Grinding with Universal Robots

Etienne_Samson

A customer wants to do deflashing of casted parts. Has anybody done that with the UR? If so, how?

jgshin

Do they want to use UR for removing the flash of casted parts?
In my case, have experience to use UR for deburring of casted parts.

NicoHanstein

Hi Etienne,
we might have some information for you on this topic in the near future. We already talked to Samuel Bouchard at the Automatica 2016 on how to combine an air spindle with the force torque sensor for a deburring task.

We are a german manufacturer of air motors and air spindles with lots of experience on automated deburring of parts. Just recently we got our UR10 delievered and we are now setting it up in our testing area. We will be documenting our deburring tests on video. So if you are interested I can inform you when we have done our first deburring tests with the UR10.

Etienne_Samson

@NicoHanstein great! Yes please tell me when you are more advanced, you can also ask me if you got any questions on the FT-Sensor use.

NicoHanstein

I was recently informed that our Claus Bay already sent some videos to Samuel Bouchard where a customer implemented our robot spindle with a UR10 for a deburring task. In case you haven't watched them already this might be useful.

Samuel_Bouchard

Hi @NicoHanstein is it possible to share the video directly here with some information on the hardware used?

Samuel_Bouchard

Here are the videos:

https://robotiq.wistia.com/medias/fji46bpm6e

https://robotiq.wistia.com/medias/squjd3h43l

Below is the explanation, thanks to @NicoHanstein:

Detailed technical information on our two spindles used in the videos you can find by following the links below:

Technical Information on ES 170 ER

Technical Information on ESR 350

 

Our explanation is rather long but for a better understanding of the videos it helps a lot:

For the task in the videos we used an ES 170 ER rigid spindle for the rough deburring and an ESR 350 compliance spindle to do the fine deburring of a casted oven part.

The ES 170 ER is running with 15000 rpm has 800 Watt and an air consumption of 960 l/minute.

The ESR 350 is running with 35.000 rpm with an integrated deflection, has 800 Watt and an air consumption of 500 l/minute.

With our spindles we can have a feeding speed up to 20 meters/minute.

The spindles are selected due to the flash size and the burrs to be used. With the

high speed and rotating accuracy of the spindle, you receive a very good surface

quality in the deburring task.

The very sensitive deflection can be adjusted from 6N up to 50 N and offers a broad variety for deburring. The more pressure applied on the deflection unit the more material will be removed.

In case of very big flashes ( > 3mm ) we recommend using a stiff spindle such as ES

170 ER to do the rough deburring before you apply a spindle with deflection. The ES 170 was used with feeding speed 10mm/sec using a “single cut” 12mm in diameter burr. The video shows the spindle running rather slow to take away the first bigger flashes before we have a second run with the ESR 350 with up to 80mm/s with a radial compliance pressure around 2-3 bar.

The ES 170 is our biggest spindle with almost 1000 Watt and 15.000 rpm. For the deburring job in the video, a smaller type such as ES 200 ER with only 400 Watt and 20.000 rpm would be sufficient as well.

However to be safe and since you do not know what the casted parts of the customer look like if the casting mold wears we decided to use the ES 170 ER.

We are sure that the complete process of programming and the installation is very simple and can be improved in time using the software of Robotiq with PATH programming.

Additionally the torque sensor can offer valuable information about the forces applied to the workpiece and the result of deburring. In this video the path of the spindles had to be programmed “by hand” in a conventional way.

The deflection of the spindle ESR 350 surely helps a lot with inaccuracies in programming but with a stiff/rigid spindle without deflection such as ES 170 ER the soft- and hardware of robotiq would have been very helpful ;-)

We also offer turbine spindles for very fine deburring tasks such as ESR 1000, running at 100.000 rpm. Fine deburring tasks can be easily done with this small spindle during CNC machining secondary time where the robot is just waiting for its next handling job. So the customer has an additional value using the robot not only for

handling but also deburring."

I hope this helps you!