Armroid sample

Next-Generation Robot System

Robots for Tomorrow,

5

ARMROID advantages for innovative manufacturing

Point

1

Easier to use

Expertise in robotics, or robot system integrators—not required Since machine and robot are controlled by one operation panel, they can be easily handled with similar operations.

By just following the guidance system for motion settings, the robot automatically generates the optimal movement path.

1

Point

2

Higher functionality

Letting robots do the robotic human tasks Part loading/unloading comes naturally for the robot, and it takes over the in-machine cleaning jobs as well. Moreover, providing in-process robotic support became possible—to let production continue without human interference.

ARMROID was born from a perfect union of machine tool and robotic engineering. This next-generation robot system can fundamentally change the various issues facing manufacturing. By doing the work that was previously done by human hands, the robot will perform every job imaginable, increase productivity overall, and deliver on its promise to be the key player in tomorrow's production systems.

That automation will enable humans to perform higher value-added activities, and focus on future challenges.

This is what Okuma is proposing.

Humans for Future Generations.

Point

3

More flexibility

Human and robot work sharing With the built-in robot and a mobile stocker, the human and robot can work with the machine and share their tasks. A variety of production applications can be configured.

Point

4

Smaller footprint

Additional robot floor space not required ARMROID's robot arm is built-in, so only the workpiece stocker requires space. Valuable shop floor space can be used effectively, in addition to being easy to relocate.

Point

5

Lower costs

Conventional installation space

ARMROID + stocker footprint

Lower investment and running costs and higher ROI Because system integrators are not required, deployment costs and time are reduced drastically. Setup changes can also be handled in-house, meaning less downtime and lower costs.

Normal robot deployment costs

ARMROID setup cost

2

Okuma built-in robots bring more Being simple The ROID Navi was developed specifically for machine tool operators, eliminating the need for complex robot programming.

Easy machine tool or robot operation by any operator Okuma's intelligent machine tool CNC enables real time gesture control of both the robot and machine tool.

Machine operation

Ease of use With the machine's pulse handle, robot operations can be performed easily with almost surgical precision.

Robot operation

Pre-op 3D simulation to confirm robot collision avoidance.

ROID Navi EZ Operating Tool The robot's motion program automatically generates an optimal motion path that does not collide, simply by displaying the input start and end points and the parameters according to guidance prompts. Even beginners in robotics can learn the ropes to operate from day one.

3

breakthrough innovations A multifaceted technician Letting robots consistently perform better than skilled machinists on routine, repetitive tasks.

Achieve high-level processing support possible only with built-in robots Providing in-process support in the machining chamber that is impossible with conventional robots.

Part load/unload For shaft and flange workpiece Portable workpiece mass: 5/10 kg

Chatter suppression Workpiece support rollers suppress chatter during turning.

Chip removal Eliminating chip entanglement by mixed blasts

In-machine cleaning Preventing chip accumulation in the machining chamber

Changing the way we work Operators work in the day and the robots work at night. Striving for zero overtime, and the coexistence of humans and robots.

Improving production efficiency through human and robot work sharing Easily switch from a single machine to a robot automated cell simply by adding a mobile workpiece stocker. ● For example, the robot can be on standby during the day while the operator handles small batches of part load/unload and other flexible jobs, and then automatic operations done by the robot can be done at night. ●

The workpiece stocker is positioned to the machine by pins, which can be removed to easily move the stocker.

When used as a single machine, the robot stays in the standby compartment adjacent to the machining chamber.

4

Various configurations available ARMROID’s lineup of applications

MULTUS B300II ARMROID [Multitasking Machine + Built-in Robot]

LB3000 EX II ARMROID [CNC Lathe + Built-in Robot]

MULTUS B250II ARMROID [Multitasking Machine + Built-in Robot]

5

to meet production needs End effectors

2-finger parallel gripper

3-finger gripper

End effector stocker

Shaft part loading.

Flange part loading.

Three end effectors can be stored and changed automatically.

An arrangement without storing end effectors is also available.

Workpiece support rollers Workpiece support during machining, also suppresses chatter.

Mixed blasting nozzles Coolant and air blasts remove chips and clean the machining chamber while cutting.

Photos show end effector stocker for the MULTUS B300II.

