Plant for the automatic extraction of pu soles from moulds placed on a rotary table

Robot HP20 Technical Data
 

Programming Pendant

The plant consist of:

- Six axes antropomorphous robot MOTOMAN YASKAWA HP 20.

- Extraction tool, in three different kind of measures, (little, medium and super) applied to the robot wrist a pneumatic drill for the extraction of the soles with

- Tool for ABS insert soles

- A robot control system

- A system for input and outputs control

- A system for dates programming/check and auto diagnosis function which consists of an industrial computer (with operative system Windows XP) with supervision tasks.

- A device to lay down the soles in their proper baskets (optional)

- A system to spread soles evenly in their baskets.

- A system for the automatic identification and storage of moulds (optional).

- All the necessary measures against work accident according to present normative.

All the parts of this plant are easily reachable for maintenance.

The plant can be installed around a rotary table with single mould or double moulds : when the rotary table has carried out a step, the robot draws out automatically the sole in PU from the bottom of mould. If the rotary table with double mould, the robot, owing to its high speed, extracts the two soles with two consecutive extraction cycles (or in only one if it has a double extraction tool) while the cast of a pair moulds occurs.

The programming of a soles extraction point from a mould is very simple: when the operator arranges the new mould in a station of the rotary table, he must digit on the PC the three extraction point coordinates (right, ahead, down in millimetres) refereed to a zero-point; in order to execute this operation, it is not necessary to stop the rotary table.

The robot, on-line, learns in this way the extraction point position of sole from the mould.

The high accuracy of robot trajectory (10^-1 mm at the maximum speed) allows the repeatability of extraction point and a drastic reduction in extracted soles discarding.

The particular configuration of extraction tool gives the possibility of selecting between three couples of hooks; therefore the extraction plant is very flexible, because it is able to extract every kind of soles.

The high robot speed allows to increase the rotary table velocity: it depends only on the material reaction time (creaming time).

The increase in soles production can reach 30%; this performance can be confirmed by customers who have already installed the extraction plant.

Characteristic plant are:

- Six axes robot with wrist load capacity of 20 Kg (with this load the trajectory accuracy is one tenth of millimetre).

- Wide operating area.

- High speed with low cycle time.

- High reliability with low maintenance.

- Absolute position detection system that eliminates the need perform zero return.

- Controller with 32 bit processor.

- Mechanical units are sealed up.

- Capacity to record infinite extraction cycles.

- Possibility of install an industrial computer for:

Ø Automatic moulds auto programming when they are substituted; the moulds are identified with radio frequency trasponder.

Ø Automatic detection of all production dates showed by on-line graphics possibility of connecting to a local network so that the production dates can be checked from the offices.

Ø Possibility of connecting a printer.

Ø Automatic detection of moulds-carrier plane height that automatically drivers the operator in positioning the mould with the proper tilting.

 

TECHNICAL DATA

Manipulator:

Technical Data:

Axis Data:

Axis 

Working range 

 Max Speed

S 

340°

Controller  YASNAC MRC:

Enviroments Condition:

Programming:

Inputs and Outputs:

Power Supply:

Programming Pendant: