For this handling application, Ellison Technologies has selected a FANUC M-2000iA/1200 robot to transfer large weldments. This robot was chosen because of its extremely high payload -- The M-2000iA/1200 robot can handle up to 1,350 kilograms, or about 3,000 pounds. The weldments seen in this application weigh less than half of the robot's payload at 1,300 pounds. This robot's end of arm gripper makes up the remaining payload and is designed to pick and place four different types of weldments.
The weldments are placed on an inbound conveyer and indexed to the robot. The robot is able to locate the weldment on the inbound conveyer using FANUC 3DL iRVision. The robot picks the weldment and uses FANUC 2D iRVision to locate the weldment in its gripper. By finding the locating bushing on the weldment, the robot can offset the taught path to the actual weld fixture load position.
The M-2000iA then places the weldment into the welding fixture. Once the weldment is in the fixture three robots complete the final weld. When the weldments are being welded or anytime the flash curtains are in the up position, the robot enables FANUC Dual Check Safety or DCS. DCS is position monitoring software that allows for safe entry into one weld cell while another weld cell and the M-2000iA are still running production. DCS also ensures that the M-2000iA and weldments in the robot's gripper will not enter a weld cell while the curtain is in the up position.
Once the welding is complete, the M-2000iA returns to the weld fixture to unload the weldment. The weldment is then placed on an outbound conveyer and indexed out of the system.
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