Workpiece stockers

▲

▲ 4-shelf rail 2-shelf chute

•

Simple Chutes (2-shelf)

•

General-purpose rail (2-/4-shelf)

•

Pitch feed part conveyor (18 stations)

•

Stackable parts elevating worktable (6/10 stations)

For shaft workpiece applications

Shaft workpiece applications

Flange workpiece applications

Workpieces are positioned by their own weight in a rack (sloped rails or trays). Racks are available for blanks and finished parts, and are mainly used for simple shaft shapes.

V-shaped parts catchers are moved in a conveyor-type pitch feed mechanism. There are 18 parts catchers, and there is no contact between parts to avoid dents or scratches. Irregularly shaped shafts are also easy to handle.

Workpieces can be stacked on elevator lift plates. There are 6 or 10 stations on the worktable, and the lift plates operate in two locations for blanks and finished parts. A large number of workpieces can be stacked, to save space.

6

AVL: Available, NA: Not available Opp spdl: Opposing spindle

■ Specifications LB3000 EX II ARMROID

Machine Model

Machine Specification

ARMROID Type

MULTUS B250II ARMROID

MULTUS B300II ARMROID

Turning/Multitasking DBC: 900 DBC: 750 DBC: 500 Spindle: Std / Big-Bore / Spindle: Standard / Big-Bore / Standard high power Spindle: Std / Std high power Std high power Tailstock: AVL / NA / Sub-spindle Tailstock: AVL / NA / Opp spdl Tailstock: AVL / NA / Opp spdl Y-axis control: AVL / NA A101

A201

Standard Specifications ROID Navi

EZ Operating Tool

End effector Max carrying load

2-finger parallel gripper (shafts)

2-finger parallel gripper (shafts)

5 kg

10 kg

Air panel for ARMROID Through-robot coolant (including filter)

Robot in-machine wash coolant Pump motor output (50/60 Hz)

0.75/0.55 kW

1.1/0.75 kW

Auto front door open/close Portable pulse handle with enable switch Thermo Active Stabilizer–Construction Collision Avoidance System Door interlock

ISO 10218, CE compliant

Auto chuck open/close Workpiece stocker preps Optional Specifications 3-station

End effector stocker

End effector

Gripper Portable workpiece mass

None (manual-change or fixed no-change types) available Long stroke 2-finger parallel gripper (shafts)

Long stroke 2-finger parallel gripper (shafts)

5 kg

10 kg 3-finger gripper (flanges)

−

10 kg Mixed blasting nozzles

Machining support

Workpiece support rollers 2-shelf simple chute

Workpiece

Shaft applications

stocker Flange applications

2-shelf general-purpose rail 4-shelf general-purpose rail*1

−

−

Pitch feed part conveyor: 18 stations

−

Stackable parts elevating worktable: 6 stations −

Stackable parts elevating worktable: 10 stations

Chuck air blower (blast) Tailstock air blower Coolant sensor Door open/close, tailstock advance speed change

Lower limit detection For hydraulic quill tailstocks

*1. For LB3000 EX II ARMROID; available when the parallel gripper is 5 kg and it is not a long stroke type.

7

−

■ ARMROID Robot Specifications LB3000 EX II ARMROID

Machine Model ARMROID Type

MULTUS B250II ARMROID

MULTUS B300II ARMROID

A201

A101

Control axis

4 axes (J1, J2, J3, J4)

Maximum payload *1 (workpiece + end effector mass) Maximum working range (End effector connector center)

10 kg

20 kg

572 mm (22.52 in)

669 mm (26.34 in)

Repeatability

±0.05 mm 350˚ [−100˚ to +250˚]

J1 Maximum working range

J2

200˚ [−121.8˚ to +78.2˚ ]

J3

285˚ [−120˚ to +165˚]

350˚ [−130˚ to +220˚ ] 200˚ [−114.9˚ to +85.1˚ ] 325˚ [−165˚ to +160˚]

J4

380˚ [±190˚ ]

J1

92 deg/s (15.3 min-1)

J2

Maximum operating speed *2

J3

238 deg/s (39.6 min-1)

149 deg/s (24.8 min-1)

