Robotics

Robotics

Robotics involve the following elements:

	Teaching Object Surface Contours.
	Locating/Re-Locating Objects.
	Executing Taught Programs.

Teaching Object Surface Contours

This is the process of creating Stripping Programs. A Stripping Program is a combination of:

	Stripping Parameter Settings, including Flashlamp and Robot Speed/Distance Settings
	Robot Point Data, Defining Surface Contour, Paths, and Approach/Exit Points

Stripping Parameter Settings are important when you are Executing a Stripping Program. It will come up again later. Right now, the Robot Point Data is detailed.

Robot Point Data

Robotic Point Data involves the teaching of a bounded area by the operator using a teach pendant. The operator moves the robot with the teach pendant and enters points as necessary within the robot's work envelope.

The bounded area is defined by two sets of points, entered by the operator on a teach pendant, along the first and last strip paths. The boundaries are:

Along the edge of the first strip path, defined by the first set of points taught. This may be along an obstruction, or at the robot's reach limit.
Along the edge of the last strip path, defined by the last set of points taught. These points would be away from potential obstructions.
Leading edge of strip program area is defined by an imaginary line drawn between the first points in the first and last taught strip paths.
Trailing edge of strip program area is defined by an imaginary line drawn between the last points in the first and last taught strip paths.

NOTE: Once the first and last strip paths are taught, intermediate strip paths are calculated based on an offset distance, called index, parallel to the first path, while the path itself is calculated by the relative differences between points in the first and last taught strip paths.

Stripping Programs

Each point taught has a Cartesian value equating to an X, Y, and Z Position in Space, AND a roll, pitch, and yaw Orientation about that point. In this way, a contour can be defined by teaching points that tell the robot its shape. This set of points allows the robot to build a trajectory path connecting the points' positions and orientations.

Contour Following

Locating/Re-Locating Objects

By comparing Repeatable Features of the Taught Object to Subsequent Objects, the robot is able to Transform the Stripping Programs to the exact orientation of the Subsequent Objects. A device, such as a position-sensing laser, is used to detect the changes in position from the original taught - or golden round - object features, and subsequent object features. The features should be repeatable, such as tooling points.

Executing Taught Programs

The operator will have a catalog of Stripping Programs to choose from. An operator calls up a Stripping Program from the Process Controller. Text descriptions define where the program is. The Process Controller sets Robot Stripping Parameters of Approach, Exit, and Strip Speeds, and Index Distance.

When a Stripping Program is executed, the Robot moves through safe Approach Points just above the surface to be stripped. The operator gives the Robot a Start command, the Stripping Head gently lowers to the surface, and forward motion begins. After completing the first stripping path, the Stripping Head leaves the surface, awaiting an operator command to Repeat the stripping path, go to the Next stripping path, or End the program.

Back to Process

Back to Systems

For more information, see: FLASHJET Subsystem Basic Descriptions