan det v&aelig;re en stor fordel om konseptet ikke m&aring; ta hensyn p&aring; ventilens
st&oslash;rrelse og tynge i f&oslash;rste omgang. P&aring; m&oslash;tet ble vi enige om &aring; g&aring; for disk l&oslash;sningen. Verkt&oslash;yet skal da
s&oslash;rge for at disken ikke faller i bakken etter den er blitt l&oslash;snet. Disken skal ogs&aring; flyttes fra testjigg og
slippes p&aring; en bestemt plassering. Disken kan v&aelig;re laget av plast/tre/aluminium eller lignende.
Testjigg: Det er greit at vi bygger testjiggen p&aring; temmelig n&oslash;yaktige m&aring;l for &aring; gj&oslash;re det lettere for
robot / verkt&oslash;y &aring; finne frem.
Ting som &oslash;nskes levert(frister):
•
Det skal sendes konklusjoner p&aring; Clamp Connector og Kompakt flens til Johan innen mandag
22.03.10, kl.12.00.
•
Det er viktig at gruppen n&aring; kommer frem til et godt konsept for ABB. Det skal gjennomf&oslash;res
en grovsiling av konseptene, samt en konsept screening / scoring. Det skal ogs&aring; leveres til
Johan sammen med konklusjonene nevnt over.
Agenda 23.03.2010 – Gruppem&oslash;te
Uke 12
Status
•
Begrense oppgaven •
Grovsiling av konsepter •
Dialog med ABB •
GANTT – Microsoft project •
Flensstudie – konklusjoner p&aring; Kompakt flens / Clamp Connector levert til Johan Konsept 20
•
Siden forrige uke har et nytt konsept kommet frem. Forklaring p&aring; konseptet ble levert til Johan
22.03.2010 sammen med de andre tingene som skulle leveres. Gruppen &oslash;nsker n&aring; &aring; diskutere
forskjellige ide&eacute;r rundt konseptet.
Testjigg
•
•
•
M&aring; gj&oslash;re en vurdering p&aring; hvor h&oslash;y testjiggen kan v&aelig;re, samt plassering
Disk, skal skj&aelig;re ut denne i 18mm hobbyplate(tre).
Har bestemt oss for &aring; g&aring; for flenser av typen: plan sveise flens, st&oslash;rrelse DN50 med
tilh&oslash;rende bolter og r&oslash;r. Se tabell:
Bilde 1: DN50 Plan Sveise Flens
M&aring;l for p&aring;ske
Edwins utfordring
Referat 23.03.2010 - Gruppem&oslash;te
Uke 12
M&oslash;tetittel: Status og konsept 20
M&oslash;tedato: Tirsdag 23. mars 2010
Referent: Knut Steinar Bakke Grini
Tilstede: Geir Hovland, veileder. Gruppemedlemmer: Jan Inge Omland, Elias Bjerke og Knut Steinar
Bakke Grini.
Saksliste:
Sak 1: Status: Gruppen er veldig forn&oslash;yd med de begrensninger som er gjort. Det at vi n&aring; ogs&aring; har et
potensielt godt konsept har gitt mye motivasjon til gruppen. M&aring;let for p&aring;sken blir &aring; l&oslash;se de mindre
problemene p&aring; konseptet, finmodellere og begynne p&aring; tegninger.
Sak 2: Bestemme konsept(20): Vi fors&oslash;kte(uten hell) &aring; f&aring; kontakt med Johan ved ABB pr tlf, men
konseptet ble presentert for Geir og vel mottatt. Kort tid etter kom Geir innom grupperommet og gav
oss den gode nyheten om at Johan likte konseptet, samt ga oss klarsignal for &aring; jobbe videre med det.
Sak 3: Robotstudio: Konsept og testjigg kan importeres til robotstudio s&aring; snart grovmodelleringen er
gjort. Hensikten med det er &aring; begynne testingen i god tid. Det b&oslash;r brukes flere user frame og object
frame for og simulere beveglige deler i robotstudio.
Sak 4: Testjiggens h&oslash;yde: For &aring; bestemme endelige m&aring;l p&aring; testbenken m&aring; det utf&oslash;res en Reachability
test i Robotstudio.
Sak 5: Styring av verkt&oslash;y: Det skal kun benyttes pneumatiske aktuatorer for styring av verkt&oslash;yets
funksjonener. Hvorvidt ventilene skal sitte f&oslash;r verkt&oslash;yet eller p&aring; verkt&oslash;yet er enda ukjent. I
utgangspunktet skulle de sitte p&aring; verkt&oslash;yet, men da m&aring; de v&aelig;re EX-1 godkjent(dyrt), derfor er det noe
usikkerhet p&aring; dette punktet.
Sak 6: Budsjett og delebestilling: Bestillinger skal gj&oslash;res gjennom ABB eller UiA. Vi kommer
tilbake til dette punktet over p&aring;ske.
Sak 7: Edwins utfordring: Det er en sjangs for at Edwin m&aring; n&oslash;dt til &aring; reise til Colombia pga. sykdom
i familien. Han er forventet &aring; bli borte 2-3uker over p&aring;sken. Det ble nevnt for Geir, og det var greit s&aring;
lenge det var greit for resten av gruppen(som det var). Vi f&aring;r bare yte litt ekstra den tiden han er borte.
Agenda 26.03.2010 – Gruppem&oslash;te
Robot – Bestemme begrensning for akse 5 og 6
Status:
•
Testjigg
•
Robotstudio
•
Verkt&oslash;y
Avtale neste m&oslash;te etter p&aring;ske (fre 09.04 er det regtek eks)
Uke 12
Referat 26.03.2010 - Gruppem&oslash;te
Uke 12
M&oslash;tetittel: Status f&oslash;r p&aring;ske(kort m&oslash;te)
M&oslash;tedato: Fredag 26. mars 2010
Referent: Knut Steinar Bakke Grini
Tilstede: Geir Hovland, veileder. Gruppemedlemmer: Jan Inge Omland, Elias Bjerke og Knut Steinar
Bakke Grini.
Saksliste:
Sak 1: Robot begrensning akse 5 og 6: +/- 180 grader p&aring; akse 6. +/- minimum 90 grader (Fri
bevegelighet)
Sak 2: Status
•
Testjigg: Deler blir bestilt etter p&aring;ske (Verksmester Eivind er p&aring; ferie)
•
Robotstudio: Bolter m&aring; ikke v&aelig;re med i robotstudio. Sjekker reachability til IRB-4400.
Diskens bevegelighet i Robotstudio l&oslash;ses med to script, et mot testjigg, s&aring; et mot robot
(scriptet skal sjekke om roboten tar over disken).
•
Verkt&oslash;y: Det hadde v&aelig;rt en fordel om aktuatorene verkt&oslash;yet skal bruke kunne blitt testet snart.
Eventuelt finne n&oslash;yaktig data p&aring; de eller se om det er noe lignende i verkstedet vi kan benytte
oss av for testing.
Sak 3: Neste m&oslash;te: P&aring; grunn p&aring;ske og eksamen i reguleringsteknikk ble det avtalt at neste m&oslash;te blir
fredag 16.april.
Agenda 16.04.2010 – Gruppem&oslash;te
Uke 15
Status:
Testjigg – Har kommet frem til en testjigg som er vi har begynt &aring; bygge. Se bilde 1 fra
SolidWorks:
Bilde 1: Testjigg
Verkt&oslash;y
Robotstudio
Bestille aktuatorer fra festo(har liste)
Separat testjigg kun for verkt&oslash;yet. Dette er et forslag for &aring; kunne teste verkt&oslash;yet utenat det
trenger &aring; v&aelig;re koplet til roboten. Se bilde 2 fra SolidWorks:
Bilde 2: Separat testjigg for &aring; holde verkt&oslash;yet
Trenger penger til &aring; kj&oslash;pe litt forskjellig(skal lage liste)
Rapport (begynne p&aring; rapport man.19 apr)
o
&Oslash;konomi analyse?
Referat 16.04.2010 - Gruppem&oslash;te
Uke 15
M&oslash;tetittel: Status og diverse
M&oslash;tedato: Fredag 16. april 2010
Referent: Knut Steinar Bakke Grini
Tilstede: Geir Hovland, veileder. Gruppemedlemmer: Jan Inge Omland, Elias Bjerke, Knut Steinar
Bakke Grini og Edwin Salazar.
Saksliste:
Sak 1: Status: Vi ligger godt an if&oslash;lge GANTT -diagrammet. Testjiggen ser bra ut, samt at det var en
god id&eacute; med en separat testjigg til verkt&oslash;yet. Entring av mutter og bolt i pipen og holdemekanisme m&aring;
sees n&aelig;rmere p&aring;. Eventuell sikkerhet i verkt&oslash;yet (sensorer) kan nevnes i rapporten men b&oslash;r ikke tas
hensyn til i dette prosjektet. &Oslash;konomisk analyse av en produsert enhet (Edwin).
Sak 2: Bestilling fra festo: Det m&aring; lages en simulering i robotstudio, en beskrivelse av endelig
konsept, samt en detaljert bestillingsliste til Johan ved ABB f&oslash;r vi kan bestille aktuatorer og ventiler.
Sak 3: Budsjett: Aktuatoer og diverse dyre deler skal bestilles gjennom ABB mens annet mindre
kostbare deler skal bestilles gjennom Eivind ved UiA. Produksjon av verkt&oslash;y, testjigg og annet m&aring;
gj&oslash;res med det utstyret som er tilgjengelig ved UiA.
Sak 4: Rapport: Rapporten vi har f&aring;tt av veileder vant beste B.Sc. prosjekt 2009 og er en god mal for
v&aring;rt prosjekt. Spesielt innledningen med bakgrunn for oppgaven samt historie og div, er aktuell for oss
&aring; bruke. Det ble ogs&aring; nevnt at m&oslash;telogger, konkrete m&aring;l (fremdriftsplan) og type oppsett spesielt
overskrifter var positive sider ved rapporten.
Ting som &oslash;nskes levert til tirsdag 20.04.2010 (frister):
-
Lage simulering av verkt&oslash;y i RobotStudio p&aring; IRB 6600
-
Beskrivelse av valgt konsept
-
Bestillingsliste, Festo
Annet som &oslash;nskes gjort:
-
Lage ferdig bestillingsliste p&aring; delers som trengs utenom Festo
-
Sette opp stasjon i RobotStudio for simulering med IRB 4400
Agenda 23.04.2010 – Gruppem&oslash;te
Uke 16
*****
Tirsdag 20.04.2010 lastet vi opp et par filmer til en ftp server p&aring; skolen, filmene som ble levert var en
instruksjonsfilm av verkt&oslash;yet i SolidWorks, og en simuleringsfilm av verkt&oslash;yet festet p&aring; IRB 6600 i
RobotStudio. Begge filmene ble tatt opp med Camtasia og redigert(og lagt til musikk) i Sony Vegas
Pro.
Ellers ble bestillingslisten til Festo ogs&aring; lastet opp der som en pdf.
*****
•
Status:
o Testjigg
o Verkt&oslash;y
o Bestillinger
•
Beregninger p&aring; verkt&oslash;y:
o Diverse
•
Avtale nytt m&oslash;te med Johan
•
Andre ting?
o Forventninger (veileder UiA/ABB)?
Referat 23.04.2010 – Gruppem&oslash;te og telefonkonferanse
Uke 16
M&oslash;tetittel: Fredagsm&oslash;te kl.11-12.00, og telefonkonferanse med ABB kl.14.00
M&oslash;tedato: Fredag 23. april 2010
Referent: Knut Steinar Bakke Grini
Tilstede: Geir Hovland, veileder. Johan, veileder ABB. Gruppemedlemmer: Jan Inge Omland, Elias
Bjerke, Knut Steinar Bakke Grini og Edwin Salazar.
Saksliste:
Sak 1: Status
-
Testjiggen m&aring; kunne flyttes under forberedelsene da gruppe 8 ogs&aring; m&aring; bruke Robot bordet.
Etter samtale med gruppe &aring;tte s&aring; kan de flytte p&aring; sinn jigg n&aring;r det m&aring;tte trenges.
