ATI Technologies Flexdeburr 9150-RC-660-ER Manual Download Page 1

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Engineered Products for Robotic Productivity

Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 USA • Tel: +1.919.772.0115 • Fax: +1.919.772.8259 • www.ati‑ia.com

ATI Radially‑Compliant Robotic Deburring Tools

Flexdeburr™

(Models 9150‑RC‑660‑ER and 9150‑RC‑660‑ER‑E)

Manual

US Patent # 6,974,286 B2

Document #: 9610‑50‑1017

Summary of Contents for Flexdeburr 9150-RC-660-ER

Page 1: ...e Park 1031 Goodworth Drive Apex NC 27539 USA Tel 1 919 772 0115 Fax 1 919 772 8259 www ati ia com ATI Radially Compliant Robotic Deburring Tools Flexdeburr Models 9150 RC 660 ER and 9150 RC 660 ER E...

Page 2: ...confidential and reserved exclusively for the customers and authorized agents of ATI Industrial Automation and may not be divulged to any third party without prior written consent from ATI No warranty...

Page 3: ...nsportation and Protection During Transportation 12 3 2 Inspection of Condition When Delivered 12 3 3 Unpacking and Handling 12 3 4 Storage and Preventive Maintenance during Storage 12 3 5 Side Mounti...

Page 4: ...vice Procedures 25 6 1 Troubleshooting 25 6 2 Service Procedures 27 6 2 1 Bur and Collet Replacement 27 6 2 2 Turbine Motor Replacement 29 6 2 3 Ring Cylinder Assembly Replacement 33 6 2 4 Rear Housin...

Page 5: ...g method where the direction of cutter rotation and tool motion are the same Coalescing Filter Device designed to remove liquid aerosols from the air supply lines Collet Gripping device used to hold c...

Page 6: ...oiding the hazard and the method for avoiding the situation CAUTION Notification of information or instructions that if not followed could result in moderate injury or will cause damage to equipment T...

Page 7: ...void the warranty Always use original ATI spare parts CAUTION Never be present near the deburring tool while it is started or in operation Flying debris and rotating parts can cause injury If it is ne...

Page 8: ...ments The RC 660 ER provides for 2 mounting types a side mounting and an axial mounting The side mounting provides 2 locating dowel pins and 4 threaded holes The axial mounting utilizes a tapered flan...

Page 9: ...0 0005 0 013 mm and provide a gripping range up to 0 040 1 mm This allows a standard 1 4 inch ER 11 collet to safely and accurately hold a metric 6 mm diameter cutter However the ER 11 collet system...

Page 10: ...2 bar 90 psi The radial compliance centering air must be supplied from a regulated source between 1 0 4 1 bar 15 60 psi 2 3 1 2 Storage Table 2 2 Storage Temperature range 0 C 45 C 32 F 113 F Conditi...

Page 11: ...ati ia com 11 Figure 2 3 RC 660 ER Series Radial Compliance Force Curves Measured at the Spindle Tip RC 660 Series Radial Contact Force 0 5 10 15 20 25 30 35 40 45 50 1 0 2 0 3 0 4 0 Centering Air Pr...

Page 12: ...condition If there is damage to any of the packaging or if any of the goods have been exposed to abnormal handling unpack those parts that may have been damaged for a closer inspection If necessary n...

Page 13: ...imum fastener length specified must not be exceeded or the fasteners interfere with the compliant motion of the turbine motor spindle Refer to Section 9 Drawings for more information CAUTION Lock wash...

Page 14: ...ser of the Flexdeburr ATI can provide custom interface plates and adapters upon request An optional bench mount adapter plate allows the deburring tool to be permanently attached to a bench or other w...

Page 15: ...ng regulator supplies air for the compliance or centering force The compliance force is applied radially and is adjusted until the desired cut is made The robot s traversing speed will also be adjuste...

