6.3.3 Mechatronic robot machine «ROST 300»
Mechatronic robot-the machine is designed for finishing:
the couple (?)
blades of gas and steam turbines, power stations and the mouth of the active,
gas turbine engines, the blades of water turbines, propellers for various
purposes [27].
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The machine circuit is shown in Fig. 6.11. The creation of this mechatronic
machines caused by the necessity of stabilization of the geometric parameters
and surface quality no current, determining the vibration and noise
characteristics turboii delegates, and to automate difficult and hazardous to the
health of human engineering.
The machine has a non-linear layout, the difference being the absence of a
traditional linear guideways. All traffic shaping implemented for mechatronic
modules of the rotational type. Mechatronic modules are built on the basis of
torque motors series TMA by the Swiss company ETEL S. A., which is built
into the design of the machine. The machine is equipped with digital servos
«Indramat DIAX04» and the device of numerical control series PA8000NT
company Power Automation AG. Optoelectronic measuring system allows to
control machined surface of the workpiece with the purpose of binding to the
base surfaces of the machine and set the optimal treatment regimens.
Figure 6.11 – Scheme of the robot-machine «ROST 300»
Technical characteristics of the robot-machine «ROST 300»
Number of simultaneously controlled coordinates.................................................6
Machine weight, кg.............................................................................................2500
The maximum dimensions of the workpiece, mm,.......................150 х 40 х 80
Diameter of the grinding wheel, mm...................................................................80
The accuracy of contouring, mm.....................................................................0,025
Limits of working feeds along the axes, rpm.................................................2000
Speed of fast moving, mm/min.....................................................................24 000
Speed of rotation of a grinding electrospindle, rpm.......................6000-24 000
Along with the obvious advantages, the experience of introducing machines
with parallel and hybrid kinematics into real production has revealed a number
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of topical scientific and technical problems. First of all, they should include the
following issues:
• the complexity of system integration, the need for additional time for
analysis and troubleshooting;
• great laboriousness of maintenance and programming of the machine in
comparison with traditional equipment;
• the complexity and inadequacy of the machine calibration procedure;
• the need for knowledge both in the field of CNC machine tools and indus-
trial robots for training personnel in the programming technique;
• heterogeneity (anisotropy) of the characteristics of the machine in various
areas of the working area, the presence of special configurations.
The effectiveness of solving these problems, set by the practice of production
use, it is necessary to pay special attention to the creation of new generation
machines.
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