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WJTA-IMCA 2013 Waterjet Robotic Applications
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WJTA-IMCA 2013 Waterjet Robotic Applications


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  • 1. Robotic Applications
  • 2. Robotic Applications • What is A Robot • The Anatomy of a Robot • Controlling Robots • Water Jet Integration With Robotics • Applications Topics to Cover
  • 3. Robotic Applications 1: A machine capable of carrying out a complex series of actions automatically. 2: (esp. in science fiction) A machine resembling a human being and able to replicate certain human movements and functions. What is a robot?
  • 4. Robotic Applications • Controller • Arm • Drive • End Effector • Sensor The Anatomy For a machine to qualify as a robot, it usually needs these five parts:
  • 5. Robotic Applications CONTROLLER Every robot is connected to, or contains in it, a computer, which keeps it’s pieces working together. This computer is known as the controller. The controller functions as the "brain" of the robot. The controller also allows the robot to be networked to other systems, so that it may work together with other machines, processes, or robots.
  • 6. Robotic Applications ARM Robot arms come in all shapes and sizes. The arm is the part of the robot that positions the end-effector and sensors to do their pre- programmed business.
  • 7. Robotic Applications Many (but not all) resemble human arms, and have shoulders, elbows, wrists, even fingers. This gives the robot a lot of ways to position itself in its environment.
  • 8. Robotic Applications Waist Shoulder Elbow Wrist Most robotic arms have the same basic structure:
  • 9. Robotic Applications As we just noted, many robots have shoulders, elbows, wrists, even fingers. This gives a robot lots of options for moving, and helps it do things in place of a human arm. In order to reach any possible point in space within its work envelope, a robot needs a total of 6 degrees of freedom. Each direction a joint can go gives an arm 1 degree. As a result, many robots of today are designed to move in at least 6 ways. ROBOT ARMS
  • 10. Robotic Applications This is the tool installed on the end of the arm. These can be interchanged for different jobs. End Effector
  • 11. Robotic Applications End Effector • A gripper to pick up objects……
  • 12. Robotic Applications • Spray guns to apply paint…. End Effector
  • 13. Robotic Applications • Magnets to lift metal objects….. End Effector
  • 14. Robotic Applications • Screwdrivers…… End Effector
  • 15. Robotic Applications • Welding guns….. End Effector
  • 16. Robotic Applications • And even water jet tools…… End Effector
  • 17. Robotic Applications Sensors Most robots of today are deaf and blind. Sensors can utilized to provide some feedback to the robot so it can do its job. In relation to the senses of even the simplest living things, robots have a long way to go.
  • 18. Robotic Applications
  • 19. Robotic Applications The sensors sends information, in the form of electronic signals back to the controller. Sensors can give the robot controller information about its surroundings and lets it know the exact position of the arm, or the state of the world around it. Sight, sound, touch, taste, and smell are the kinds of information we get from our world. Robots can be designed and programmed to get specific information that is beyond what our 5 senses can tell us. For instance, a robot sensor might "see" in the dark, detect tiny amounts of invisible radiation or measure movement that is too small or fast for the human eye to see.
  • 20. Robotic Applications Robots are machines which are used in industry to perform a range of tasks. There are two types of robots: • Stationary Robots • Mobile Robots
  • 21. Robotic Applications Stationary Robots These are fixed in one spot to perform their task, eg. a robot arm stationed at the side of a conveyor belt in a factory in order to weld parts onto a car body or a robot arm used to spray paint body parts.
  • 22. Robotic Applications • Sometimes robots need to move from one location to another (e.g. robotic fork lift trucks in an automated warehouse). • These robots require self-contained power sources (e.g. batteries) and additional autonomy (i.e. the ability to make simple decisions based on limited information). Mobile Robots
  • 23. Robotic Applications Mobile Robots • They are often fitted with wheels or tracks and are powered by electric motors to enable them to move about. • A mobile robot might be used for transporting dangerous chemicals inside a chemical plant, or disabling a bomb.
  • 24. Robotic Applications • This is an example of a wheeled robot • It is guided by remote control
  • 25. Robotic Applications • This robot uses tracks
  • 26. Robotic Applications How to Autonomous Robots Find Their Way? • Magnetic Guidance Systems • Light Guidance Systems
  • 27. Robotic Applications A cable is set into the floor which gives off a magnetic field. The robot is fitted with magnetic sensors which can detect a magnetic field and feed the data back to the processor. The processor adjusts the motors controlling the wheels to make sure the robot travels along the path set by the magnetized cable. Magnetic Guidance System
  • 28. Robotic Applications A path for a robot is set by a white line painted on the factory floor. The robot is fitted with a light source which shines light directly onto the white line. Sensors on either side of the light source detect and measure the amount of light being reflected off the floor. Data is then fed to the computer. If the robot strays to the left of the line, the readings on the left sensor fall and the processor then sends control signals to the motor to correct the course of the robot. Light Guidance System
  • 29. Robotic Applications Automated System Robots • They are controlled by software which is processed either by microprocessors fitted to, for example, the mobile robot or by a central computer. • The software programs are written in a high level language known as a control language. This is usually held in ROM. • Storing it in ROM makes it immediately accessible to the processor as well as making it unalterable.
  • 30. Robotic Applications Some control languages allow the user to ‘teach’ a robot how to do a particular task by ‘leading it through’ the series of steps required to complete the task. Programming by ‘leading through’
  • 31. Robotic Applications A programming method in which a robot is placed in "teach mode" while the trainer uses a remote teach pendant to manipulate the robot through the different steps of the job. Also known as lead-through programming. Teach Pendant Programming
  • 32. Robotic Applications Water Jet Components in a Robotic System
  • 33. Robotic Applications Directing the Water
  • 34. Robotic Applications Starting and Stopping the Water
  • 35. Robotic Applications Examples of Water Jet Robotic Applications
  • 36. Robotic Applications Screw Extruder Cleaning
  • 37. Robotic Applications Carrier Cleaning
  • 38. Robotic Applications Fuel System Components
  • 39. Robotic Applications Deflashing
  • 40. Robotic Applications Cutting
  • 41. Robotic Applications Caul Screen Cleaning
  • 42. Robotic Applications Deburring/Parts Washing
  • 43. Robotic Applications Deburring Dry Run
  • 44. Robotic Applications Surface Preparation
  • 45. Robotic Applications Paint Removal
  • 46. Robotic Applications The Future?