J4 Arm mass *3

48 kg

53 kg

Drive system

Electric servo drive by AC servomotor

Ingress Protection rating

IP67 equivalent

*1. Affected by the workpiece gripping and center of gravity positions. *2. Maximum axis feed rates can not be reached in short distances. *3. Arm 1 to arm 4 mass values (base not included)

■ End Effector Specifications Long stroke 2-finger parallel gripper

2-finger parallel gripper

Gripper

A101

ARMROID Type

A201

A101

3-finger gripper

A201

A201

Shaft

Workpiece shape

Flange

Portable workpiece mass

kg

5

10

5

10

10

Clamping force

N

550

1,200

800

1,400

1,900

1 side effective stroke

mm (in)

9 (0.35)

12 (0.47)

22 (0.87)

32 (1.26)

Part gripping dia *1

mm (in)

4-shelf general-purpose rail mm (in) Gripper width

ø20 to ø80 (ø0.79 to ø3.15)

9 (0.35) ø30 to ø150 (ø1.18 to ø5.91)

−

ø20 to ø50 (ø0.79 to ø1.97) 30 (1.18)

mm (in)

19 (0.75)

Note 1. Because the robot movement range may be limited depending on the workpiece shape, the in-machine setup of the chuck, tools, etc., confirming the suitability of each workpiece will be required. The workpiece dimensions listed are only a guide, and simulator checks per operation will also be required.

Note 2. Consultations with Okuma representatives required to determine support for each requested workpiece. *1. A gripper suitable for each workpiece size is required.

■ Machining Support Mixed blasting nozzles

Unit: mm

Workpiece support rollers

Unit: mm

Fig. A101

222 87.5

Nozzle

20

125

20

314.2

20

End effector connector center

83

J1 -16.7°

Min support dia: ø20

194.2

Fig. A101

Max support dia: ø80

Nozzle

ø29

Door inside line

6.5

5 13

Adjusting screw

ø

149.1

Mixed blasting: Alternating air/coolant application Nozzles: 2 places Dischargeable pressure: 0.6 MPa Coolant pump output: 0.75/0.55 kW (60/50 Hz) Nozzle discharge direction adjustments possible, which should be made to apply coolant on the required locations.

51

91

Support roller (OD: ø30)

142

Range of diameters: ø20 to ø80 mm Roller width / diameter: 11.2 / ø30 mm Workpiece pressing force: 32.8 to 125.8 N Workpiece support pressing force can be increased or decreased by the adjusting screw.

8

■ ARMROID (A101) Robot Dimensional Drawing h)

ngt

2 le

140

rm

(a 9.3

Unit: mm

21.8°

140 176

100

122

26

Cover line J2

J3

30 74

J4 Arm 2

74

Arm 1 Arm 3

Arm 4 221.5

250

230

73

70 55

128.5

Base

End effector connector center

33.7

125

51

222

280.5

87

46

J1

End effector connector center

80

■ LB3000 EX II ARMROID (A101) Robot Working Range Drawing (140)

Unit: mm

572.3

30

R2

+78.2°

.5

73

0°

-10

J4 range of motion

J1

°

50

+2

os

0° p

6.2

.7

33

0

25

41

R167

5.9 3 55 0 23

-120° -190° R16 1.9 R4 99.

3 R2 69 .3

R5

R230

R59

30°

312

+165° +190°

422.9

3.9

248.6

572.3

A2-6 nose position

5

12

R2

2

End effector connector center range of motion

22

30

.3

72

J3 range of motion

-121.8°

X

306.2 406

Z

99.8

Y

X

■ LB3000 EX II ARMROID (A101) 2-Finger Parallel Gripper Range of Motion Drawing View A

Unit: mm

A

Turret

102.3

ø80

23

222 422.9

53.05

0°

(381.05)

82

200

J1

200.9

99.8

687.7

99.8

30°

627 548.2 (Possible range of robot motion from the spindle centerline.)

J3 position 90.9

J4 range of motion

170

Tailstock retract limit

Y

X

J4 center R269.3

100 3.9

9

103

R4

99

.3

Front door inside line

(381.05)

0

44

327.3 (Possible range of robot motion from the spindle centerline.)

385

Note: Please contact an Okuma representative for the suitability of each workpiece application, which may require further consultations.

