Robot Milling Machines

'small milling machines'

Starting point / Task definition

Due to increased production output, TRUMPF Maschinen Austria decided to use a horizontal machining center to manufacture the frame and the press beam of press brakes and replace the existing milling machine (small milling machines). At the same time, it was decided to use a robotic cell to take over the work previously carried out by a conventional tool changer. The company’s primary requirements for the robot were repeatability and process reliability.

Implementation / Solution

A KUKA KR 125 L100 robot is responsible for the handling tasks in the fully-automatic robotic cell. This robot, with a load-bearing capacity of 100 kilograms and a reach of nearly three meters, including its arm extension, places from 150 to 200 cutters in the milling spindles of the machining center each day. In each cycle, it also takes the cutter previously used out of the spindle in question. Furthermore, it “manages” about 200 different milling (small milling machines) and boring cutters in the cell’s rack. The cutters are up to 700 millimeters long, and weigh up to 25 kilograms. Their maximum diameter is 400 millimeters.

Before the cutters are transferred to the robotic cell, they are measured by an operator. The values are saved on a data chip attached to the cutter’s locating element. The operator then reads the cutter’s code into the database of the horizontal machining center. After this, he places the cutter in the loading chamber of the cell, whose rotating changing table can hold up to eight cutters. The robot recognizes which storage location is specified for the cutter based on the code. It then picks up the cutter and puts it in its place in the rack.

Whenever the machining center requires a different cutter, its controller sends the appropriate request to the robot controller. The KR 125 L100 then retrieves the cutter from the rack using its double gripper, and moves to a wait position. Once the safety door separating the robot from the machine (small milling machines) has opened, the robot places the cutter in one of the milling spindles. In total, the system requires three different spindles, which vary with regard to their design and dimensions. The robot therefore has to exchange them using different methods. It inserts cutters into one of the spindles vertically upwards from below, and into the other two horizontally. If a cutter is damaged, the robot segregates it directly onto the changing table of the loading chamber.

Original source :
http://www.kuka-robotics.com/en/solutions/solutions_search/L_R264_Exchanging_Milling_Cutters.htm