-
Verkt&oslash;yet er i rute og det burde ikke v&aelig;re noe problem med bestillingen fra Festo. Roy Verner
Folger&oslash;d har gjort en flott jobb med maskineringen av noen av delene til verkt&oslash;yet.
-
En utvidelse av ordren med &oslash;nske om reduksjonsventiler. (Tips fra Festo og Johan)
Sak 2: Beregninger p&aring; verkt&oslash;y&uml;
-
Maks akselerasjon med 60kg.
-
Benytte en aktiv magnet til &aring; holde mutter, dette er en forbedringsmulighet.
-
Max akselerasjon til IRB 4400 er 12 14m/s^2 det gir oss cirka 3000N
-
Bolter og mutter m&aring; tilpasses for ikke &aring; sette seg fast.
-
Et kapittel om deformasjon i rapporten vil v&aelig;re positivt for karakteren.
-
Skal gj&oslash;re noen deformasjons analyser i SolidWorks Simulation
Sak 3: Andre saker
-
Presentasjon av hovedprosjektet er kl 13.45 den 02.06.2010. Johan er invitert til &aring; komme p&aring;
presentasjonen.
-
En eventuell presentasjon ved ABB vill skje p&aring; ettermiddagen 16.06.2010
-
Deler av mini rapporten kan gjenbrukes.
-
En simulering fra robot studio og en video fra demonstrasjon er en god id&eacute; til presentasjonen
av hovedprosjektet.
Agenda 30.04.2010 – Gruppem&oslash;te
Uke 17
Status:
•
Festo: Siste nytt fra Johan er at vi kanskje f&aring;r sylindrer rundt 6-10mai
•
Andre deler: Delene som ble bestilt gjennom Eivind kommer fredag ettermiddag 30.04.10
•
Verkt&oslash;y: De fleste delene er snart klare. Venter p&aring; at Roy skal bli ferdig. Det neste blir
oppbygging.
•
Beregninger verkt&oslash;y: Kreftene sveisen mellom hovedramme og bakplate blir p&aring;virket av er
regnet ut.
GANTT oppdatert, nye oppgaver er som f&oslash;lger:
•
Flytskjema for verkt&oslash;yets oppgaver
•
Beregninger p&aring; verkt&oslash;yet, samt simulering i SolidWorks Simulation
•
Bygging av koblingskap
RobotStudio: Jan Inge trenger hjelp
Referat 30.04.2010 - Gruppem&oslash;te
Uke 17
M&oslash;tetittel: Status og diverse
M&oslash;tedato: Fredag 30. april 2010
Referent: Knut Steinar Bakke Grini
Tilstede: Geir Hovland, veileder. Gruppemedlemmer: Jan Inge Omland, Elias Bjerke, Knut Steinar
Bakke Grini og Edwin Salazar.
Sak 1: Status
-
Johan mener vi kan f&aring; sylindrene noe tidligere. ( 6 – 10. mai) Mens vi venter leveringen av
sylindrene kan vi jobb med alt annet som skal klargj&oslash;res.
-
Deler fra Eivind er levert.
-
Status til verkt&oslash;yet, vi venter p&aring; noen deler som enn&aring; ikke er ferdig maskinert, Roy er p&aring;
saken.
-
Edwin jobber videre med studiet av kreftene som p&aring;virker verkt&oslash;yet.
-
Bygging av styre skapet kan starte s&aring; fort vi f&aring;r delene.
-
Jan-Inge trenger og skal f&aring; hjelp med programmeringen til verkt&oslash;yet.
Sak 2: Andre saker
-
Delene fra Festo blir mest sannsynelig levert i resepsjonen om kort tid.
-
Gruppe 8 blir snart ferdig med testing med roboten, etter det er det fritt frem for oss.
-
Vi trenger en digital tilkobling, til styre skapet.
-
Finnes det pakke sporingsnummer fra Festo?
-
Hovland ser helst at rapporten er ferdig minst en uke f&oslash;r leveringsfristen, slik at han f&aring;r tid til
&aring; se gjennom den og gi oss veiledning og tips til forbedringer. Helst tidlig i uke 20.
Agenda 07.05.2010 – Gruppem&oslash;te
Uke 18
M&aring;let for dette m&oslash;tet er &aring; l&oslash;se noen problemer i RobotStudio
Status:
•
Festo: Alt utenom ventilene har kommet, da f&aring;r vi se om vi mangler noe. Ventilene er
forventet &aring; komme fredag 07. mai
•
Verkt&oslash;y: Har pr&oslash;vemontert diverse p&aring; verkt&oslash;yet og det ser bra ut. Det er fortsatt noen deler
som m&aring; lages, men hoveddelene er klare. Hvilke farge skal verkt&oslash;yet v&aelig;re i?
•
Testjigg: Ferdig bygd. Mangler lakkering.
•
Verkt&oslash;ybukk: Ferdig bygd. Mangler lakkering.
•
Koblingsskap: M&aring; se om vi har alt som trengs for &aring; montere det opp.
Har sent svar p&aring; Johan sin mail om festo –bestillingen, samt sendt et par bilder av aktuatorer og
verkt&oslash;yet.
Johan vil ha statusm&oslash;te 18de/19de mai. M&aring; finne ut om dette passer for alle, og avtale en tid.
Referat 07.05.2010 - Gruppem&oslash;te
Uke 18
M&oslash;tetittel: Status og diverse
M&oslash;tedato: Fredag 07. mai2010
Referent: Knut Steinar Bakke Grini
Tilstede: Geir Hovland, veileder. Gruppemedlemmer: Jan Inge Omland, Elias Bjerke, Knut Steinar
Bakke Grini og Edwin Salazar.
Saksliste:
Sak 1: Status
Hovedsakelig trenger Jan-Inge hjelp med programmeringen og simuleringen av verkt&oslash;yet og roboten.
Sak 2: Andre saker
-
Vi venter enn&aring; p&aring; ventiler fra Festo. Skal ringe de i uke 19.
-
Verkt&oslash;yet st&aring;r n&aring; p&aring; testjiggen, klar for montering av pneumatikk.
-
Testjigg er ferdig.
-
Verkt&oslash;ybukk er ferdig.
-
Koblingskap: Vi m&aring; se om vi har alt som trengs.
Konklusjon:
Jan-Inge fikk noen hint for &aring; programmere videre men han trenger fortsatt mer hjelp.
Agenda 21.05.2010 – Telefonkonferanse med ABB
Uke 20
Status:
•
Verkt&oslash;yet er nesten ferdig, det er hovedsakelig testing som gjenst&aring;r n&aring; samt lakkering.
&Oslash;nsker du noen spesiell farge Johan?
•
Testjiggen er ferdig
•
Verkt&oslash;yholdejigg er ferdig
•
Mellomstykke er ferdig
•
RobotStudio simulering, avventer tilbakemelding fra bekjent av Hovland
•
Luftstyrings skap, avventer levering fra Festo
•
Rapport, 95% ferdig…et utkast blir klar i ettermiddag
Referat 21.05.2010 – Gruppem&oslash;te og telefonkonferanse
Uke 20
M&oslash;tetittel: Statusm&oslash;te
M&oslash;tedato: Fredag 21. mai 2010
Referent: Knut Steinar Bakke Grini
Tilstede: Geir Hovland, veileder. Johan, veileder ABB. Gruppemedlemmer: Jan Inge Omland, Elias
Bjerke, Knut Steinar Bakke Grini og Edwin Salazar.
Saksliste:
Sak 1: Status
-
-
Delene til verkt&oslash;yet og testjigg kan lakkeres svart.
Robotstudio simulering, verkt&oslash;yet kan ikke styres som en mekanisme, det skal fors&oslash;kes &aring; lage
en CFG fil. CFG fil: En fil som inneholder ekstra informasjon om ekstra akser til roboten, seks
ekstra akser i v&aring;rt tilfelle men det vanlige er &aring; definere i en CFG fil er en akse, dermed uvisst
resultat.
Luftstyrings skap, avventer levering fra Festo (tirsdag 25. mai)
Sak 2: Andre saker
-
Johan Gunnar kommer muligens p&aring; presentasjonen i verkstedet 03.06.2010 kl 13.45
Det er mulig at det blir presentasjon av prosjektet i Oslo ved ABB den 16. Juni m/Statoil.
SENSORERNE til hovet prosjektet og presentasjonen er: Hamid Reza Karimi, Geir Hovland
og Roy Werner Folger&oslash;
Johan Gunnar kommer ogs&aring; til &aring; skrive en vurdering av prosjektet.
Johan Gunnar kan muligens ta med verkt&oslash;y bytte systemet fra ABB til presentasjonen p&aring; UiA.
Tidfrister:
-
Det skal leveres et utkast av rapporten til Geir Hovland Og Johan Gunnar i l&oslash;pet av dagen.
Generalpr&oslash;ve av HP presentasjonen mandag 31.05.2010 kl 10.00 AUD F med Geir Hovland.
VEDLEGG 9
Delebestilling Festo
Bestilling av deler fra Festo
Aktuatorer:
2 stk: 193999 ESNU Piston diameter 16mm Stroke 40mm
2 stk: 193999 ESNU Piston diameter 16mm Stroke 30mm
1 stk: 193998 ESNU Piston diameter 12mm Stroke 25mm
1 stk: 11647 EG Piston diameter 12mm Stroke 70mm eller (Min 60mm Max 80mm)
Braketter:
2 Stk: 3110_sg_m6
Ventiler:
Se vedlegg1. (7 ventiler) eller (3 ventiler) (Typen ventilblokk er ikke viktig).
__________________________________________________________________________________
Diverse:
50m luft slange.
1 stk: G 1/8 male thread (til 11647 EG Piston)
5 stk: M5 male thread (til 193999 ESNU Piston)
VEDLEGG 10
Delebestilling testjigg
Bestilling av deler til testjigg:
1. Firkantst&aring;l, 7m av 40x40mm (minimum 3mm tykk)
Figur 1 www.hubert.no
2. R&oslash;r, 2m d= 60,3mm (Minimum 3mm tykk)
(m&aring; passe DN50 FLENS)
Figur 2 www.hubert.no
3. Flens, to stykker.
4. St&aring;lplate 1x1 m^2, 10 mm tykk.
5. St&aring;lplate 1x1 m^2, 4 mm tykk
6. Nylonskive &oslash; 770mm. Minimum tykkelse 300mm.
VEDLEGG 11
Delebestilling misc
Bestilling av diverse fra biltema
1. Luftskralle 3/8” NR: 15-086
2. Hurtigkobling NR: 15-588
3. 5m signal kabel NR 34-201
4. Lang pipe &frac12;” 24mm NR: 10-624
5. Forst&oslash;rrelsestapp 3/8
&frac12;” NR: 10-1988
VEDLEGG 12
Flens studie
I. Sammendrag
M&aring;lsetning og avgrensning
For og best mulig l&oslash;se hovedoppgaven var valget av flenstype en viktig faktor. Flensen som skulle
velges m&aring;tte v&aelig;re best mulig egnet for et automatisert ventilbytte med IRB 4400 og IRB 6600.
Det er noen punkter som er spesielt viktige n&aring;r det kommer til flensens oppbygning og egenskaper.
Dette med tanke p&aring; om det er mulig &aring; konstruere et verkt&oslash;y som kan l&oslash;se oppgaven. Flensen m&aring; ogs&aring;
oppfylle kravene i kravspesifikasjonen.
De n&oslash;dvendige karakteristikkene til flensen
-
Flensen m&aring; v&aelig;re av internasjonal standard.
-
F&aelig;rrest mulig l&oslash;se deler med tanke p&aring; kompleksiteten til verkt&oslash;yet.
-
Tilgjengelighet for robot verkt&oslash;yet.
-
St&oslash;rrelse, plass til robot og verkt&oslash;y.
-
Generelt om flensen er egnet for &aring; bygge et verkt&oslash;y til.
-
Vekt kan v&aelig;re en relevant faktor med tanke p&aring; senere oppgave hvorvidt flensene er montert p&aring;
en ventil.
