ACCUBOT NDT SYSTEMS
Probably the most precise robot for aerospace manufacturing
Various applications in the composite manufacturing industry are requiring precise and rigid kinematics to guide the corresponding End of Arm Tool (EOAT) along curved edges and spherical surfaces. As standard industrial robots are not designed based on this prerequisite, FILL has developed the ACCUBOT. Based on the powerful path planning capabilities of the SIEMENS Sinumerik 840D sl controller, the mechanics from STÄUBLI has been extended with direct measuring systems on the robotic joints to get rid of backlash and other negative impacts caused by the gear.
Applying Secondary Encoders is the key to generate a deterministic behaviour of the serial kinematics, minimize the repeatability error and thus enhancing the quality of the absolute calibration which is applied subsequently.
The combination of this 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 0,15mm (mean). The ACCUBOT is consequently the perfect base for any kind of path- or surface-based CAD/CAM processes in the aerospace manufacturing industry.
ACCUBOT NDT SYSTEMS
ACCUBOT NDT SYSTEMS
ACCUBOT DUAL ROBOT
ACCUBOT NDT SYSTEMS
X-RAY-DRS
ACCUBOT
ACCUBOT DRS UT INSPECTION TTU
ULTRASONIC INSPECTION
Detail ULTRASONIC INSPECTION
Detail ULTRASONIC INSPECTION
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 level 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.
Features
- Single Controller Architecture for minimum interfaces and delay times
- Secondary encoders are used to improve deterministic behaviour and increase the stiffness significantly
- Excellent repeatability is the perfect base for parameter identification of the kinematics and real time compensation of geometrical errors
- Geometrical Accuracy verification & calibration available in two different scenarios
- Laser Tracker based
- Using unique Laser Sensor system which is installed in the cell
- Special waterproof and precise design for workspace extension by linear rail is used, based on a dual motor drive with electrically torque clamped servo drives for highest repeatability
Specifications
Kinematics
STÄUBLI based on the model TX200 (L)
Servomotors
Equipped with optical absolute encoders, Motors are encapsulated
Number of NC controlled axes
at least 6, to be upgraded if required
Controller
SIEMENS Sinumerik 840D sl // Sinamics S120 drives // dual robot layout is realized with only one controller
FILL is pilot customer of Siemens introducing Sinumerik ONE - available on request
Workspace length
theoretically unlimited – defined by the length of the linear axis
Workspace width (mm)
depending on the EOAT (for Dual Robot NDT Systems typically 2,000)
Workspace height (mm)
depending on the EOAT (for Dual Robot NDT Systems typically 4,000)
Maximum Process speed (m/s)
2.0
Acceleration (m/s²)
1.5
Mean Absolute Positioning Accuracy (mm)
0.15
PRF (PE/TTU Scanning) (kHz)
up to 4
Unique Process Speed and Flexibility
NDT & Metrology
Ultrasonic Inspection (PA/PE, TTU)
Conventional Air Coupled UT
LEANDT Inspection (Novel, unbeatable dry inspection powered by XARION)
X-RAY Inspection (with upgrades to CT & laminography)
Metrology.Measuring – Contactless Geometrical Inspection
Metrology.Referencing - Determine the position of a specimen inside the inspection area automatically
Metrology.Validation – Automatic Part Type Detection
Metrology.Reconstruction – Reconstruct unknown geometries
Drilling, Countersinking
Trimming, Milling
Additive Manufacturing
FLEXCHANGE Tool changer & storage for fully automated EOAT exchange
External axes available
Precise and waterproof linear axis
Turntables
Active Tool (typically used for TTU inspection of complex curved CFRP parts)
Mobile robotic solution available based on ACCUROVER concept
Single- or dual robot layout with Real Time TCP coupling
Periodical Accuracy verification and calibration possible
Accuracy verification without laser tracker available
Technical specifications subject to change
Components
Contact request
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