■ ARMROID (A201) Robot Dimensional Drawing gth)

2 len

14.9°

3 18

124

100

134

152

(arm

388.1

Unit: mm

Cover line J3

79

109

J2 Arm 2

108

Arm 4 201.5

375

56 52

Base

207

End effector connector center

33.7

74

108

28

Arm 3

98

J4 59

30 30

28.5

60.5

Arm 1

219

275

J1

End effector connector center

80

■ LB3000 EX II ARMROID (A201) Robot Working Range Drawing (140)

+85.1°

07

R2

81

669.1

23.9

.6

R207

R2

91

669.1

R6

228.6 A2-6 nose position

+160° +190°

48

.5

6

65 7

20

.1

88

J4 range of motion

95

+250° 5) .97

(11

os

.1

J1

9

247 485

R2

07

9.1

21

R66

J3 range of motion End effector connector center range of motion

0° p

-114.9°

86)

74

5.2

R3

R207

R5

.7

33

30°

R18 -165° 1.1

5 37 -100° (45

-190°

388.3

R2

Unit: mm

238

X

R281

Y

X

Z

■ LB3000 EX II ARMROID (A201) 3-Finger Gripper Range of Motion Drawing View A

Unit: mm

A

Robot range of motion

200

82

205.4

238

J1

0° (381.05)

(381.05)

103 147

30°

627 150 (Max workpiece length) 30.5 185.8 145.15 J4 center

Turret

64° J4 range of motion

24.2°

169.3 388.3

238

ø150

219

J3 position

Tailstock retract limit

R388.1 J2=0° 23.9

31°

R595

.1

0

44

687.7 Front door inside line

Y

X

Note: Please contact an Okuma representative for the suitability of each workpiece application, which may require further consultations.

10

■ MULTUS B250II /B300II ARMROID (A201) Robot Working Range Drawing (140)

R2

669.1

+85.1°

07 R2

81

Unit: mm

669.1

228.6 5.2

247

+160° +190°

R691

.6

48

.5

0

+220° 240

os

312

6 65

60°

20

.1 J3 range of motion

9 R66

07

J1

End effector connector center range of motion

.1

R2

Cover line

48

7

J4 range of motion

95

33 .7 74

.1 88 R3

R 207

R5

-130°

5

-190°

R18 -165° 1.1

415.7

0° p

R2

R207

37

A2-6 nose position

-114.9° R281

X

Y

21

9

Z

X

■ MULTUS B250II /B300II ARMROID (A201) 3-Finger Gripper Range of Motion Drawing

Unit: mm

View A

Linear range of motion 898 (1,078*) 150 (Max workpiece length)

* MULTUS B300II turret, tailstock positions differ from MULTUS B250II positions.

185

Tailstock retract limit

ø150

103

282.1

J4 range of motion Tailstock interference limit

150

R770.9

R585.1 R595 .1

5.2

0°

984 (1,148.7*)

J1

X Y

36 °

A Front door inside line

36°

J1 -

219 50

30°

ø1

.3

169

240

3

.

388

8

415.7

67.

1

.

282

11

Note: Please contact an Okuma representative for the suitability of each workpiece application, which may require further consultations.

■ End Effector Stocker Specifications End effector stocker (equipped) End effector stocker (not equipped)

Stores up to 3 end effectors; auto changeable with robot Manual change

End effector changes possible by the operator

Fixed

End effector change not possible

■ End effector storage positions and gripper arrangements LB3000 EX II [End effectors removed]

MULTUS B250II /B300II [End effectors removed]

Grippers

Station No. 1

Station No. 3

Station No. 2

Station No. 2

Station No. 1

Station No. 3

Grippers

■ End Effector Storage Positions 2-finger parallel gripper

Station No. 1

2-finger parallel gripper; long stroke

Any one effector

3-finger gripper

Station No. 2

Mixed blasting nozzles

Station No. 3

Workpiece support rollers

Storage positions cannot be changed, but MULTUS B250II/B300II station No.1 and 3 can store the same grippers.

In that case, station No. 2 can not be used to store an end effector.