-
Pris med tanke p&aring; masse produksjon til eventuelle senere prosjekter.
Moderne flens typer som er vurdert i dokumentet
-
Clamp connector med Cone eller Orifice connector
-
Compact flange
Konvensjonelle standard flenser som er vurdert i dokumentet
-
Flat welding flange
-
Slip on Flange
-
Socket Welding Flange
-
-
Welding Neck Flange
-
Lap Joint Flange
-
Orifice Flange
-
Swivel Ring Flange
-
Optima Subsea Connector
Side 2 av 30
II. Konklusjon
Vi har unders&oslash;kt de mest relevante typene av standard flenser og noen moderne typer og variasjoner av
flenser som finnes p&aring; markedet i dag. Vi kan vi konkludere med at det ikke finnes noen flenstyper som
er ment eller spesielt godt egnet til robot automatisering. Videre har vi sett etter typer av standard flenser
som er best egnet for oppgaven.
V&aring;rt valg falt p&aring; en enkel og lett standard flensen, nemlig Flat welding flange eller plan sveiseflens.
Flensen finnes i Norwegian Standard (NS).
Til v&aring;r oppgave er denne flensen godt egnet. Flensen er flat og uten spesielle l&oslash;sninger, den har relativt
f&aring; l&oslash;se deler og kanskje det viktigste av alt, den gj&oslash;r det mulig for robot verkt&oslash;yet &aring; komme til boltene.
Plan sveiseflensen er ogs&aring; spesielt godt egnet til verkt&oslash;y konseptl&oslash;sning nr 20.
Til eventuelt senere versjoner av verkt&oslash;yet eller videre prosjekter kan andre typer flenser v&aelig;re
interessante, men til v&aring;r n&aring;v&aelig;rende oppgave spesifikasjon er det ingen tvil at plan sveiseflens er best
egnet.
Side 3 av 30
Innhold
1.
Innledning........................................................................................................................................ 5
2.
Clamp Connector ............................................................................................................................. 6
3.
Compact Flange ............................................................................................................................. 10
4.
Flat welding Flange ....................................................................................................................... 12
5.
Slip-on Flange ............................................................................................................................... 14
6.
Socket Welding Flange ................................................................................................................. 16
7.
9.
Welding Neck Flange .................................................................................................................... 20
10.
Lap Joint Flange ........................................................................................................................ 22
11.
Orifice Flange ............................................................................................................................ 24
12.
Swivel Ring Flange ................................................................................................................... 26
13.
Optima Subsea Connector ......................................................................................................... 28
14.
Kilder ......................................................................................................................................... 30
Side 4 av 30
1. Innledning
Problemformuleringen
Flens typen som skal velges til videre bruk i hovedoppgaven m&aring; v&aelig;re best mulig egnet for et
automatisert bytte av ventil med robotene IRB 4400 og IRB 6600. Dette dokumentet tar for seg de
mest aktuelle typer flenser som finnes p&aring; markedet i dag og i hvilken grad de er relevante til v&aring;rt bruk.
Bakgrunn
Flenser er komponenter som brukes til &aring; st&oslash;tte mekaniske deler. Det er et stort mangfold av design,
st&oslash;rrelser materialer og standarder i forhold til flenser.
Flenser brukes til mange form&aring;l. Hovedform&aring;let er &aring; koble r&oslash;r, men de brukes ogs&aring; for tilkobling av
annet utstyr. Flenser finnes i en mengde ulike former: runde, kvadratiske og rektangul&aelig;re former.
En standard flens finnes derfor i et stort antall variasjoner med forskjellige navn og spesifikasjoner. Av
den grunn har vi valgt &aring; begrense omfanget av flenser i rapporten til de mest standardiserte og
relevante typene.
Forutsetninger
Hovedoppgavens begrensninger og tekniske spesifikasjon har i miniprosjektet v&aelig;rt gjennom en
prosess som har endret forutsetningene i store trekk fra vi f&oslash;rstegang leste oppgaven.
Flensene vi valgte &aring; se p&aring; i starten av mini prosjektet var stort sett standard og vi fant f&aring; nye typer av
flenser. Av den grunn &oslash;nsket vi &aring; modifisere en standard flens.
Etter at det ble gjort endringer i oppgavens begrensninger som gjorde det mulig for oss &aring; bruke en
standard flens, ble fokuset p&aring; type flens endret til &aring; fokusere p&aring; om flensen var enkel og h&aring;ndtere for
robotverkt&oslash;yet, f&aring; l&oslash;se deler, vekt og pris.
Side 5 av 30
2. Clamp Connector
“Techlok Clamp Connectors are the most effective and economical pipe
connection system available today. Typically several Techlok joints can be installed in the time it
takes to assemble a single standard ANSI or API flange. Conventional ANSI or API flanges with their
4 to 24 bolts require accurate alignment to ensure a seal, whereas Techlok Clamp Connectors have
only four bolts, no alignment problems and require less bolt loads.”
Kilde: VECTOR group
Figur 1 Clamp Connector og flenstypen den bruker.
Design prinsipp
Konvensjonell flensdesign har ikke forandret seg p&aring; 100&aring;r. Siden bruken har mangedoblet seg de siste
&aring;rene har et behov for en ny og bedre l&oslash;sning kommet frem.
Det har blitt behov for en ny og sterkere l&oslash;sning som holder lenger. Clamp Connector er nettopp det.
Den er designet for &aring; v&aelig;re lekkasjefri, ha lav vekt og kunne t&aring;le h&oslash;yt trykk, samt for &aring; kunne brukes
der d&aring;rlig plass er kritisk.
Blant annet er pakningen eller pakningsringen som brukes, spesiell og gjennomtenkt. Det er et metall
til metall paknings ring som er ”energi selvforsynt”, se bilde neste side.
Side 6 av 30
Figur 2 Viser paknings prinsipp f&oslash;r og etter montering
Under bruk er pakningsringen utrolig effektiv. P&aring; grunn av intern trykk i ringen vil styrken i den
normalt forbig&aring; trykket i r&oslash;ret.
Figur 3 Ser her hvordan man ved hjelp av pakningen unng&aring;r turbulent flow.
Side 7 av 30
Flenstyper
Clamp Connector l&oslash;sningen benytter seg av hovedsakelig to typer flenser. Den ene er en ”Cone” type,
mens den andre er en mer flat/firkantet l&oslash;sning(orifice connector). Orifice connector brukes mest der
n&oslash;yaktig flow m&aring;ling skal utf&oslash;res/er viktig, mens ”Cone” typen er beregnet for ”standard bruk”.
Figur 4: Flat type
Fordeler med Clamp Connector i forhold til ANSI flenser
•
Techlok Clamp connectors er et lav-vekts alternativ: Man sparer typisk 75% vekt mot &aring;
bruke konvensjonelle flenser.
•
H&oslash;y ytelse.
•
Trenger kun 4 bolter uansett st&oslash;rrelse.
•
•
•
Krever ikke kompleks boltoppsett for &aring; beholde paknings integritet.
•
Foretrukket l&oslash;sning hvor vekt, rom og ledd integritet er kritisk
Ulemper med Clamp Connector i forhold til ANSI flenser
•
Mange l&oslash;se deler p&aring; en gang
Side 8 av 30
Relevans for oppgaven
Clamp Connector er uten tvil en sterk kandidat for v&aring;r oppgave om &aring; automatisere bytte av ventiler.
L&oslash;sningen vil kreve at flensene som sitter p&aring; ventilen og r&oslash;rene passer Clamp Connector.
Vi kan derimot ikke si at den er godt egnet for v&aring;r oppgave, da den ikke ble designet med tanke p&aring;
automatisering. Men dersom vi kan tillate oss &aring; modifisere selve klemma litt, og kanskje sveise fast
boltene eller mutterne er vi langt p&aring; veg. Den l&oslash;ser heller ikke problemet med oppsett av ventil ved en
normal situasjon.
Side 9 av 30
3. Compact Flange
Figur 5 Kompakt flens
Kompaktflensens fordeler i forhold til ANSI flenser
•
Ingen korrosjon og eliminerer behovet for kostbare sveiser.
•
Lav vekt
•
Overlegen tetning
•
Ingen lekkasje og ingen etterstramming av bolter kreves
•
Enkel, rask og p&aring;litelig fremstilling. En kostnadseffektiv og teknisk bedre forbindelse for r&oslash;r
og tilh&oslash;rende utstyr
•
Egnet for h&oslash;yt trykk eller ekstrem temperatur krav
Kompaktflensens ulemper i forhold til ANSI flenser
•
Mange bolter og muttere
•
Mange l&oslash;se deler &aring; holde styr p&aring;
•
Trangere &aring; komme til for &aring; skru
•
Krever mer n&oslash;yaktighet ved montering(se vedlegg s.3-15)
•
Lengre monteringstid
Side 10 av 30
Figur 6 Kompaktflensen er et mindre og lettere alternativ til konvensjonelle ANSI flenser.
Relevans for oppgaven
Som med standard flenser har den mange l&oslash;se deler man ikke kan miste under prosessen. Flens design
l&oslash;ser heller ikke ventiloppsett problematikken som vi har med standard flenser. Ved sammenligning av
konvensjonell og kompakt flens, konkluderer vi at denne type flens ikke er egnet for automatisering.
Side 11 av 30
4. Flat welding Flange
Figur 7.jsytbxg.com
Design prinsipp
-
Norwegian Standard (NS) Plain Flange
-
Size(Diameter range): 1/2&quot; - 24&quot;
-
Type: Socket-weld
-
Facing: RF / FF / RTJ
-
Working pressure:150-2500, 5k-30k PN0.25- 32Mpa
-
Material: Stainless steel(304/304L/31/316L, CF8, CF8M, CF3, CF3M), Carbon
steel(WCB),Alloy steel
-
Standard: ANSI,UNI,API,MSS,AWWA,DIN,JIS,BS and GB
Figur 8
Side 12 av 30
Fordeler med flat welding flange
•
•
•
•
•
•
•
Enkel sammenlignet med andre flenser, ingen kanter eller tillegg for feste eller tetting.
Flat og rund, uten eksterne eller interne s&aelig;rtrekk.
Gunstig diameter p&aring; bolthullene.
Kun fire bolter og muttere.
En av de mest prisgunstige flensene.
Lett sammenlignet med andre flenser.
Norwegian Standard (NS)
Ulemper med flat welding flange
•
L&oslash;se bolter og muttere.
•
Det er &oslash;nskelig med enn&aring; st&oslash;rre diameter p&aring; bolt sirkelen.
•
Flensen har ingen st&oslash;tte som gj&oslash;r at den holder seg p&aring; plass n&aring;r bolter og muttere er frigjort.
Relevans for oppgaven
Til v&aring;r oppgave er denne flensen spesielt godt egnet. Flensen er flat og har relativt f&aring; l&oslash;se deler. Dette
gj&oslash;r den spesielt godt egnet til verkt&oslash;y konseptl&oslash;sning nr 20.
Side 13 av 30
5. Slip-on Flange
“A Slip-On Flange is slightly larger than the outer diameter of the pipe it is to be used with. The pipe
is slipped into the Flange prior to welding both inside and outside this prevents leaks. High quality
slip-on Flanges are ideal for lower pressure applications. The Slip-On Flange's ease of fitting and
welding reduces fabrication costs.”
Kilde: www.fullsupply.co.uk/flanges.php
Figur 10 fullsupply.co
“Their ease of fitting and welding reduces fabrication costs. Less time needs to be spent ensuring the
accuracy of the cut pipe and they are somewhat easier to align. They do not have as much strength as
a welding neck flange and are not available in higher pressure ratings and diameters.”
Kilde: http://www.hyvp.com/flange/Slip-On-Flanges.htm
Design prinsipp
Size: 1/2”-60”
Design Standard: ANSI, JIS, DIN, BS
Material: Carbon Steel (ASTM A105, Q235&pound;&not;20Mn)
Stainless Steel (ASTM A182 F304/304L, F316/316L,F321)
Alloy Steel (ASTM A182F1, F2, F5/A, F6/A, F9, F11, F12,F22, F91)
Normal Pressure: CLASS 150, CLASS 300, CLASS 600, CLASS 900,CLASS 1500, CLASS 2500,
CLASS 3000
Side 14 av 30
Fordeler med slip-on flange
•
Relativt ukomplisert.
