Difference between revisions of "ABB IRB 140 - 6 Axes Robot"

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(Created page with "Category:Machines ABB IRB 140 6 Axes Robot ==Technical specifications== *'''Model''': ABB: IRB 140 *'''Number of axes''': 6 *'''Maximum rea...")
 
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[[Category:Machines]]
 
[[Category:Machines]]
  
−
[[File:ABB140.jpg| thumb |ABB IRB 140 6 Axes Robot]]
+
[[File:ABB140.jpg| thumb |ABB IRB 140 (6 Axes Robot)]]
  
 
==Technical specifications==
 
==Technical specifications==
  
  
−
*'''Model''': ABB: IRB 140
+
*'''Model''': ABB IRB140 (IRC5)
 
*'''Number of axes''': 6
 
*'''Number of axes''': 6
−
*'''Maximum reach''':  
+
*'''Maximum reach''': 810 mm
 +
*'''Payload''' : 6 kilograms
  
 
==Health & Safety==
 
==Health & Safety==
Line 14: Line 15:
 
==Machine Workflow==
 
==Machine Workflow==
  
−
=='''Turn on the machine'''==
+
- Turn on the switch on the controller
−
*Turn on the air compressor (if working with gripper or spindle)
+
 
−
-
+
- Check if the robot is in manual mode
−
-
+
 
−
-
+
- Aknowledge any errors seen on the flexpendant
 +
 
 +
- Export your file in .PRG format and copy it in a USB
 +
 
 +
- Plug in the USB in the port on the flexpendant
 +
 
 +
- FInd the USB folder and change it to old format (.PRG)
 +
 
 +
- Press the Guard stop and press the play button to initiate the file
  
 
==End Effectors==
 
==End Effectors==
  
−
*'''Hotwire Cutter'''
+
*'''Small Pnuematic Gripper'''
 +
[[:File: Small_Pneumatic_Gripper.jpg]]
 +
*'''Vacuum gripper'''
 +
COVAL Suction Cups + Strong Vacuum
  
−
*'''Extruder (Small)'''
+
Reference Project: https://www.youtube.com/watch?v=qibg02BErj8
 +
[[:File: Vacuum_Gripper.jpg]]
 +
*'''Small Vacuum gripper'''
 +
[[:File: Small_Vacuum_Gripper.jpg]]
 +
Reference Project: https://www.youtube.com/watch?v=umDp-AHn3uQ&feature=youtu.be
 +
*'''Mini Spindle (External)'''
 +
500W
  
 +
Reference Project: https://www.youtube.com/watch?v=qibg02BErj8
 +
[[:File: Mini_Spindle.JPG]]
 +
*'''External Driller'''
 +
Hand Tool Installed on a Custom-made Stationary Position
  
−
Capacity :  
+
Reference Project: https://iaac.net/project/fusta-robotica-otf-2015/
 +
[[:File: External_Driller.jpg]]
 +
*'''Circular Saw N2 (External)'''
 +
Hand Tool Installed on a Custom-made Stationary Position
  
−
Nozzle sizes :  
+
Reference Project: https://www.youtube.com/watch?v=wzc0L7O3mSs&feature=youtu.be
 +
[[:File: CIRCULAR_SAW.jpg]]
 +
*'''Extruder (Small)'''
 +
Custom-made Pneumatic Extruder for Viscous Material
  
 +
Capacity: 1 liter
  
−
Capacity :
+
Nozzle sizes : 2mm / 4mm / 6mm / 8mm
  
−
Nozzle size :  
+
[[:File: Small_Extruder.jpg]]
 +
*'''Measure Pin'''
 +
[[:File: MeasurePin.jpg]]
 +
*'''Camera Holder'''
 +
Reference Project: https://vimeo.com/showcase/3361210/video/91072422
  
 
==Robotic Processes==
 
==Robotic Processes==
−
List of processes already tested with the ABB at IAAC (by order of feasibility and accessibility) :
+
*Pen Writing
−
-
+
*Pick & Place
−
-
+
*3D Scan
−
-
+
*Spraying
−
-
+
*Reverse Milling (to be combined with Pick&Place application)
−
 
+
*3D printing (plastic, clay, hydrogel...)
  
