| Total electrical power | 3 kW power supply 230V / 50Hz |
|---|---|
|
Footprint of the control bay |
600 x 800mm |
|
Robot weight |
Approx. 150kg
|
|
Force capacity at the end of axis 7 |
250N max. |
|
Max. acceleration capacity at the tool tip |
1g
|
|
Max. speed at the tool end |
1 m/s
|
In the grinding business, it is the finishing process
that defines the type of grinder to be used to cut, level, finish the internal
or external surfaces of a part. Depending on the grinding task to be performed,
it may be necessary to use several types of grinders with the Cobot 6A10. So we
have provided a tool change solution, which allows you to quickly interchange
several grinders on the 6A10 cobot (up to 7!). Thanks to the tool detection
system, any type of angle grinder or straight grinder, equipped with their
consumables, are automatically recognized by the 6A10 cobot, and it then
adjusts its control parameters.
The longer we grind on a part, the more we will wear
out the grinding consumables. So you have to change them from time to time. With
the Cobot 6A10 it is the same because it uses standard commercial grinders. It
is sometimes possible to optimize the duration of the grinding consumables
because the cobot makes it possible to avoid shocks due to the installation or
the fall of the grinder which is harmful for the disc or the grinding wheel. There
is no automatic detection of consumable wear, so the eye of the operator is
enough to spot a consumable that should be changed.
The 6A10 cobot is equipped with servomotors which are
supplied with 48V input power. To work the cobot arm must therefore be supplied
with electricity (230V/50 Hz) via its electrical cabinet. To protect the 6-axis
sensor installed under the steering handles, it also needs a little compressed
air, to ensure a healthy overpressure in the sensor. With regard to the
grinders fitted to the cobot, all energies are possible: compressed air,
high-frequency alternating current, normal alternating current.
The 6A10 cobot is well suited for grinding large parts
for which there is a lot of shaving work to be done. Conversely, it is less
suitable for working on small parts. Indeed, there is generally much less
material to level off on small parts and therefore the use of the 6A10 cobot is
less justified. In addition, on complex-shaped parts, the accessibility of the
6A10 arm to internal or recessed areas is sometimes difficult to obtain. It is
therefore sometimes necessary to know how to adapt the manual process and
provide suitable tools if you want to work effectively with the 6A10 cobot. Our
specialists can advise you in this case.
One of the advantages of the 6A10 cobot is the significant reduction in the level of exposure to vibrations of the hands and arms of workers. Various measurements carried out by the INRS and subsequently some of our most demanding customers, have made it possible to assess that with the 6A10 cobot, the operator’s exposure to vibrations is reduced by 80% compared to manual grinding. with the same tool and consumable.
This generally makes it possible to remain below the recommended minimum daily exposure threshold (A8 of 2.5 m/s2 according to the requirements in force), and thus to avoid taking risks of MSDs or white finger disease (Syndrome de Raynaud) to users.
The arm of the 6A10 cobot can carry any type of grinder thanks to a mechanical system custom-designed by our design office. We call this part a tool adapter and it is mounted integral with the grinding tool. Each grinder has its adapter and it is equipped with an integrated vibration damping solution based on anti-vibration pads judiciously placed to dampen the vibrations created by the grinder during use.
Thus, a good part of the vibrations are damped and
only a small part is transmitted to the cobot which dampens a little more. The
operator having his hands on the handles of the cobot and not on the grinder,
is therefore only subjected to the remaining vibrations.
The 6A10 cobot is designed to receive any type of grinder provided that its weight is less than 10 kg, once it is equipped with its adapter. RB3D will thus integrate into the adapter the energy connection system allowing the grinder to be powered and ensure its command and control in a secure manner. So if a customer asks us to adapt a new grinder, we must carry out the feasibility study of his adapter and design it.
However, given the power provided by the 6A10, it is understood that its use is mainly carried out with powerful and therefore heavy grinders. So far we have not seen a case justifying the 6A10 being fitted with small finish grinders.
Grinding is an extremely demanding activity physically but also because of the noise of the grinders and the projections of dust and particles. In general, a foundry is equipped with a good dust extraction system, but this does not allow (nor should it not!) to suck up the particles of molten metal projected by the disc or the grinding wheel, at the risk of generating a fire in the dust filters.
So, these particles can therefore be projected almost everywhere around the grinding area and therefore on the cobot itself. We therefore deliver this one with a protective cover for the arm and sheaths containing the cables. This is made of a fabric resistant to abrasion and incandescent particles of golden color. The parts not protected by this cover are installed behind protective walls to avoid projections towards potentially sensitive components.
Most of the cobot is made up of closed sub-assemblies that do not allow the passage of dust. The main part of the arm of the 6A10 is on the other hand open to allow the vertical movement of the cobot. This part is therefore protected from dust by the protective cover against incandescent particles.
All exposed cables are equipped with closed connectors that do not allow dust to enter.
The electrical cabinet is always closed dustproof. It is also equipped with cable glands at the level of the cable passages to prevent any entry of dust. Finally, the most sensitive part of the 6A10 cobot, the 6-axis sensor, is pressurized with air to repel any entry of dust or particles.
The cobot 4A350 is a load-bearing manipulator for the factory of the future.
Its 4 motorised X, Y, Z and Theta axes allow heavy and voluminous loads to be moved without any inertia effect for the user.