•
Gunstig diameter for tilgjengelighet til robotverkt&oslash;yet.
•
Standardisert flens.
Ulemper med slip-on flange
•
Ledesporet eller kanten kan komme i veien.
Relevans for oppgaven
Til v&aring;r oppgave er denne flensen godt egnet til en vis grad, ulempen kan v&aelig;re lede sporet i inner
diameteren. Ellers er denne flensen godt egnet.
Side 15 av 30
6. Socket Welding Flange
“A Socket Weld Flange is similar to a Slip on Flange, however Socket Weld Flanges have an
internal recess on the inside diameter to allow for a smoother flow of the process fluid.
This creates a smooth bore with the proper welding and grinding. However a Socket Weld
Flange can be more expensive than a Slip-On Flange due to the more intricate machining. Socket
Weld Flanges were initially developed for use on smaller sizes of pipe at higher pressure ratings.”
Kilde: www.fullsupply.co.uk/flanges.php
Figur 11 sae-flange.com/
Figur 12 fullsupply.co.uk
Design prinsipp
“SOCKET WELDING FLANGES were initially developed for use on small size high pressure piping.
When provided with an internal weld, their static strength is equal to, but their fatigue strength 50%
greater than double welding slip-on flanges. Smooth bore conditions can readily be attained (by
grinding the internal weld) without having to bevel the flange face and, after welding, to reface the
flange as would be required with slip-on flanges. The internally welded socket type flange is popular
in chemical process piping for this reason.”
Kilde: www.maassflange.com
Fordeler med socket weld flange
•
•
•
•
Kun fire bolter og muttere.
Flat og rund.
Gunstig diameter p&aring; bolthullene.
Standardisert flens.
Side 16 av 30
Ulemper med socket weld flange
•
Kanter eller tillegg for feste eller tetting.
Relevans for oppgaven
Dette er ogs&aring; en gunstig flens type men sammenlignet med andre typer flenser er denne noe mer
sammensatt og dermed ogs&aring; antagelig noe dyrere. Ulempen kan v&aelig;re lede sporet i innerste
diameteren. Ellers er denne flensen godt egnet.
Side 17 av 30
“A Threaded Flange is usually confined to a special application. The main benefit of a Threaded
Flange is that it can be assembled without welding which makes it perfect for extremely high pressure
services.
Sometimes a seal weld is also used in conjunction with the threaded connection of the Flange.
A Threaded Flange is unsuited for conditions involving temperature or bending stresses of any
magnitude. Particularly under cyclic conditions where leakage through the threads may occur in
relatively few cycles of heating or stress”
Kilde: www.fullsupply.co.uk/flanges.php
Figur 13sae-flange.com/
Figur 14 fullsupply.co
“Threaded Flanges can be fitted to the pipe without welding, though a seal weld can sometimes be
used. They are suitable for small diameter high pressure services. At larger diameters, the difficulty in
machining the thread on to both the flange and pipe makes them unviable. They are also not suitable
for areas having high external loads, particularly torsion. ”
Side 18 av 30
Design prinsipp
Size: 1/2”-60”
Design Standard: ANSI, JIS, DIN, BS
，
Material: Carbon Steel (ASTM A105, Q235 20Mn)
Stainless Steel (ASTM A182 F304/304L, F316/316L,F321)
Alloy Steel (ASTM A182F1, F2, F5/A, F6/A, F9, F11, F12,F22, F91)
Normal Pressure: CLASS 150, CLASS 300, CLASS 600, CLASS 900,CLASS 1500, CLASS 2500,
CLASS 3000 .
•
Kun fire bolter og muttere.
•
Standardisert flens
•
T&aring;ler h&oslash;y trykk.
•
Gjengene er neppe en fordel til et robotverkt&oslash;y.
•
S&aring;rbar for temperatur.
Relevans for oppgaven
Denne flenstypen er lite relevant for v&aring;r oppgave, det er en vanelig flens type som er mye brukt ellers,
men egner seg d&aring;rlig til automatisering.
Side 19 av 30
9. Welding Neck Flange
“A Weld Neck Flange is drilled with the wall thickness of the Flange having equal dimensions to the
matching pipe. The lighter the pipe is the larger the bore is in the Weld Neck Flange. And conversely
the heavier the pipe is the smaller the bore is in the Weld Neck Flange. Weld Neck Flanges are usually
used in high pressure systems and are suitable for cold or hot temperatures.”
Kilde: www.fullsupply.co.uk/flanges.php
Figur 15
Figur 16
“These are the most common type of flange used for high pressure applications. They are recognized
by their long tapered hub. The hub provides an important reinforcement to the flange itself and acts to
reduce rotation of the flange at bolt-up. The smooth transition between the flange and the hub
combined with the strength of the butt weld joint, allows the flange to be used in extreme conditions of
Kilde: http://www.hyvp.com/flange/welding-neck-flanges.htm
Design prinsipp
Size: 1/2”-60”
Design Standard: ANSI, JIS, DIN, BS
Material: Carbon Steel ( ASTM A105, Q235,20Mn )
Stainless Steel (ASTM A182 F304/304L, F316/316L,F321)
Alloy Steel (ASTM A182F1, F2, F5/A, F6/A, F9, F11, F12,F22, F91)
Normal Pressure: CLASS 150, CLASS 300, CLASS 600, CLASS 900,CLASS 1500, CLASS 2500,
CLASS 3000 .
Side 20 av 30
Fordeler med Weld Neck Flange
•
Standardisert flens.
•
T&aring;ler h&oslash;ye trykk.
•
Er godt egnet for b&aring;de kalde og varme omgivelser.
Ulemper med Weld Neck Flange
•
Sveise kragen vil antagelig gj&oslash;re det vanskeligere for et robotverkt&oslash;y &aring; komme til mutter og
bolter.
Relevans for oppgaven
Detter er ogs&aring; en mye brukt standardflens, den har mange forskjellige fasonger men vi antar at den
ikke er relevant for oppgaven da det finnes mindre kompliserte flenser.
Side 21 av 30
10.
Lap Joint Flange
“A Lap Joint Flange is usually used in conjunction with Lap Joint Stubs. Lap Joint Flanges in carbon
or low alloy steel piping systems are best used when frequent dismantling for inspection and cleaning
is required. The use of Lap Joint Flanges at points where severe bending stress occurs should be
avoided.”
Kilde: www.fullsupply.co.uk/flanges.php
Figur 17 www.thepipefittings
“Lap Joint Flanges must be used with their associated stub end. The stub is welded to the pipe and
the Lap Joint then works as a backing ring. The main advantage of this type of flange is that the bolt
holes can be aligned with the matching flange after the welds have been completed. A Lap Joint
Flange is not suitable for areas with high external or dynamic loads. A Swivel Ring Flange should be
used for this type of application. “
Kilde: http://www.hyvp.com/flange/Lap-Joint-Flanges.htm
Design prinsipp
Size: 1/2”-60”
Design Standard: ANSI, JIS, DIN, BS
Material: Carbon Steel (ASTM A105, Q235&pound;&not;20Mn)
Stainless Steel (ASTM A182 F304/304L, F316/316L,F321)
Alloy Steel (ASTM A182F1, F2, F5/A, F6/A, F9, F11, F12,F22, F91)
Normal Pressure: CLASS 150, CLASS 300, CLASS 600, CLASS 900,CLASS 1500, CLASS 2500,
CLASS 3000
Side 22 av 30
Fordeler med Lap Joint Flanges
•
Standardisert flens.
•
Flensen er ment for hyppige inspeksjons intervaller, montering og demontering.
•
Bolthullene kan justeres til en annen flens da det er midt delen son er sveiset til r&oslash;ret.
Ulemper med Lap Joint Flanges
•
Selve flensen sitter l&oslash;st etter at boltene er l&oslash;snet.
•
Flensen t&aring;ler ikke h&oslash;ye belastninger.
Relevans for oppgaven
Denne flenstypen gj&oslash;r det ikke lettere &aring; konstruere et robotverkt&oslash;y til og er dermed lite relevant til v&aring;rt
bruk.
Side 23 av 30
11.
Orifice Flange
“An Orifice Flange is intended for use instead of standard pipe Flanges when an orifice plate or flow
nozzle must be installed. Pairs of pressure tapings are machined into the Orifice Flange, making
separate orifice carriers or tapings in the pipe wall unnecessary.
Orifice Flanges cover all standard sizes and ranges, and all common Flange materials.”
Kilde: www.fullsupply.co.uk/flanges.php
Figur 18
“Orifice Flanges are used with orifice meters to measure the flow rate of liquids and gases in a
pipeline. They are similar to Welding neck, Slip-On and Screwed Flanges, except that they are
modified to hold orifice plate carriers and have radial taped holes for the fitting of meter
connections. “
Kilde: http://www.hyvp.com/flange/Orifice-Flanges.htm
Design prinsipp
Size: 1/2”-60”
Design Standard: ANSI, JIS, DIN, BS
，
Material: Carbon Steel (ASTM A105, Q235 20Mn)
Stainless Steel (ASTM A182 F304/304L, F316/316L,F321)
Alloy Steel (ASTM A182F1, F2, F5/A, F6/A, F9, F11, F12,F22, F91)
Normal Pressure: CLASS 150, CLASS 300, CLASS 600, CLASS 900,CLASS 1500, CLASS 2500,
CLASS 3000
Side 24 av 30
Fordeler med Orifice Flanges
•
Standardisert flens.
•
Denne typen flenser gj&oslash;r det mulig &aring; m&aring;le flow.
•
Denne typen flenser kan settes i forbindelse med Clamp Conector prinsippet.
Ulemper med Orifice Flanges
•
Un&oslash;dvendig komplisert til v&aring;rt bruk.
•
Antagelig mer kostbar en andre standard flenser.
Relevans for oppgaven
Lite relevant for v&aring;r oppgave.
Side 25 av 30
12.
Swivel Ring Flange
“A Swivel Ring Flange allows easy alignment. An important
and critical
itical feature when bolting sub-sea
sub
pipeline Flanges together for example.
The outer ring Flange of the Swivel Ring Flange assembly is held in position by a retainer ring that
freely rotates around the inner weld-neck
weld neck hub for quickly positioning the bolt holes of the two joining
Flanges.”
Figur 20
Figur 19 www.roc-master.net
master.net
Design prinsipp
“Nominal Pipe Size (NPS): any API Specification 5L pipe, wall thickness and grade
Design Pressure Rating and Applicable Dimensions: ASME, MSS or API
Design Temperature Range: -20&deg;F
20&deg;F (-29&deg;C)
(
to 250&deg;F (121&deg;C)
Ring Flange: ASTM A105N or ASTM A694 Gr. F52 forging
Hub: ASTM A694 Gr. F52 forging
Certifications: ISO 9001:2008 - World Certification Services Ltd. - Accredited by UKAS Quality
Management”
Kilde: www.oceaneering.com
Side 26 av 30
Fordeler med swivel ring flange
•
Gj&oslash;r det enkelt &aring; sette sammen spesielt for sub-sea utstyr.
Ulemper med swivel ring flange
•
Mange l&oslash;se deler
•
Antagelig h&oslash;y pris.
•
Un&oslash;dvendig komplisert til v&aring;rt bruk.
Relevans for oppgaven
Denne flenstypen gj&oslash;r det ikke lettere &aring; konstruere et robotverkt&oslash;y til og er dermed lite relevant til v&aring;rt
bruk.
Side 27 av 30
13.
