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40TH INTERNATIONAL SYMPOSIUM ON ROBOTICS. BARCELONA MARCH 10-13 2009

40TH INTERNATIONAL SYMPOSIUM ON ROBOTICS. BARCELONA MARCH 10-13 2009. INNOVATIONS FOR AUTOMATIC FINISHING PROCESS OF COMPOSITE PARTS.

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40TH INTERNATIONAL SYMPOSIUM ON ROBOTICS. BARCELONA MARCH 10-13 2009

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  1. 40TH INTERNATIONAL SYMPOSIUM ON ROBOTICS. BARCELONA MARCH 10-13 2009

  2. INNOVATIONS FOR AUTOMATIC FINISHING PROCESS OF COMPOSITE PARTS

  3. EINA is a company located in Navarra (Spain) focused on the application of the latest technologies in order to offer the most competitive solution to our customer. R&D is the most significant characteristic of EINA. EINA has been pioneer in the development of many robotized applications for the automobile industry such as waterjet, laser cutting, ultrasonic cutting, ultrasonic welding,… EINA is diversifying its presence and moving to aeronautic and wind power sector where there are many operation to automate and our high capability in Engineering involves a competitive advantage against our competitors. 1.PRESENTATION OF EINA. 1. PRESENTATION OF EINA 2. AERONAUTICS AND WIND POWER 3. EINA SOLUTIONS 4. OFFLINE TRACKING TOOL 5. CONCLUSIONS:

  4. 2.INDUSTRIES WHERE EINA OFFER ITS SOLUTIONS: • EINA has chosen the field of composite materials because of its increasing importance based on 2 principal reasons: • - Increasing application of composite materials in air structures. • - Increasing growth worldwide of wind power industry which demands nacelles and blades made of composite materials. 1. PRESENTATION OF EINA 2. AERONAUTICS AND WIND POWER 3. OFFLINE TRACKING TOOL 4. CONCLUSIONS: • -The main handicaps that EINA has faced to automate operations in aeronautic and wind power sectors are: • - High dimension parts. • - Marked dimensional deviations. • - Difficulties for fixing the parts in a repeatable position, that increments the problem of dimensional deviation. - Refuse programming in the traditional way and develop a new concept of software which the part transmits the information about to its geometry to the robot to operate according to this geometry.

  5. 3. DEVELOPMENTS FOR POLISHING OPERATIONS: OFFLINE TRACKING TOOL FOR POLISHING OPERATIONS ASSEMBLED ON A ROBOT 1. PRESENTATION OF EINA 2. AERONAUTICS AND WIND POWER 3. OFFLINE TRACKING TOOL 4. CONCLUSIONS:

  6. 3. DEVELOPMENTS FOR POLISHING OPERATIONS: OFFLINE TRACKING TOOL. • The FUNCTIONS of the offline tracking tool: • Support the 4 polishers which cover a total area of 0.5 m2. • Transmit information to the robot about the real geometry of the part to polish. • The offline tracking tool OBTAINS THE INFORMATION of the geometry of the part by 2 different ways: • Laser measuring sensors. Deviation of plane of the surface. • Pressure sensors. Distance from robot to surface. 1. PRESENTATION OF EINA 2. AERONAUTICS AND WIND POWER 3. OFFLINE TRACKING TOOL 4. CONCLUSIONS:

  7. 3. DEVELOPMENTS FOR POLISHING OPERATIONS: OFFLINE TRACKING TOOL The SOFTWARE of the robot only requires the main dimensions of the part and the paths that has to make in order to cover the whole part. 1. PRESENTATION OF EINA 2. AERONAUTICS AND WIND POWER 3. OFFLINE TRACKING TOOL 4. CONCLUSIONS: Let's say that the robot only needs a 2D geometry and the offline tracking tool detects the specific 3D geometry of each part.

  8. 3. DEVELOPMENTS FOR POLISHING OPERATIONS: OFFLINE TRACKING TOOL The mechanical flexibility of the offline tracking tool permits the ADAPTATION of the polishers to the surface. 1. PRESENTATION OF EINA 2. AERONAUTICS AND WIND POWER 3. OFFLINE TRACKING TOOL 4. CONCLUSIONS: POLISHERS INTERNAL JOINTS The position that takes the polishers is detected by the laser sensor and the pressure sensor and according to this position the robot modifies its movement until achieving a parallel position with the surface to polish.

  9. ±2.5º POLISHING SURFACE 3. DEVELOPMENTS FOR POLISHING OPERATIONS: OFFLINE TRACKING TOOL • The mechanical limitation for the misalignment of the tool is +/- 15º. • Trials have shown that the robot receive feedback from the sensors before a misalignment of +/- 2.5º 1. PRESENTATION OF EINA 2. AERONAUTICS AND WIND POWER 3. OFFLINE TRACKING TOOL 4. CONCLUSIONS:

  10. 3. DEVELOPMENTS FOR POLISHING OPERATIONS: OFFLINE TRACKING TOOL • The tracking tool receives different level of pressure as reaction of changes of the slope of the surface. This efforts are detected and measured by the pressure sensor. • A gradient of 6 DaN are absorbed by the 30 mm of length of the pressure transducer. • The variation of pressure is translated into distance by a internal mechanism of the offline tracking tool 1. PRESENTATION OF EINA 2. AERONAUTICS AND WIND POWER 3. OFFLINE TRACKING TOOL 4. CONCLUSIONS:

  11. 3. DEVELOPMENTS FOR POLISHING OPERATIONS: OFFLINE TRACKING TOOL 1. PRESENTATION OF EINA 2. AERONAUTICS AND WIND POWER 3. OFFLINE TRACKING TOOL 4. CONCLUSIONS: • The mix of LASER MEASUREMENT SENSORS AND PRESSURE TRANSDUCER: • assure the proper adaptation and the continuous contact of the tool to the surface, • absorbs dimensional deviations of the surface, • Getting self regulating of the robot in a extremely short period of time.

  12. 2.CONCLUSION: • EINA can offer many interesting solutions such us polishing, grinding, thermography, gluing, aplication of sealants,… whose automation involves: 1. PRESENTATION OF EINA 2. AERONAUTICS AND WIND POWER 3. OFFLINE TRACKING TOOL 4. CONCLUSIONS: • - Lead time reduction. • - Man power reduction and labor cost reduction. • - Improvement and homogenization of quality. • Deep knowledge of the process: • - Control and monitoring of main parameters. • - Obtaining of high value information of the parts and processes such us real 3D map of the geometry of the parts for quality control. IMPROVEMENT OF THE COMPETITIVENESS OF THE COMPANY

  13. THANK YOU FOR YOUR ATTENTION

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