ACCUBOT GANTRY NDT SYSTEMS
GANTRY - THE BEST CHOICE FOR YOUR BIGGEST PARTS TO BE INSPECTED
The production of modern Aircraft needs specific manufacturing solutions. With its expertise in machine building, FILL has developed specific kinematic systems supporting the global Aviation Industry in ramping up both Single and Twin Aisle Aircraft.
CFRP components like big Fuselage Panels or Wings can easily exceed 30m | 98ft in Length and 6m | 18ft in Width. FILL is addressing the accessibility of parts like that with our GANTRY-based Systems adding additional linear Axes, to increase the limited Workspace of our NC controlled Robot.
ACCUBOT, the precise motion Platform based on Siemens Sinumerik ONE is the perfect Technology Carrier for all modalities in the field of NDT, METROLOGY & VISION Processes for the Aerospace Industry.
The combination of secondary encoders together with a sophisticated compensation based on a high order kinematic model calculated in real time in the interpolation cycle of the controller leads in an industry leading absolute positioning accuracy of less than 0.3mm | 0.012in (mean).
ACCUBOT GANTRY NDT SYSTEMS
ACCUBOT GANTRY NDT SYSTEMS
ACCUBOT GANTRY NDT SYSTEMS
The concept
Using a state-of-the-art industrial controller is the best base to provide solutions and applications for our customers, satisfying the stringent requirements of the global aviation industry. Having all levels of the cell control in one controller, even several robots, is crucial for minimum loss of cycle time due to handshake and controller / controller communication. FILL STUDIO is used to control and manage any kind of application for the composite manufacturing industry and serves as an assistant for the customer, which generates a report at the end of the process combining all different modalities.
The in House developed Calibration System (FKC – FILL KINEMATIC CALIBRATION) ensures easy to use control of the geometrical integrity of the System. The customer can validate but also recalibrate the kinematics without any limitations and the need of a Fill engineer on site with a Laser Tracker.
Features
- Customizable Kinematic Design with variable strokes of linear Axes
- Combined Immersion & Local Immersion Inspection possible for separated Inspection of Fuselage Skins and Omega Stringers
- Single- and Dual Robot Configuration available
- Huge variety of EOATs (End Of Arm Tools) for various processes available
- Single Controller Architecture based on Industry Standard Siemens Sinumerik ONE controller for minimum interfaces and delay times
- Secondary encoder feedback can be used to improve deterministic behavior and increase stiffness significantly
- Excellent repeatability is the perfect base for parameter identification of the kinematics and real time compensation of geometrical errors
- FKC (FILL KINEMATIC CALIBRATION) Geometrical Accuracy verification & calibration available in two different scenarios
- Laser Tracker based
- Using unique Laser Sensor system which is installed in the cell
Specifications
Kinematics
FILL designs, manufactures and is commissioning all kinematics in House. This unique approach allows us to provide best performance with minimum dependency on the global supply chain.
Servomotors
Equipped with optical absolute encoders, Motors are encapsulated.
Number of NC controlled axes
at least 6, addition axis can be implemented (either on robot base, on the robotic flange (EOAT) or as external positioners)
Controller
SIEMENS Sinumerik ONE // Sinamics S120 drives // multi robot concepts are realized with only one controller
Workspace length (m |ft)
40 | 131 - theoretically unlimited
Workspace width (m |ft)
8 | 26 - depending on exact configuration of the Gantry
Workspace height (m | ft)
3 | 10 - depending on exact configuration of the Gantry
Maximum Process speed (m/s | ft/s)
1.2 | 3.9
Acceleration (m/s² | ft/s²)
1.5 | 4.9
Mean Absolute Positioning Accuracy (mm | in)
0.3 / 0.012
Maximum PRF (PE/TTU Scanning) (kHz)
4 - leading in 0.5mm | 0.02in Trigger Distance with max. speed. System throughput (example, depends on final configuration of setup)
> 8m²/hr | 86ft²/hr in Squirter Through Transmission (TTU) Technology
> 40m²/hr | 430ft²/hr in Phased Array Pulse Echo (PA/PE) Technology
Unique Process Speed and Flexibility
Technical specifications subject to change