Optima Subsea Connector
Dette var en l&oslash;sning vi s&aring; p&aring; tidlig i s&oslash;ket etter flensl&oslash;sninger for robotisering. Dette konseptet
benytter seg av en Clamp Connnector lignende l&oslash;sning med samme flens type ”Cone ”
Figur 21 .group-vector.com
Design prinsipp
-
ROV operated subsea clamp
-
Quick connect / disconnect
-
Male / Female Hub assembly
-
Misalignment capability of 5&deg; or 50mm axial separation
-
-
Bi-directional seal + Backseal integrity test
-
Standard API 17D &amp; special ROV interfacing
-
Simple &amp; efficient design : just a few functional components
-
Available in sizes from 2&quot; - 48&quot; NPS
-
Type Approval by Bureau Veritas and customer specific design
-
-
Based on ASME VIII Div I Appendix 24 design principles
-
Available in all material grades and a wide range of coatings for subsea service (Norsok)
Side 28 av 30
Figur 22 group-vector.com
http://www.group-vector.com/products-services/optima-misalignment-capability/
Fordeler med Subsea Connector
•
Moderne teknologi.
•
Standard flens type.
•
Automatisert for ROV.
Ulemper med Subsea Connector
•
Mange l&oslash;se deler.
•
Kostbart.
•
Det m&aring; settes sp&oslash;rsm&aring;lstegn ved hvorvidt dette er mulig for er robot.
Relevans for oppgaven
Sett med andre &oslash;yne er dette en l&oslash;sning som med noe re design ogs&aring; kunne automatiseres til bruk av
roboter. Men som situasjonen n&aring; tilsier er dette konseptet/flensen ikke relevant f&aring;r v&aring;r oppgave.
Side 29 av 30
14.
Kilder
1. www.aalarm.no/flens_MFAS.htm
2. www.fullsupply.co.uk/flanges.php
3. www.jsytbxg.com/en/gscp6.htm
4. ftp.irisdesign.no
5. www.hyvp.com/flange/Slip-On-Flanges.htm
6. www.guillnavy.com
7. www.sae-flange.com
8. saleseu@lesker.com
9. www.group-vector.com/optima-subsea-connector/
10. www.thepipefittings
12. www.oceaneering.com
13. www.maassflange.com
14. http://www.group-vector.com/optima-subsea-connector/
Side 30 av 30
VEDLEGG 13
Quickflange moment tabell
VEDLEGG 14
Datasheet QC71-Toolchanger
QC-71 Tool Changer
1031 Goodworth Drive, Apex, NC 27539, USA
Tel: +1.919.772.0115
Email: info@ati-ia.com
Fax: +1.919.772.8259
www.ati-ia.com
ISO 9001 Registered Company
9230-20-1969-02
Part Numbers Shown:
(A) Master: 9120-071M-G19-000
(B) Tool: 9120-071T-G19-000
62. 2
Coupled
3 0 .2
Master
Plate
20
Male
Coupling
10&deg;
(Typ.)
8 H7, 8 Dp.
Customer Interface
16.7
32
To o l
Plate
3.2 Cover Plate
3 Boss
1 3 .9
6
5
4
20&deg;
(Typ.)
3
2
7
1
8
B.C.
100 h7, Boss
Customer Interface
19
1 5 .1
150
(2) 6 H7, 6 Dp.
Customer Interface
80
Pneumatic
Port I.D.
(6) Thru Hole for M6 x 40
SHCS Provided
Equally Spaced
Customer Interface
12.8 M6 SHCS
Provided
(8) 1/4 NPT
Pneumatic
Thru Ports
(6) Tapped M8 x 1.25, 8 Dp.
Equally Spaced
Customer Interface
(8) 1/4 NPT
Pneumatic
Thru Ports
(B)
15 0
57
G19-M
Flat A
Flat B
9 9 .1
Cover
Plate
50 H7, 6 Dp.
Customer Interface
30 &deg;
(Typ.)
6 0 .2
G19
Modules
B.C.
(A)
5 6 .9
G19-T
60
(Typ.)
Tool Side
(projection only)
Notes:
1. Master mounting hardware provided.
2. Cover plate is not necessary if robot interface plate provides
sealing. The recommended interface plate bore depth without
a cover plate is 2.5mm, with a cover plate is 5.6mm.
3. Orientation marks are provided to assist in robot teaching.
4. Shown with optional G19 Electrical Modules. For other modules
see the Modules and Options section of the catalog.
Amphenol Connector
PT02E-14-19S
45. 9
G1 9 - T
Flat B
Flat A
49
G19-M
1/8 NPT
Unlock
Port
10 &deg;
10 &deg;
Amphenol Connector
PT02E-14-19P
Warning:
Do not apply lock/unlock air pressure without master cover plate
properly attached. If cover plate is not used, master should be
properly attached to interface. Failure to do so could result in
damage to cover plate and o-ring.
Master Side
(projection only)
1/8 NPT
Lock
Port
15&deg;
86
VEDLEGG 15
QC71-Installation and Operation
Manual
Quick-Change
High-Precision Robotic Tool Changer
Installation and Operation Manual
Basic Information for all Models
Document #: 9610-20-1000-09
February 2009
Engineered Products for Robotic Productivity
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com
Quick-Change Installation and Operation Manual
Document: 9610-20-1000-09
Foreword
This manual contains basic information applicable to all ATI Quick-Change robotic tool changers. Certain
Quick-Change models have their own manuals that contain more detailed information. Also, additional
information about electrical, pneumatic, fluid, high-power and high-current modules and other options is
available in other manuals and documents.
!
CAUTION: This manual describes the function, application and safety
considerations of this product. This manual must be read and understood
before any attempt is made to install or operate the product, otherwise damage
to the product or unsafe conditions may occur.
Information contained in this document is the property of ATI Industrial Automation, Inc. (ATI) and
shall not be reproduced in whole or in part without prior written approval of ATI. The information
herein is subject to change without notice. This manual is periodically revised to reflect and incorporate
The information contained herein is confidential and reserved exclusively for the customers and authorized agents of ATI
Industrial Automation and may not be divulged to any third party without prior written consent from ATI. No warranty
including implied warranties is made with regard to accuracy of this document or fitness of this device for a particular
application. ATI Industrial Automation shall not be liable for any errors contained in this document or for any incidental
or consequential damages caused thereby. ATI Industrial Automation also reserves the right to make changes to this
manual at any time without prior notice.
ATI assumes no responsibility for any errors or omissions in this document. Users’ critical evaluation of
this document is welcomed.
How to Reach Us
Sales, Service and Information about ATI products:
ATI Industrial Automation
1031 Goodworth Drive
Apex, NC 27539 USA
www.ati-ia.com
Tel:
919.772.0115
Fax:
919.772.8259
E-mail: info@ati-ia.com
Technical support and questions:
Application Engineering
Tel:
919.772.0115, Option 2, option 2
Fax:
919.772.8259
E-mail: mech_support@ati-ia.com
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com
2
Quick-Change Installation and Operation Manual
Document: 9610-20-1000-09
1.
Safety......................................................................................................................................5
1.1
1.2
2.
Product Overview..................................................................................................................6
2.1
2.2
3.
4.
5.2
Overview....................................................................................................................................14
SIP Operation – Models QC-10 and Larger ..............................................................................15
SIP Troubleshooting ...........................................................................................................17
Maintenance.........................................................................................................................18
8.1
8.2
8.3
8.4
8.5
8.6
9.
10.
Coupling and Uncoupling ..........................................................................................................10
5.1.1 Coupling Sequence
10
5.1.2 Uncoupling Sequence
11
5.1.3 QC-5 Notes
11
5.1.4 Tool Identification
11
Tool Stand Design .....................................................................................................................12
5.2.1 Tool Locating Features
14
5.2.2 Tool Stand Sensors
14
Sensor Interface Plate (SIP) Option...................................................................................14
6.1
6.2
7.
8.
Typical Installation .......................................................................................................................7
Interface Plate Design and Mounting ..........................................................................................8
Lock/Unlock Pneumatic Connections and Valving......................................................................9
4.3.1 Air Requirements
9
4.3.2 Valve Requirements and Connections
9
Operational Considerations ...............................................................................................10
5.1
6.
Introduction..................................................................................................................................6
Master Plate/Tool Plate Coupling Mechanism ............................................................................6
Specifications ........................................................................................................................6
Installation .............................................................................................................................7
4.1
4.2
4.3
5.
Explanation of Warnings .............................................................................................................5
Precautions..................................................................................................................................5
General......................................................................................................................................18
Lubrication .................................................................................................................................18
8.2.1 External
18
8.2.2 Internal
18
Alignment Pins...........................................................................................................................18
Rubber Bushings .......................................................................................................................19
Preventive Maintenance ............................................................................................................19
Cleaning, Lubrication, Adjustment and Replacement ...............................................................21
8.6.1 Cleaning and Lubrication of the Locking Mechanism and Alignment Pins
(Master Plate).
21
8.6.2 Cleaning the Locking Mechanism and Alignment Pin Bushings (Tool Plate).
22
Drawings ..............................................................................................................................23
Terms and Conditions ........................................................................................................25
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Glossary of Terms
Term
Definition
Master Plate
The half of the tool changer that is mounted to a robot. The Master Plate
contains the locking mechanism.
Tool Plate
The half of the tool changer to which various tools or end-effectors are
mounted.
Cover Plate
Simple, blank closure plate on standard Quick-Change Master Plates which
closes the pneumatic chamber.
Piston
Piston located in the Master Plate that actuates the locking mechanism.
Cam
Circular cam attached to the piston that forces the locking balls outward during
the locking process.
Bearing Race
Hardened steel ring in the Tool Plate that is engaged by the locking balls
during the locking process.
End-Effector
Tool used by the robot to perform a particular function.
Tool Stand
Stand that holds tools not being used by the robot. This is usually supplied by
the customer and is specific to the application.
RIP
Robot Interface Plate – interface plate between the robot flange and Master
Plate.
SIP
Sensor Interface Plate used to adapt the Quick-Change Master to the customersupplied robot. The SIP is essentially a Robot Interface Plate that contains
sensors that determine the state (locked/unlocked/no tool) of the Master Plate.
Electrical Module
Any of a wide variety of modules that pass electrical power through the Master
Plate to the Tool plate and to the end-effector.
Pneumatic Module
Any of a wide variety of modules that pass pneumatic power through the
Master Plate to the Tool plate and to the end-effector.
Detection Shaft
Threaded stem inserted into the back side (top) of the Piston, functions as a
target to actuate the Lock/Unlock switches.
Sensor Plate
Cover plate for the back side of the Master plate, seals the pneumatic chamber
and provides mounting points for the Lock/Unlock switches.
Lock Port
Pneumatic port on the Master Plate to which air is supplied to Lock the Master
Plate to the Tool Plate.
Unlock Port
Pneumatic port on the Master Plate to which air is supplied to Unlock the
Master Plate from the Tool Plate.
No-Touch™
Design feature of all ATI Quick-Change products that allows coupling the
Master Plate and Tool Plate without physical contact prior to locking.
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1. Safety
1.1
Explanation of Warnings
The warnings included here are specific to the product(s) covered by this manual. It is
expected that the user heed all warnings from the robot manufacturer and/or the
manufacturers of other components used in the installation.
Danger indicates that a situation could result in potentially serious injury or damage to
equipment.
!
1.2
Caution indicates that a situation could result in damage to the product and/or the other
system components.
Precautions
DANGER: During operation, the area between the Master and tool must be kept
clear.
DANGER: Power and air should always be removed prior to maintenance or
repair.
!
!
CAUTION: The Quick-Change system must not be actuated without being
mounted to the robot interface plate. Damage to the cover plate and O-ring may
result.
CAUTION: The Quick-Change system is only to be used for intended
applications and applications approved by the manufacturer.
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2. Product Overview
2.1
Introduction
The Quick-Change tool changer consists of two primary parts: the Master Plate and the Tool Plate.
The Master Plate is attached to a robot while end-effectors such as grippers, material handlers, etc. are
attached to one or more Tool Plates. The Master Plate is typically mounted to the robot with an optional
interface plate (SIP or RIP).
An optional Sensor Interface Plate (SIP) plate may also be used for detecting the lock condition of the
tool changer and/or Tool Plate presence. The use of a SIP is highly recommended for achieving the
highest level of safety and reliability. The SIP is a combination robot/Master Plate interface plate and
sensor mounting plate.
