Dynamic Machines Podcast

TX86- Hydraulic Mobile Platform for heavy industrial Robots applicable in air and space, packaging, automotive and etc indistries.

During my Carrier, I have faced similar situations that the founder and CEO of Small factories or manufacturing sites were so intrested to use Industrial Robots for their Production, however du to the high cost of purchase and maintance they had to change their mind and follow the traditional solutions- Which i like to call them wrong solutions. Sometimes they could efford to pay for one industrial Robots such as ABB or KUKA manipulators, But since they had several production line and the Manipulator was fixed on the Ground for a limited space, only a part of their production was robotized and the rest was working with low efficiency. As an example, I had to design a factory lay-out for for end of the line palletizing robotic solution in Iran. The factory produced bottles of Juice and the bottles needed to get palletized on the pallet at the end of the line. They had 2 conveying line which was coming out of the Filling machinery (mainly Tetrapak or SIG) and there were workers that had to palletize the packages manually on the pallete. This Job is frustrating! Imaging how hard they had to struggle to keep the pace to the production rate. However the Solution of the robotized palletizing was so expensive for the manger and decided to automatize only one line! There were also Space restriction in the factory that the other line could not be shifted or merged to the Robotized palletizing Line. At that time i was thinking what if the robot could move on a platform and shift itself to the second or third line of the Production. This could minimized the Amount of investing on the Equipment and also keep the Efficienvy high as possible. Although they had to consider extra shift time for this solution.

During the Last year, I started to design a chargable Hydraulic Mobile Platform that can carry a weight up to one Ton and is equiped with Tesla battery packages and moves with 12 HP with Ominidirectional Wheels and can move it to the destonation with a speed of max 30 cm pers Second. The Platform uses four Inductive 3 phases Motors with a 30 rate mechanical Reduction gearbox.

The platform is equiped with tesla packaging battreirs with two general space for mounting the moudules, one in the Back side and the other on the Front side. Each cell consists of 20 Tesla battery Module with 5.3 kwh (230Ah) power and in series order. In general Each Cell has a power of 106 Kwh. Its an option to use the both General battery space which can double storing the power to 212 Kwh in Total. Its more than Enough for such a platform that rarely moves, however i was thinking to provide this power for cordless application in a way that the Platform can itself power up the Robot and the sourending Conveyers for a specific time. In fact The platform is equiped with a 15Kw IGBT that can convert the DC to AC and vise versa (192 VDC to 220 VAC) with 50 Herz and can be used for both charging the Platform or using it as the converter for the power line. However The weight of the Battery pack makes the platform very Heavy and its wise to reduced the amount of battery pack just to the need of the application!

The platform is using a hydraulic power pack from Parker with a 3Hp motor and up to 200 Bar pressure is enough to lift up the Platform. The Vpack Series includes a reservoir and related valve and motor Component to be used as the main hydraulic power pack for this mobile Platform. It has also optional valve to use other hydraulic tool mountable to the Robotic manipulator or Other required application. The platform also is equiped with four Hydraulic Cylinder from Bosch/Rexroth with 20 cm Strock length. The hydraulic Drawing plus the list of Hydraulic Components are also Available.

The PLatform is also equiped with an Electrical Enclosure Fully Eqiped with PLC and contactors, Safety Switches, Soft starters, External Motor Inverters and Lots of Wring Terminals for a proper Programming of The PLatform and also Master- slaving to the Robot itself and the External Axis or Conveying Systems. The Drawing of the Electrical Componets plus the list of Componet are ALso Avialable. If needed I can Program the PLC for Specific Task . Currently i am writing the Code for the main Power-train Inductive Motors control mode Via S7-1200 Siemes PLC.

The platform is equiped at the moment with ABB 6640 which is an ideal Manipulator for heavy machining or Welding Operation with long Reachability options. The Platform is equiped with IRBT60004 ABB rail to give extra motion of Freedom when the platfom is stationary. This helps for accurate Driling, welding and machining operability when the Platform is stationary.

In the Next Episodes, I would Simulate the Robot for Different Application including Welding, Palletizing, Drilling and etc in Robotstudio Software from ABB to present Its ability. Please stay Tuned!

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Nima Rashvand