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

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(End Effectors)
(Robotic Processes)
 
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  [[:File: Small_Pneumatic_Gripper.jpg]]
 
  [[:File: Small_Pneumatic_Gripper.jpg]]
 
*'''Vacuum gripper'''
 
*'''Vacuum gripper'''
 +
COVAL Suction Cups + Strong Vacuum
 +
 +
Reference Project: https://www.youtube.com/watch?v=qibg02BErj8
 
  [[:File: Vacuum_Gripper.jpg]]
 
  [[:File: Vacuum_Gripper.jpg]]
 
*'''Small Vacuum gripper'''
 
*'''Small Vacuum gripper'''
 
  [[:File: Small_Vacuum_Gripper.jpg]]
 
  [[:File: Small_Vacuum_Gripper.jpg]]
 +
Reference Project: https://www.youtube.com/watch?v=umDp-AHn3uQ&feature=youtu.be
 +
*'''Mini Spindle (External)'''
 +
500W
  
- Spindle (500 W)
+
Reference Project: https://www.youtube.com/watch?v=qibg02BErj8
 +
[[:File: Mini_Spindle.JPG]]
 +
*'''External Driller'''
 +
Hand Tool Installed on a Custom-made Stationary Position
  
- Auger screw clay extruder with external feeder (Nozzle : 2mm / 4mm / 6mm /8mm
+
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
  
- Extruder 600 ml (Dispenser catridge + piston
+
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
  
==Robotic Processes==
+
Capacity: 1 liter
List of processes already tested with the ABB at IAAC (by order of feasibility and accessibility) :
+
-
+
-
+
-
+
-
+
  
 +
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 :  
 
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==

Latest revision as of 15:12, 14 October 2019

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