In operation, the robot can be programmed to select the desired end-effector by coupling the Master
Plate to the Tool Plate. Electrical signals, pneumatic power and fluids can be transferred to the endeffector(s) through the Master Plate and Tool Plate by optional modules and ports. See the respective
manuals for these options for more details on their operation.
A tool changer enhances the flexibility and reliability of a robotic cell. Robotic tool changes are used in
automated tool-change applications as well as manual tool-change operations. Robotic tool changers
also provide a method for quick tool change for maintenance purposes.
The ATI tool changer has been designed to provide extremely long life with little or no maintenance.
2.2
Master Plate/Tool Plate Coupling Mechanism
The coupling of the Master Plate and the Tool Plate is achieved through a patented high-strength, highrepeatability stainless steel mechanism. During locking, steel balls in the Master Plate are driven
outward by a circular cam attached to a pneumatically actuated piston. The cam profile has three
features: a lead-in angle (conical), a flat (cylindrical) area, and a secondary angle (conical). The lead-in
angle initiates the coupling process, the flat area assures the coupling will not be compromised in case
of air loss (fail-safe feature), and the secondary angle provides rigid coupling during normal operation.
The balls engage a bearing race (or “locking ring”) in the Tool Plate and lock the Master Plate and Tool
Plate tightly together.
!
CAUTION: Do not use the tool changer in the fail-safe condition for extended
periods of time. Do not transport the tool changer in the fail-safe condition.
Possible damage to the locking mechanism could occur.
3. Specifications
Specifications such as payload, moment capacity, repeatability, and weight for each model may be found in the
product catalog and on our website. Drawings may also be found in the product catalog and on our website. 2-D
and 3-D models are also available on our website.
Contact ATI for specific information and drawings regarding your installation. We encourage you to use our
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4. Installation
4.1
Typical Installation
The Master Plate is mounted to the robot flange (refer to Figure 4.1) using a custom interface plate with
a robot mounting hole pattern on one side and a Master Plate mounting hole pattern on the other
(consult the appropriate drawings for dimensions, fastener and dowel pin specifics).
The end-effector is typically attached to the Tool Plate with an interface plate designed and provided by
the user (consult the appropriate drawings for dimensions, fastener and dowel pin specifics).
Removable thread locker should be used for all mounting bolts.
Pneumatic lines and electrical cables are attached, bundled, and must be strain-relieved in a manner that
DANGER: All pneumatic fittings and tubing must be capable of withstanding the
repetitive motions of the application without failing. The routing of electrical and
pneumatic lines must minimize the possibility of stress pullout, kinking, rupture,
etc. Failure of some critical electrical and/or pneumatic lines to function properly
may result in injury to personnel and equipment.
!
CAUTION: Fasteners used to mount the Master Plate to the robot flange or
custom interface plate must not extend above the surface of the male coupling
when installed. If the Master and Tool Plates do not contact when coupled, the
failsafe function can be compromised.
Robot arm
Interface plate
(optional or supplied by user)
Piston cover plate
(not necessary if sealing is provided by interface
O-ring
Master Plate mounting screws
(provided)
Master Plate
Tool Plate
Interface plate for end-effector
(supplied by user)
Figure 4.1—Typical Installation
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4.2
Interface Plate Design and Mounting
Refer to Figure 4.2.
All interface plates should be designed using two locating features per interface.
The Tool Plate/end-effector interface should utilize the diameter of the Tool Plate and a dowel pin for
location.
The Master Plate/robot interface should utilize the external diameter of the Master Plate boss and one
dowel pin or optionally, for some models, two dowel pins may be utilized.
A piston cover plate is provided with each Quick-Change Master Plate. This cover plate is optional in
the installation if the robot interface plate provides sealing for the piston cylinder.
Be careful when installing the O-ring. If the O-ring is not properly seated in the groove it can be cut or
damaged, resulting in a bad seal and air leakage. This can cause improper and/or unsafe operation.
The robot interface plate must be properly designed to provide rigid mounting on the boss surfaces and
the interface plate should not contact the Master body outside of the boss. The recommended
dimensions for the interface plate bore, with and without the cover plate, are given on the respective
Quick-Change print for each model.
The mating diameters must provide sufficient clearance so that mating corner radii do not interfere.
!
CAUTION: Failure to follow this advice when designing the robot interface plate
may result in cover plate O-ring damage or loosening of the interface during
operation.
!
CAUTION: Removable thread locker should be used for all mounting bolts.
Failure to do so may cause vibration to loosen bolts over time.
!
CAUTION: Be careful when installing the O-ring. If the O-ring is not properly
seated in the groove it can be cut or damaged, resulting in a bad seal.
Robot Interface Plate or
Sensor Interface Plate (SIP)
Cover Plate
O-ring
Master body boss
Maintain this gap
Master Body Plate
Figure 4.2—Master Plate Mounting
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4.3
Lock/Unlock Pneumatic Connections and Valving
DANGER: Failure to use a 4-way valve and properly vent to atmosphere may
cause the locking mechanism to operate incorrectly and may cause the QuickChange to not lock or unlock as expected. This could result in damage to the
product, attached tooling or personnel.
Air must be supplied to the “Lock” air port on the Master Plate (robot side) to move the internal piston,
which moves the cam, and forces the locking balls outward. The locking balls move outward until they
contact the bearing race on the mating Tool Plate. This will rigidly engage the Master Plate and Tool
Plate providing high load capacity and positional accuracy. The patented cam profile prevents the Tool
Plate from becoming disengaged in the event that there is a loss of air in the locked state.
To unlock the Tool Plate from the Master Plate, lock air must be vented and air supplied to the
“Unlock” air port on the Master Plate.
4.3.1
Air Requirements
For proper operation of the Quick-Change system the Master Plate must be supplied with
clean, dry, non-lubricated air supplied between 65 and 100 psi (4.5 – 6.9 Bar) and filtered
at 20 microns or better.
Flow requirements are negligible, typically no more than 1/3 CFM at 70 PSI when cycled
continuously.
!
CAUTION: Do not use the tool changer in the fail-safe condition for extended
periods of time. Do not transport the tool changer in the fail-safe condition.
Possible damage to the locking mechanism could occur.
4.3.2
Valve Requirements and Connections
As with all pneumatic piston arrangements, smooth operation requires proper porting of
the supplied and vented air. It is recommended that a single 4-Way valve be used to
actuate the locking mechanism in the Master Plate. The valve may be of either 4-Port or
5-Port configuration. It is imperative that when air is supplied to the Lock or Unlock Port
on the Master Plate, that the opposite port be vented to atmosphere (i.e., when air is
supplied to the Lock Port, the Unlock Port must be open to the atmosphere.) Failure to
vent trapped air or vacuum on the inactive port will negate the locking force of the QuickChange mechanism.
DANGER: The Quick-Change mechanism will not function properly when
connected to a single 3-Way valve as this type of valve is incapable of venting
trapped air pressure from within the tool changer.
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ATI Quick-Change Pneumatic Connection
4-Way Valve
Lock Port
Unlock Port
Supply Clean, Dry,
Non-Lubricated Air
65 - 100 psi (4.3 -6.9 Bar)
Exhaust
Open to
Atmosphere
Typical Master Plate
ATI Quick-Change
Master
(Shown
(ShownUnlocked)
Unlocked)
Figure 4.3—Pneumatic Connections
5. Operational Considerations
!
CAUTION: Safe, reliable operation of the tool changer is dependent on a
continuous supply of compressed air at a pressure of 60 to 100 PSI. Robot motion
should be halted if the air supply pressure drops below 60 PSI for any reason.
ATTENTION: All tool changers are initially lubricated using MobilGrease&reg; XHP222
Special grease. The end user must apply additional lubricant to the locking mechanism
components and alignment pins prior to start of service (See Section 4.2). Tubes of
lubricant for this purpose are shipped with every tool changer. Note: MobilGrease&reg;
XHP222 Special is a NLGI #2 lithium complex grease with molybdenum disulfide.
5.1
Coupling and Uncoupling
DANGER: During operation, the area between the Master Plate and tool must be
kept clear.
!
CAUTION: Before attempting to couple or uncouple, ensure that pass-through air
pressure and electrical signals are off.
5.1.1
Coupling Sequence
Prior to coupling and with air supplied to the Unlock Port, position the Master Plate above
the Tool Plate. Move the Master Plate toward the Tool Plate so that the two Master Plate
alignment pins enter the alignment holes on the Tool Plate. Take care to program the
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robot so that the Master Plate and Tool Plate are aligned axially and are parallel to each
other as closely as possible. This will minimize tool movement and subsequent wear
during lock-up.
When the two faces are within the specified No-Touch™ distance, release the pressure
from the Unlock Port and supply air to the Lock Port. The Tool Plate will be drawn
toward the Master Plate and coupled. Air must be maintained on the Lock Port during
operation to assure rigid coupling.
A sufficient delay must be programmed between locking valve actuation and robot motion
so that the locking process is complete before moving the robot.
ATI’s patented fail-safe design prevents the Tool Plate from being released in the event of
air-pressure loss to the Lock port, thereby increasing safety and reliability. Positional
accuracy may not be maintained during air loss but will be regained once air pressure is reestablished to the Lock port.
A Sensor Interface Plate (SIP) option is available for all models except the QC-5. The SIP
provides positive sensing of the locking mechanism in locked and unlocked positions,
thereby increasing reliability and safety of the application in automated situations. See
Section 6.0 regarding this option.
5.1.2
Uncoupling Sequence
Position the Tool Plate in the tool stand such that there is little or no contact force between
the Tool Plate and tool stand. Release air on the Lock port and apply air to the Unlock
Port. The air will cause the locking mechanism to be released and the weight of the Tool
Plate and attached tooling will assist in its removal. (Note: Tool weight assists in
uncoupling if the tool is released in the vertical position only). Move the Master Plate
axially away from the Tool Plate.
A sufficient delay must be programmed between unlocking valve actuation and robot
motion so that the unlocking process is complete and the Tool Plate is fully released
before moving the robot.
In automated tool change applications it is recommended that the Sensor Interface Plate
(SIP) option be used to sense that the locking mechanism has fully released before robot
motion. See Section 6.0 regarding this option. It is also recommended that a tool-presence
sensor(s) be used in the tool stand to verify that the tool is present and to verify that the
tool remains in place as the robot moves away after the unlocking process.
!
CAUTION: The use of the Sensor Interface Plate (SIP) option and tool stand
proximity sensors is highly recommended to verify that the coupling and
uncoupling process occurs as expected.
5.1.3
QC-5 Notes
The QC-5 incorporates a positive uncoupling feature. The Master Plate is pushed away
from the Tool Plate during unlocking. Due to this feature, a gap of 1.5mm to 3mm must
be maintained between the Master Plate and Tool Plate during coupling and between the
Tool Plate and stand during uncoupling. Failure to provide the proper clearance will result
in coupling/uncoupling problems.
5.1.4
Tool Identification
When using multiple tools it is good practice to implement a Tool ID system that identifies
each tool with a unique code. This can be used to verify that the robot has picked up the
proper tool. This may be accomplished by using an optional electrical module (for power
and signal pass-through) and uniquely jumpering pins on the tool side of the module. See
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also available.
5.2
Tool Stand Design
!
CAUTION: During coupling and lock-up the tool stand must allow for movement
(float) in a plane parallel to the mating surfaces of the Master Plate and Tool
Plates, and in a direction perpendicular to this plane, towards the Master Plate.
In most cases, the tools are stored in a tool stand when not being used by the robot. During coupling
and lock-up the tool stand must allow for movement (float) in a plane parallel with the mating surfaces
of the Master Plate and Tool Plates (X and Y), and also in a direction towards the Master Plate (Z).
Even slight misalignment between the Master Plate and Tool Plate can generate high forces during lockup if the Tool Plate is not allowed to float into place during lock-up. These high forces can cause
excessive wear and even jamming of the end effector and robot. The degree of float required depends
on the accuracy of the robot’s positioning and the repeatability of the tool location in the tool stand
during lock-up. See Figure 5.1 and Table 5.1 for recommended maximum allowable float (offsets) prior
to coupling. The tool stand should be designed to minimize misalignment during coupling and
uncoupling. In some cases greater offsets than shown in Table 5.1 can be accommodated by the Master
and Tool Plates, but will increase wear.