Page 16: ...nd 9150 RC 660 ER E 5 32 4 mm Quick Connect Tube Alternate Remove Supplied Fitting to use 1 8 NPT Port 1 0 4 1 bar 15 60 psi Maximum Exhaust Vented to Atmosphere through the Housing Not Applicable It...

Page 17: ...ING Never operate the Flexdeburr product without wearing eye protection Flying debris can cause injury Always use eye protection while working in the proximity of the deburring tool CAUTION Do not use...

Page 18: ...sh is less than the ideal speed of the deburring tool Do not use a tool that requires axial loading 4 2 4 Deburring Tool Approach Path Should be Slow and at an Angle The deburring tool should approach...

Page 19: ...deburring frequently is loud Always use hearing protection while working in the neighborhood of the deburring cell The deburring tool should not be used to deburr materials that are prone to fracture...

Page 20: ...to teach the path using the centerline of the bur as a guide following the edge of the part and then manually or automatically adding offsets to the robot path points to achieve the final correct bur...

Page 21: ...opposite of bur rotation This may aid in bur stability for some operations however the cutting edge of the tool is subjected to higher friction and cutting forces Tool wear is accelerated in this mode...

Page 22: ...deburring Without chip breaker for scratch free surfaces 9150 RC B 24063 Diamond Cut 3 8 Bur Diameter 3 4 Bur Length 1 4 Shank For hardened and tough materials super alloys and stainless steel alloyed...

Page 23: ...4 Shank For trimming and contour milling of all glass and carbon fiber reinforced plastics Special cut geometry allows high feed rates due to low cutting forces 9150 RC B 24862 Alt Diamond Cut 1 4 Bur...

Page 24: ...ility and therefore cannot be estimated 5 2 Lubrication Lubrication systems are not to be used The Flexdeburr air motor must be supplied with clean dry filtered air Oil in the air stream will cause th...

Page 25: ...contact enter part at an angle Unequal compliance Worn ring cylinder Replace ring cylinder Refer to Section 6 2 3 Ring Cylinder Assembly Replacement Pivot bearing worn Replace the pivot bearing Refer...

Page 26: ...rn Inspect spindle shaft if shaft feels loose or has play replace Refer to Section 6 2 2 Turbine Motor Replacement Chip packing of bur Too heavy a cut Decrease width of cut make multiple passes Not en...

Page 27: ...ty 2 If the bur is to be replaced with one of an identical type measure and record the bur length extending beyond the collet lock nut Alternatively the optional ATI 9150 RC T 4230 bur setting tool ac...

Page 28: ...1 919 772 0115 Fax 1 919 772 8259 www ati ia com 28 Figure 6 1 Bur and Collet Replacement Measure and record the length of the bur extending beyond the collet nut Spindle shaft Collet nut Bur 7 16 Ope...

Page 29: ...to Figure 6 2 through Figure 6 6 Parts required Refer to Section 7 Serviceable Parts Tools required Small flat blade screw driver 3 mm and 5 mm hex key crescent wrench torque wrench Supplies required...

Page 30: ...Using a 3 mm hex key remove the 6 M4 socket head cap screws holding the rear housing assembly to the front housing assembly 10 Remove the rear housing assembly also remove the O ring and alignment pi...

Page 31: ...ey install the 6 M4 socket head cap screws that secure the rear housing to the front housing Tighten to 12 in lbs 1 4 Nm Figure 6 4 Rear Housing and Turbine Motor Installation 15 16 Apply Magnalube to...

Page 32: ...sembly 24 Slide the boot onto the turbine motor and align the edge of the boot to the edge of the contact sleeve 25 Stretch the garter spring over the boot it seats in the groove on the contact sleeve...

Page 33: ...7 through Figure 6 10 Parts required Refer to Section 7 Serviceable Parts Tools required Small flat head screw driver 2 mm hex key non metallic drift or arbor press Supplies required Clean rag Magnalu...