■ Workpiece Stocker Specifications Stocker Type

General-Purpose Rails 2 shelves 4 shelves*1 Blanks/finished parts Blanks/finished parts (2 ea) (1 shelf ea)

Simple chutes Pitch feed part conveyor 2 shelves 18 stations Blanks/finished parts Blanks/finished parts (1 shelf ea) (dual)

Flange 2-finger parallel gripper

2-finger parallel gripper 2-finger parallel gripper (long stroke)

2-finger parallel gripper

Tray

Cradle

to ø80 mm (ø3.15 in)

to ø50 mm (ø1.97 in)

Loadable number of pieces

1 shelf × 4 pcs Chute L: 320 mm (12.60 in)

2 shelves × 5 pcs Chute L: 270 mm (10.63 in)

1 shelf × 3 pcs Chute L: 300 mm (11.81 in)

18 pcs

Workpiece mass

10 kg

5 kg

10 kg

10 kg

Stocker mass (workpieces not included)

220 kg

230 kg

220 kg

700 kg

Workpiece size

3-finger gripper

2-finger parallel gripper (long stroke)

Rail

Method

10 stations*2

Lift plates for blanks/finished parts (2 plcs)

Shaft

Workpiece shapes

Applicable gripper

Stackable worktable 6 stations

to ø80 mm (ø3.15 in)

Workpiece length limited to machine work envelope (stocker max: 440 mm).

Elevating lift plates to ø150 × L150 mm (ø5.91 × L5.91 in ) 6 stations

10 stations

Guide length: 450 mm (17.72 in) 10 kg Max 30 kg per station 400 kg

500 kg

Assure stable workpiece stacking.

Avoid workpiece jamming.

Blank shapes must be able to roll smoothly in the guides.

Remarks Workpiece contact may cause dents and scratches.

Use High Accuracy Lift Plate Positioning for workpieces thinner than 20 mm.

Loadable number of pieces depends on the maximum workpiece size.

Workpiece contact may cause dents and scratches.

Note: Workpiece Stocker Preps available for customers preparing their own stocker. *1. For LB3000 EX II. Not available for MULTUS B250II/B300II. *2. For MULTUS B250II/B300II. Not available for LB3000 EX II.

12

■ Dimensional / Installation Drawings

Unit: mm

LB3000 EX II ARMROID Tailstock specs 640

910

40 474

1,290

704

End effector stocker

Hydraulic unit

150

Line filter CNC

1,450

Coolant pump

500 Hydraulic chuck pressure Operation panel Tailstock regulating valve (PRV)

54 702

189

2,145 (2,000)*

Chip conveyor L (option)

150 Maintenance space Workpiece stocker removal space

2,200 2,864

70 600 408 922 262 1,184

514

1,150 2,350

1,320

67

Power switch

Air panel

2,145 (1,985)* 2,142 (2,002)* 2,060 (1,900)* 1,050 1,010 (850)*

Lubrication unit

Headstock

1,232 608

Lubricant recovery bucket

Chip bucket L (option)

Air inlet ø10 mm air tube connection required pressure: 0.5 to 0.7 MPa 1,350 mm from floor

230

V12 turret

2,619

1,070 700 1,350 (Floor to air inlet)

1,150

803 642 775 (Front door open) 2,200

82 (102)*

673 720 63

(Workpiece stocker travel)

Workpiece stocker setup space

Floor to power inlet (top)

414

1,320 1,734 2,552

818

2,000

660

Spindle cooler

Side discharge tank removal space (When removing side discharge tank, remove the workpiece stocker.)

Workpiece stocker general-purpose rail

1,770

1,435

716

2,020 1,535

485 1,194

Workpiece stocker removal space for transport equipment

540

465 Air panel

ARMROID A201 Drawing ARMROID A101 height dimensions differ (* dim).