Ideally, the tool should be hanging vertically in the tool stand so that gravity acts to uncouple the Tool
Plate from the Master Plate during unlocking. It is possible to design tool stands that hold tools in the
horizontal position, but care must be taken that the necessary compliance is provided during coupling
and uncoupling. In general, “horizontal-position” tool stands cause more wear on the locking
mechanism and locating features of the tool and tool stand.
Lock-up should occur with the Master Plate in the No-Touch™ locking zone (see Table 5.1) but not
touching the Tool Plate. As locking occurs, the Master Plate should draw the Tool Plate into the locked
position.
!
CAUTION: Tool stand design is critical to proper operation of the tool changer.
Improperly designed tool stands can cause misalignments that will cause jamming
and/or excessive wear of tool changer components.
Tool stands may also need to incorporate means for covering tools and electrical modules to protect
them in dirty environments such as grinding or welding.
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Cocking Offset
Twisting Offset
X, Y and Z Offset
Figure 5.1—Offset Definitions
No-Touch™ Zone
Z Offset (Max)*
(mm)
X and Y Offset
(Max)†
(mm)
Cocking Offset
(Max)
(degrees)
Twisting Offset
(Max)
(degrees)
+3
&plusmn;1
&plusmn;1.1
&plusmn;2
+3
&plusmn;1
&plusmn;0.8
&plusmn;2
+5
&plusmn;2
&plusmn;1.0
&plusmn;2
QC-60
QC-71
+5
&plusmn;2
&plusmn;0.6
&plusmn;1
QC-100
QC-150
+7
&plusmn;2
&plusmn;0.7
&plusmn;1
QC-300
+10
&plusmn;3
&plusmn;0.6
&plusmn;1
Model
QC-5
QC-11
QC-20
QC-21
QC-40
QC-41
Table 5.1—Maximum Recommended Offsets Prior to Coupling
Notes: *
†
Maximum values shown. Decreasing actual values will minimize wear during coupling/uncoupling.
Actual allowable values may be higher in some cases but higher offsets will increase wear during
coupling.
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5.2.1
Tool Locating Features
The tool must be positively located in the tool stand. A variety of methods may be used to
accomplish this. Whatever method is chosen it is important that the required compliance
or “float” be built into the locating system. A common method is to use tapered dowel
pins in holes. As the Tool Plate is lifted during the locking action, the taper allows the
tool to float into its locked position even with small deviations in robot position.
Other tool locating feature methods include balls and detents, dowel pins in notched Vgrooves, etc. Please consult ATI for recommendations or assistance with locating feature
Cylindrical (not tapered) dowel pins should not be used as they provide too much surface
engagement. During coupling and uncoupling the tool can bind on these straight
(cylindrical) pins due to misalignment of the Master and Tool Plates.
Robot programming and locational repeatability are important in tool pick-up and dropoff.
5.2.2
Tool Stand Sensors
It is suggested that the customer provide a sensor that detects the presence of a properly
seated tool in the tool stand. The sensor may be used prior to coupling to ensure there is a
tool properly seated in the stand. Sensors may also be used as the robot starts to move
away after uncoupling. This provides a fail-safe measure in the event that a tool should
become jammed in the stand or if the tool should fail to release properly from the robot.
Proximity sensors should be located so that the sensing face is vertical to prevent swarf or
other debris from falling on the sensor and creating false readings.
6. Sensor Interface Plate (SIP) Option
6.1
Overview
The Sensor Interface Plate (SIP) system provides a method of providing locking mechanism position
signals to the customer’s process controller. These signals will indicate three possible conditions for the
Quick-Change Master Plate: Unlocked, Locked, or Missing Tool (locked without a tool in place).
The SIP system utilizes switches to detect the position of the pneumatically-actuated piston in the
Master Plate. These switches are available in various configurations (PNP, NPN, AC and dry-contact)
depending on customer requirements, Quick-Change model, and sensor availability.
The SIP system consists of a SIP Plate (which is actually the interface plate between the Tool Plate and
the robot), a Detection Shaft, a Sensor Plate, Proximity Switches and an O-Ring (see the figures below).
The Sensor Plate provides mounting locations for the Proximity Switches and seals the pneumatic
chamber of the Master Plate. The SIP plate provides mounting holes for attaching the Master Plate to
the customer’s application and retains the Sensor Plate.
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6.2
SIP Operation – Models QC-10 and Larger
The SIP system for these models utilizes 2- or 3-wire proximity switches, available in NPN, PNP and
125 VAC configurations. Figures 6.1, 6.2 and 6.3 show the position of the locking mechanism piston
and Detection Shaft relative to the proximity switches for various conditions. See Figure 6.4 for
physical connection information and Figure 6.5 for wiring information.
Contact ATI if adjustment of the proximity switches is necessary.
Unlock Sensor
Section view of a Master
Plate assembly in the
locked position without a
Tool Plate in place.
Neither the lock nor
unlock sensor is
activated by the
Detection Shaft.
Off
Off
Lock Sensor
Figure 6.1—Missing Tool Condition
Unlock Sensor
Master Plate in the
unlocked position. The
unlock sensor is
activated by the
Detection Shaft.
On
Off
Lock Sensor
Figure 6.2—Unlocked Condition
Unlock Sensor
Master Plate in
the locked position
with a Tool Plate in
place. The Lock
sensor is activated
by the Detection
Shaft.
Off
On
Lock Sensor
Figure 6.3—Locked Condition
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Unlock Switch
Sensor Interface Plate (SIP)
Lock Switch
Sensor Plate
Figure 6.4—Proximity Switches and Connections for Larger Models
The SIP Proximity Switches may be specified as NPN, PNP, or 125VAC configurations.
4
NPN(Current Sinking)
10-30V DC
&lt; 200 mA
Sn = 1.5mm
1
3
1
+
Brown
NPN (Current Sinking)
ATI types: A, E, F
4
Black
RL
3
Blue
4
PNP(Current Sourcing)
10-30V DC
&lt; 200 mA
Sn = 1.5mm
1
3
1
PNP (Current Sourcing)
ATI types: B, D, G
+
Brown
4
Black
RL
3
Blue
AC 2 wire(N.O.)
24-240VAC
5-100mA switching capacity
1.7mA consumption
Sn = 1.5mm
Brown
RL
AC
Blue
Figure 6.5—Proximity Switch Wiring for Larger Models
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7. SIP Troubleshooting
The SIP contains few components and provides trouble-free operation once properly installed. The
following table is provided to assist with troubleshooting the SIP.
Symptom
Possible Cause / Correction
Check the following conditions
prior to any further
troubleshooting.
•
Ensure that the switch is wired properly and is
receiving power.
•
Ensure that the Quick-Change has proper pneumatic
connections, air is supplied at a minimum of 70 psi
(4.8 Bar), that no air or vacuum can be trapped in a
de-energized lock or Unlock Port (pressure must be
vented to atmosphere.)
Unlock Switch fails to operate.
•
Ensure that air is supplied at a minimum of 70 psi
(4.8 Bar) to the Quick-Change Unlock (U) port.
•
Ensure that the Master Plate cam is fully retracted
and that there is no air trapped in the Lock (L) air
port.
•
Ensure that air is supplied at a minimum of 70 psi
(4.8 Bar) to the Quick-Change lock (L) port.
•
Ensure that the Tool Plate is securely held to the
Master Plate, that nothing is trapped between their
surfaces, and that there is no air trapped in the
unlock (U) air port.
•
Observe the air pressure supplied to the lock and
Unlock Ports. If no Tool Plate is present and lock air
is supplied, this behavior is normal and indicates the
“Missing Tool” condition.
Lock Switch fails to operate.
Neither Lock nor Unlock Switch
operates.
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8. Maintenance
ATTENTION: The cleanliness of the work environment strongly influences the trouble-free
operation of the changer. The dirtier the environment, the greater the need for protection
against debris. Protection of the entire EOAT, the master, the tool and all of the modules may
be necessary. Protective measures include the following: 1) placement of tools stands away
from debris generators, 2) covers incorporated into the tool stands (see Section 2.3), and 3)
guards, deflectors, air curtains, and similar devices built into the EOAT and the tool stand.
8.1
General
Under normal conditions, no special maintenance is necessary, however it is recommended that periodic
inspections be performed to assure long-lasting performance and to assure that unexpected damage has
not occurred.
The following items should be visually inspected at regular intervals:
•
Ball bearings
Bearing race
•
Electrical contacts and modules
•
Rubber bushings
•
Alignment Pins
Spare parts are available from ATI. Please call for recommendations.
•
!
CAUTION: Locking mechanism components subject to corrosion from water. If
these components get wet, they must be dried and regreased immediately. In wet
or humid environments, inspect components and regrease weekly.
8.2
Lubrication
8.2.1
External
The Quick-Change is factory-lubricated. For many applications this lubrication is
sufficient for the life of the product. In some high-cycle applications or applications
subject to moisture, the tool changer locking mechanism wear and oxidation can be
reduced by applying a thin film of anti-seize compound (molybdenum disulfide grease) to
the locking balls, cam and bearing race at periodic intervals (e.g. every 250,000 cycles).
In some extremely dirty applications the locking balls and cam can pick up grit and debris
if grease is present. In these cases it is recommended that the locking mechanism be
covered, and/or moved to a less-dirty location when a Tool Plate is not locked in place.
Also, the elimination of grease is a possible solution in these cases.
8.2.2
Internal
The internal piston and O-ring do not need lubrication unless the unit is disassembled. In
this case a Teflon-based lubricant such as Magnalube&reg; is recommended.
8.3
Alignment Pins
Alignment pins are the tapered pins located on the face of the Master Plate that guide the Master Plate
and Tool Plate together during the locking process. In heavy-duty applications, alignment pins (See 9.0
Attachments, Drawing # 9230-20-1492-01, Item No. 5) may need to be replaced due to wear. When
replacing alignment pins always use original ATI parts.
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com
18
Quick-Change Installation and Operation Manual
Document: 9610-20-1000-09
Large QC models such as the QC-100, QC-150 and QC-151 use front-replaceable screw-type alignment
pins. Use Loctite 242&reg; on alignment pin threads and tighten to 60 lb-in of torque using a torque
wrench. Be careful not to over-tighten alignment pins.
8.4
Rubber Bushings
If one or more pneumatic pass-through rubber bushings should become cut or damaged in such a way
that the seal when coupled is hindered, the bushing(s) require replacement. Follow these steps for field
removal and installation of the rubber bushings.
For models with small ports (1/8 and M5):
!
1.
Remove damaged rubber bushing by grasping with a pair of needle-nosed pliers and pulling
the bushing out of the body.
2.
Dip new bushing in water to aid in installation.
3.
Insert the beveled (chamfered) end of the rubber bushing into the bore, leaving ribbed end of
the bushing facing outward.
4.
Press the bushing in by hand until it is seated completely in the bore. If necessary, use a plastic
or rubber soft-faced mallet to tap the bushings into place.
CAUTION: For QC-21 models, the rubber bushings must be installed with Loctite
454&reg; or similar adhesive (super-glue). A thin film of adhesive should be applied
around the diameter of the counter bore in the body prior to installation; do not
apply the adhesive to the bushing itself. The dry rubber bushing should then be
installed by hand, or utilizing soft-faced mallet, if necessary, as described in steps
3 and 4.
For larger models with 3/8 ports, the rubber bushings require a brass sleeve to retain the bushings in the
body.
8.5
1.
Remove damaged rubber bushing by grasping with a pair of needle-nosed pliers and pulling
the bushing out of the body.
2.
Upon removal of the rubber bushings, remove the brass sleeve from the damaged bushing.
3.
Install the rubber bushings as previously described in steps 2–4 for the smaller ports.
4.
Insert the beveled end of the brass sleeve into the rubber bushing.
5.
Using one end of a 10mm Allen wrench, press the brass sleeve into the rubber bushing until it
contacts the body. Press the sleeve only until solid contact is felt and stop.