  
 
List of video of IAAC projects using a robot :  
 
List of video of IAAC projects using a robot :  
  
 +
https://vimeo.com/album/3361210
 +
 +
http://www.iaacblog.com/programs/courses/mrac/2018-2019-mrac/
  
 
==Maintenance==
 
==Maintenance==
 
==Downloads==
 
==Downloads==
 +
 +
Manual:
  
 
https://search-ext.abb.com/library/Download.aspx?DocumentID=3HAC041346-001&LanguageCode=en&DocumentPartId=&Action=Launch
 
https://search-ext.abb.com/library/Download.aspx?DocumentID=3HAC041346-001&LanguageCode=en&DocumentPartId=&Action=Launch
 +
 +
ABB OPERATIONS
 +
https://drive.google.com/file/d/1cLadHptIWTnSoQkWln9g5cCxD6gc6kNH/view?usp=share_link
 +
 +
TCP Calibration
 +
https://drive.google.com/file/d/196kO1AxNpu0TbMAIdhFcR8AHWfLMZXfV/view?usp=share_link

Latest revision as of 21:38, 18 January 2023

ABB IRB 140 (6 Axes Robot)

Technical specifications

  • Model: ABB IRB140 (IRC5)
  • Number of axes: 6
  • Maximum reach: 810 mm
  • Payload : 6 kilograms

Health & Safety

Machine Workflow

- Turn on the switch on the controller

- Check if the robot is in manual mode

- Aknowledge any errors seen on the flexpendant

- Export your file in .PRG format and copy it in a USB

- Plug in the USB in the port on the flexpendant

- FInd the USB folder and change it to old format (.PRG)

- Press the Guard stop and press the play button to initiate the file

End Effectors

  • Small Pnuematic Gripper 
File: Small_Pneumatic_Gripper.jpg
  • Vacuum gripper

COVAL Suction Cups + Strong Vacuum

Reference Project: https://www.youtube.com/watch?v=qibg02BErj8 

File: Vacuum_Gripper.jpg
  • Small Vacuum gripper 
File: Small_Vacuum_Gripper.jpg

Reference Project: https://www.youtube.com/watch?v=umDp-AHn3uQ&feature=youtu.be

  • Mini Spindle (External)

500W

Reference Project: https://www.youtube.com/watch?v=qibg02BErj8 

File: Mini_Spindle.JPG
  • External Driller

Hand Tool Installed on a Custom-made Stationary Position

Reference Project: https://iaac.net/project/fusta-robotica-otf-2015/ 

File: External_Driller.jpg
  • Circular Saw N2 (External)

Hand Tool Installed on a Custom-made Stationary Position

Reference Project: https://www.youtube.com/watch?v=wzc0L7O3mSs&feature=youtu.be 

File: CIRCULAR_SAW.jpg
  • Extruder (Small)

Custom-made Pneumatic Extruder for Viscous Material

Capacity: 1 liter

Nozzle sizes : 2mm / 4mm / 6mm / 8mm 

File: Small_Extruder.jpg
  • Measure Pin 
File: MeasurePin.jpg
  • Camera Holder

Reference Project: https://vimeo.com/showcase/3361210/video/91072422

Robotic Processes

  • Pen Writing
  • Pick & Place
  • 3D Scan
  • Spraying
  • Reverse Milling (to be combined with Pick&Place application)
  • 3D printing (plastic, clay, hydrogel...)


List of video of IAAC projects using a robot :

https://vimeo.com/album/3361210

http://www.iaacblog.com/programs/courses/mrac/2018-2019-mrac/

Maintenance

Downloads

Manual:

https://search-ext.abb.com/library/Download.aspx?DocumentID=3HAC041346-001&LanguageCode=en&DocumentPartId=&Action=Launch

ABB OPERATIONS https://drive.google.com/file/d/1cLadHptIWTnSoQkWln9g5cCxD6gc6kNH/view?usp=share_link

TCP Calibration https://drive.google.com/file/d/196kO1AxNpu0TbMAIdhFcR8AHWfLMZXfV/view?usp=share_link

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