Power inlet (2 plcs) (1,770 mm or 1,070 mm from floor)

125

End effector stocker manual removal space

Floor to power inlet (bottom)

3,534

Unit: mm

MULTUS B250II ARMROID Opposing spindle specs

Air panel Manual removable cover

500 1,034

980 1,014

920

826 110 (Front door open) 3,190

105

100

180 645 978 Tank removal space

Workpiece stocker 6-station worktable 430

4,605 H1 turret

40-tool ATC magazine (option)

985

Opposing headstock Mist lube unit (option) Lube unit Chip conveyor L (option)

300

30

777

1,457 1,522

2,582

2,580

771 594

Headstock

950

2,670 3,190

10 909

600 350

Chip bucket L (option)

Chip conveyor removal space

13

2,210

727

2,280

511

Workpiece stocker retracted space for maintenance work

(Workpiece stocker travel)

130

900

119

350

Operation panel

72

975

727 70

Front door

2,580 2,378 1,925 1,050 875

Workpiece stocker transport equipment

Spindle center

638

Door for end effector stocker

187 50 1,010 1,030

2,210 2,140

CNC

Workpiece stocker transport equipment removal space

400

152.5

2,249 Magazine maintenance door ATC magazine Oil temp controller (bed mounted)

Air panel

535

Power inlet 2,580 mm from floor Separately installed filter unit 824 Rotary movement during 195 540 control cabinet maintenance

Hydraulic unit 941

847.5 870 1,000 2,030

Magazine operation panel Air inlet 990 mm from FL (upper) 380 mm (lower)

Coolant tank 71

907 978

1,010 480 2,994

20 1,000

1,550 2,030

Power inlet (side) (1,930 mm from floor)

Unit: mm

MULTUS B300II ARMROID Tailstock specs 1,189

Magazine maintenance door Hydraulic unit

Additional control cabinet Oil temp controller

1,060 Operation panel

Rotary movement during control cabinet maintenance

665

721.1

Front door

(Workpiece stocker travel) 440 259 1,030 1,407 978 1,080

Workpiece stocker retracted space for maintenance work

500

68

NC tailstock Spindle center

Door for end effector stocker

Separately installed filter unit 340

2,140 1,461 Workpiece stocker transport equipment removal space

CNC

160

ATC magazine (bed mounted)

Air inlet 1,380 mm from floor

95

Magazine operation panel

870

2,050

Air panel

2,684 Power inlet (top) (2,580 mm from floor)

350

(Tank removal space)

Workpiece stocker 794 354 6-station worktable 1,030 (Door opening) 3,872 286 645 4,803 160

30

308

Chip bucket L (option)

1,228

2,930 3,870

45 600 917

Chip conveyor removal space

327 1,960

1,144 1,546

Chip conveyor L (option)

Coolant tank 57

350

40-tool ATC magazine (option)

300

771 605

Lube unit

335 327

Mist lube unit (option)

2,050

2,587 1,925 1,050 875

H1 turret

Headstock

879 936

1,130 500

20 900 1,550 2,050

2,986

Precautions

■ Safety Standards · The arm is a versatile manipulator capable of programmed operation of 3 axes or more, which complies with the following safety standards as an industrial robot and an industrial robot system.

· ISO 10218-1:2011 (JIS B 8433-1:2015) Robots and Robotic Devices-Safety Requirements for Industrial Robots–Part 1: Robots

· ISO 10218-2:2011 (JIS B 8433-2:2015) Robots and Robotic Devices-Safety Requirements for Industrial Robots–Part 2: Robot Systems and Integration ■ Qualifications · Qualifications may be required to operate, teach and inspect industrial robots.

The laws and regulations of the country of acquisition regarding education and certification requirements outside Japan, shall be confirmed.

■ ROID Navi · The ARMROID robot uses ROID Navi and 3D model data to automatically generate arm paths and operate.

3D model data for chucks, tools, grippers, end effector, and workpiece shapes must be set correctly.

If not set correctly, collisions may occur.

14

When using Okuma products, always read the safety precautions mentioned in the instruction manual and attached to the product.

Oguchi-cho, Niwa-gun, Aichi 480-0193, Japan TEL: +81-587-95-7825 FAX: +81-587-95-6074

This product is subject to the Japanese government Foreign Exchange and Foreign Trade Control Act with regard to security controlled items; whereby Okuma Corporation should be notified prior to its shipment to another country.

●The specifications, illustrations, and descriptions in this brochure vary in different markets and are subject to change without notice.

Pub.No.ARMROID-E-(6a)-200 (Feb 2022)

Note: Japan's Industrial Safety and Health Act requires that workers who "teach" industrial robots and perform inspections be required to receive special education for their work-related safety and/or health.

Safety educational training should be conducted in countries other than Japan in accordance with similar laws and regulations.