Page 34: ...ar and front housing assemblies Figure 6 8 Ring Cylinder Removal O ring 6 6 Alignment Dowel Pin 5 Non Metallic Rod 5 Front Housing Assembly 5 6 Ring Cylinder Indicates the associated step number s in...

Page 35: ...ws articulation of the motor assembly The pivot bearing is subject to wear and should be replaced when excessive spindle motion is observed Contact between the motor air supply fitting and the main ho...

Page 36: ...ont Housing Assembly 7 6 6 M4 Socket Head Cap Screws 6 7 Rear Housing Assembly Washer 5 Socket Button 5 Head Cap Screws Spindle Supply Fitting 2 Compliance Air Fitting 2 9 If replacing the replacing t...

Page 37: ...pivot bearing s ball visible from the end of the pivot bearing 18 Apply Loctite 222 to the threads of the 3 M4 socket head cap screws used to secure the large clamping washer Insert the large clamping...

Page 38: ...ing Assembly 20 First M5 Set Screw Apply Loctite 222 19 Edge of the Outer Race Second M5 Set Screw 21 Apply Loctite 222 Rotate Pivot Ball until the Bottom surface of keyway is Flush with Edge of the O...

Page 39: ...6 M4 socket head cap screws and use a 3 mm hex key to install the 6 M4 socket head cap screws that secure the rear housing to the front housing Tighten to 12 in lbs 1 4 Nm 29 Apply Loctite 242 to the...

Page 40: ...ly 10 psi to the compliance air fitting Move the turbine motor spindle like a joystick and loosen or tighten the pivot bearing preload set screw until a slight resistance to motion can be felt 33 Appl...

Page 41: ...indle motor air supply for safety 2 Disconnect the air hose from the spindle supply fitting and the compliance air fitting Refer to Figure 6 18 3 Remove the deburring tool from the robot or work locat...

Page 42: ...ead cap screws that secure the spindle boot and boot ring to the front housing assembly Tighten to contact plus one additional flat 12 Stretch the garter spring over the boot and seat it in the groove...

Page 43: ...by ATI 7 1 Accessories Tools and Optional Replacement Parts 1 3 2 4 6 7 8 9 5 Table 7 1 Serviceable Parts Item No Qty Part Number Description 1 1 9150 RC B XXXXX Refer to Table 4 1 for bur Part Numbe...

Page 44: ...ed Spindle Air Pressure 6 2 Bar 90 PSI Air Consumption Idle 9 4 l s 20 CFM Air Consumption Stall 17 9 l s 38 CFM Sound Pressure Level2 78 dBa Collet Size Standard3 1 4 6 mm ER 11 Type with Large Grip...

Page 45: ...idle 18 l s 38 CFM at stall 3 DO NOT restrict air flow or pressure to alter motor speed 4 The installed air supply fittings may be removed to utilize customer supplied 5 3 8NPT and 1 8NPT air fittings...

Page 46: ...M6X1 0 7 MAX Note 6 Sheet 1 2X 5 5 5 MAX SF M5 Dowel Note 6 Sheet 1 52 2 42 1 Side Mounting Pattern Available if ATI Adapter Plate Kit is Not Installed 9150 RS 660 Mounting Options Rev Description In...

Page 47: ...0 50 4207 Disk Boot Front Pivot RC RS 660 1000 13 1 3700 50 4208 Retainer Ring Disk Boot Front Pivot RS 660 RC 1000 14 1 9005 50 1035 Ring Cylinder Assembly Front Pivot RS 660 RC 1000 15 1 9005 50 104...

Page 48: ...or in any way connected with products or services supplied hereunder may be brought more than one 1 year after the cause of action occurred No representation or agreement varying or extending the war...

Page 49: ...for Part Numbers and pricing Premature bearing failure can occur from exposing the deburring tool to coolants and water or impacts from collisions Other failure modes that are outlined in the manual a...

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