6.
Do not use excessive force when pressing in the brass sleeve; too much force can damage the
body.
7.
Inspect the bore and remove any rubber slivers that may have resulted from installation of the
brass sleeve.
Preventive Maintenance
The tool changer and optional modules are designed to provide a long life with regular maintenance.
A visual inspection and preventative maintenance schedule is provided in the table below depending
upon the application.
Detailed assembly drawings are provided in Section B-8 of this manual.
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com
19
Quick-Change Installation and Operation Manual
Document: 9610-20-1000-09
ATTENTION: All tool changers are initially lubricated using MobilGrease&reg; XHP222
Special grease. The end user must apply additional lubricant to the locking mechanism
components and alignment pins prior to start of service (See Section 4.2). Tubes of
lubricant for this purpose are shipped with every tool changer. Note: MobilGrease&reg;
XHP222 Special is a NLGI #2 lithium complex grease with molybdenum disulfide.
Application(s)
General Usage
Material Handling
Docking Station
Welding/Servo/
Deburring, Foundry
Operations
(Dirty Environments)
Tool Change
Frequency
Inspection
Schedule
&gt; 1 per minute
Weekly
&lt; 1 per minute
Monthly
All
Weekly
Checklist
Balls/Alignment Pins/Holes/Bearing Race
Inspect for lubrication and wear. A NLGI #2, lithium-based grease with molybdenum disulfide
additive is suggested for locking mechanism and alignment pin lubrication. Over time, lubricants
can become contaminated with process debris. Therefore, it is recommended to thoroughly clean
the existing grease and replace with new as needed. See Section 4.2.
Excessive alignment pin/bushing wear may be an indication of poor robot position during
pickup/drop-off. Adjust robot position as needed. Check tool stand for wear and alignment
problems.
Wear on the balls/bearing race could be an indication of excessive loading.
Mounting Hardware/Interface Connections
Inspect for proper torque and interference or wear, abrasions, cuts of hoses, and electrical cables.
Tighten and correct as required.
O-rings/Rubber Bushings
Inspect for wear, abrasion, and cuts.
Exposed o-rings and rubber bushings may be subject to damage during normal operation.
Replace damaged o-rings and rubber bushings as needed.
Electrical Contacts
Inspect for wear and abrasion.
Exposed contacts may be subject to damage during normal operation.
Clear debris from the area of the contacts using compressed air.
Do not directly clean contacts as abrasion may occur and the performance of the contact may be
compromised.
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com
20
Quick-Change Installation and Operation Manual
Document: 9610-20-1000-09
8.6
8.6.1
Cleaning and Lubrication of the Locking Mechanism and
Alignment Pins (Master Plate).
1.
2.
The locking mechanism must be in the unlock state before cleaning.
Use a clean rag to thoroughly remove the existing lubricant and debris from
the balls, the male coupling, the cam, and the alignment pins.
Cleaning balls and outer surfaces of male
coupling. (QC-210 shown)
3.
Cleaning balls, cam and inner surfaces of
male coupling. (QC-210 shown)
Check each ball to make sure it moves freely in the male coupling.
Additional cleaning may be necessary to free up any balls that are sticking
in place.
(QC-210 shown)
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com
21
Quick-Change Installation and Operation Manual
Document: 9610-20-1000-09
4.
Apply a liberal coating of lubricant to the balls, the male coupling (inside
and out), and the alignment pins.
(QC-210 shown)
8.6.2
Cleaning the Locking Mechanism and Alignment Pin Bushings
(Tool Plate).
1. Use a clean rag to thoroughly remove the any lubricant and debris from the bearing
race and the bushings.
2. No re-lubrication is necessary on the Tool Plate components.
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com
22
Quick-Change Installation and Operation Manual
Document: 9610-20-1000-09
9. Drawings
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com
23
Quick-Change Installation and Operation Manual
Document: 9610-20-1000-09
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com
24
Quick-Change Installation and Operation Manual
Document: 9610-20-1000-09
10. Terms and Conditions
The following Terms and Conditions are a supplement to and include a portion of ATI’s Standard Terms and Conditions,
which are on file at ATI and available upon request.
ATI warrants to Purchaser that robotic tool changer products purchased hereunder will be free from defects in material
and workmanship under normal use for a period of three (3) years from the date of shipment. This warranty does not
cover components subject to wear and tear under normal usage or those requiring periodic replacement. ATI will have no
liability under this warranty unless: (a) ATI is given written notice of the claimed defect and a description thereof within
thirty (30) days after Purchaser discovers the defect and in any event not later than the last day of the warranty period; and
(b) the defective item is received by ATI not later ten (10) days after the last day of the warranty period. ATI’s entire
liability and Purchaser’s sole remedy under this warranty is limited to repair or replacement, at ATI’s election, of the
defective part or item or, at ATI’s election, refund of the price paid for the item. The foregoing warranty does not apply to
any defect or failure resulting from improper installation, operation, maintenance or repair by anyone other than ATI.
ATI will in no event be liable for incidental, consequential or special damages of any kind, even if ATI has been advised
of the possibility of such damages. ATI’s aggregate liability will in no event exceed the amount paid by purchaser for the
item which is the subject of claim or dispute. ATI will have no liability of any kind for failure of any equipment or other
items not supplied by ATI.
No action against ATI, regardless of form, arising out of or in any way connected with products or services supplied
hereunder may be brought more than one (1) year after the cause of action accrued.
No representation or agreement varying or extending the warranty and limitation of remedy provisions contained herein is
authorized by ATI, and may not be relied upon as having been authorized by ATI, unless in writing and signed by an
executive officer of ATI.
Unless otherwise agreed in writing by ATI, all designs, drawings, data, inventions, software and other technology made or
developed by ATI in the course of providing products and services hereunder, and all rights therein under any patent,
copyright or other law protecting intellectual property, shall be and remain ATI’s property. The sale of products or
services hereunder does not convey any express or implied license under any patent, copyright or other intellectual
property right owned or controlled by ATI, whether relating to the products sold or any other matter, except for the
In the course of supplying products and services hereunder, ATI may provide or disclose to Purchaser confidential and
proprietary information of ATI relating to the design, operation or other aspects of ATI’s products. As between ATI and
Purchaser, ownership of such information, including without limitation any computer software provided to Purchaser by
ATI, shall remain in ATI and such information is licensed to Purchaser only for Purchaser’s use in operating the products
supplied by ATI hereunder in Purchaser’s internal business operations.
Without ATI’s prior written permission, Purchaser will not use such information for any other purpose or provide or
otherwise make such information available to any third party. Purchaser agrees to take all reasonable precautions to
prevent any unauthorized use or disclosure of such information.
Purchaser will not be liable hereunder with respect to disclosure or use of information which: (a) is in the public domain
when received from ATI; (b) is thereafter published or otherwise enters the public domain through no fault of Purchaser;
(c) is in Purchaser’s possession prior to receipt from ATI; (d) is lawfully obtained by Purchaser from a third party entitled
to disclose it; or (f) is required to be disclosed by judicial order or other governmental authority, provided that, with
respect to such required disclosures, Purchaser gives ATI prior notice thereof and uses all legally available means to
maintain the confidentiality of such information.
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com • Email: info@ati-ia.com
25
Data sheet: Round cylinder EG-12- - – 11647
Function
Feature
values
Stroke
Piston diameter
Cushioning
Position detection
Variants
Operating pressure
Mode of operation
1 - 80 mm
12 mm
No cushioning
No
Single-ended piston rod
2 - 8 bar
single-acting
pushing action
-20 - 80 &deg;C
68 N
G1/8
Ambient temperature
Theoretical force at 6 bar, advance stroke
Pneumatic connection
21.05.2010 – Subject to change – Festo AG &amp; Co. KG
1/1
Data sheet: Standard cylinder ESNU-12- -P – 193998
Function
Feature
values
Stroke
Piston diameter
Cushioning
Assembly position
Conforms to standard
1 - 50 mm
12 mm
P: Flexible cushioning rings/plates at both ends
Any
CETOP RP 52 P
ISO 6432
Piston
Piston rod
Cylinder barrel
For proximity sensor
K2: piston rod with extended external thread
K6: External piston rod thread shortened on one end
K8: extended piston rod
MA: axial supply port
Single-ended piston rod
1,5 - 10 bar
single-acting
pushing action
Dried compressed air, lubricated or unlubricated
2
-20 - 120 &deg;C
0,07 J
55 - 57 N
18,5 g
4g
75 g
2g
with accessories
M5
Wrought Aluminium alloy
High alloy steel, non-corrosive
High alloy steel, non-corrosive
Design structure
Position detection
Variants
Operating pressure
Mode of operation
Operating medium
Corrosion resistance classification CRC
Ambient temperature
Impact energy in end positions
Theoretical force at 6 bar, advance stroke
Moving mass with 0 mm stroke
Additional weight per 10 mm stroke
Basic weight for 0 mm stroke
Additional mass factor per 10 mm of stroke
Mounting type
Pneumatic connection
Materials information for cover
Materials information for piston rod
Materials information for cylinder barrel
21.05.2010 – Subject to change – Festo AG &amp; Co. KG
1/1
Data sheet: Standard cylinder ESNU-16- -P – 193999
Function
Feature
values
Stroke
Piston diameter
Cushioning
Assembly position
Conforms to standard
1 - 50 mm
16 mm
P: Flexible cushioning rings/plates at both ends
Any
CETOP RP 52 P
ISO 6432
Piston
Piston rod
Cylinder barrel
For proximity sensor
K2: piston rod with extended external thread
K6: External piston rod thread shortened on one end
K8: extended piston rod
MA: axial supply port
Single-ended piston rod
1,2 - 10 bar
single-acting
pushing action
Dried compressed air, lubricated or unlubricated
2
-20 - 120 &deg;C
0,15 J
94 - 97 N
23 g
4,6 g
89,9 g
2g
with accessories
M5
Wrought Aluminium alloy
High alloy steel, non-corrosive
High alloy steel, non-corrosive
Design structure
Position detection
Variants
Operating pressure
Mode of operation
Operating medium
Corrosion resistance classification CRC
Ambient temperature
Impact energy in end positions
Theoretical force at 6 bar, advance stroke
Moving mass with 0 mm stroke
Additional weight per 10 mm stroke
Basic weight for 0 mm stroke
Additional mass factor per 10 mm of stroke
Mounting type
Pneumatic connection
Materials information for cover
Materials information for piston rod
Materials information for cylinder barrel
21.05.2010 – Subject to change – Festo AG &amp; Co. KG
1/1
Data sheet: Solenoid valve VUVG – 564212
Function
Feature
values
Valve function
2x3/2 open/closed, single solenoid
2x3/2 closed, single solenoid
2x3/2 open, single solenoid
5/2 single solenoid
5/2 bistable
5/3 pressurised
5/3 exhausted
5/3 closed
electrical
10 mm
14 mm
90 - 780 l/min
-0,9 - 10 bar
Piston slide
mechanical spring
Air spring
IP40
IP65
with plug socket
throttleable
soft
Any
detenting
Pushing
Covered
Piloted
external
Internal
100%
+/- 10 %
filtered compressed air, grade of filtration 40 &micro;m, lubricated or
unlubricated
Type of actuation
Width
Standard nominal flow rate
Operating pressure
Design structure
Type of reset
Protection class
Exhaust-air function
Sealing principle
Assembly position
Manual override
Type of piloting
Pilot air supply
Duty cycle
Permissible voltage fluctuation
Operating medium
Restriction ambient and medium temperature
Corrosion resistance classification CRC
Medium temperature
Ambient temperature
Electrical connection
Mounting type
Materials note
Materials information for seals
Materials information, housing
21.05.2010 – Subject to change – Festo AG &amp; Co. KG
-5 - 50 &deg;C
Without holding current reduction
2
-5 - 60 &deg;C
-5 - 60 &deg;C
Via electrical connection plate
Optional
on manifold rail
with through hole
Conforms to RoHS
HNBR
NBR
Wrought Aluminium alloy
1/1
```