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Quattro Application Guidance. Webinar November 6, 2009 Presented by Kevin Stein Adept Applications. Agenda. USDA Platforms Ingress Protection Application Guidance Questions. What’s new?. USDA (meat & poultry) Accepted September 24 th , 2009 USDA (dairy) In process

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quattro application guidance

Quattro Application Guidance

Webinar November 6, 2009

Presented by Kevin Stein

Adept Applications

agenda
Agenda
  • USDA
  • Platforms
  • Ingress Protection
  • Application Guidance
  • Questions
what s new
What’s new?
  • USDA (meat & poultry)
    • Accepted
    • September 24th, 2009
  • USDA (dairy)
    • In process
    • Pending 1st article
  • World’s fastest robot
    • http://www.youtube.com/watch?v=GOiAsQ4aP-g
quattro s650hs
Quattro s650HS
  • Hygienic Sanitary
  • High Speed
usda what is it
USDA – what is it?
  • USDA - 2 divisions
    • Meat and Poultry
    • Diary
  • Materials
  • Design
  • Seals
usda materials
USDA Materials
  • FDA
    • Responsible for material compliance
    • FDA CFR Title 21
  • Standards
    • ISO 14159, 14159-1
    • 3A
    • NSF
    • AMI
usda design
USDA - Design
  • Tenacity – Rigorous design lifecycle
  • Drip, drain, drawn
  • Features
    • No cracks, crevices
      • Width must be 2x depth
    • Radii
      • ¼” or 0.050” chamfer
    • Surface Finish
      • 32 micro inch or better
    • Coatings
usda seals
USDA - Seals
  • Controlled Compression
    • Prevent Ingress / Egress
  • Compliant material
    • CFR Title 21
  • Rub test
    • No particulate
  • All external hardware is sealed, Everything!
quattro changes
Quattro Changes
  • Phasing in new parts
    • Standard Quattro robots
      • New inserts and bushings
      • Stainless Steel balls
      • Springs won’t fall off
    • USDA
      • AIB
      • Machined casting features
      • Cable seal kit
quattro 650h vs 650hs
Quattro 650H vs. 650HS
  • List Price $ 54,735
  • USDA
  • Machined AIB
  • Alpha Drive FDA grease
  • Available around March 2010
  • List Price $ 49,985
  • Standard
  • Current AIB
  • Alpha drive oil
  • Available now

Subject to change without notice!

usda overview
USDA - Overview
  • Bacteria is the enemy!
    • Quattro 650HS offers
      • USDA acceptance
      • IP wash down
      • Chemical resistance
      • Tool less disassembly
      • Ease of inspection
    • Designed to improve food safety and quality for consumers
    • Cleanliness is not just nice to have.  It can literally be a matter of life and death for both customer and company.
    • Choosing Quattro lowers manufacturing costs while improving food safety.
agenda1
Agenda
  • USDA
  • Platforms
  • Ingress Protection
  • Application Guidance
  • Questions
platforms
Platforms
  • What are the options
    • Current
      • 60D
      • 4:1
      • 185D
    • Coming soon ( Early next year)
      • P30 (2nd iteration in process, control algorithm needs improvement)
      • P31 ( available January)
      • P32 ( available in Q4FY10)
      • P34 ( available in Q4FY10)
platforms decision tree
Platforms – Decision Tree

Standard Platforms

  • Does the application require more than 45 degrees?
    • NO  Use the 60 degree
    • YES  Does the application require hygienic wash-down?
        • NO  Use the 4:1
        • YES  Use the 185 degree

For 3rd generation platforms (P31-P34)

  • Does the application require more than 45 degrees?
    • NO  Use the P31
    • YES  Does the application require more than 90 degrees?
      • NO  Use the P32
      • YES  Use the P34
platforms p30
Platforms - P30
  • Fixed Platform
    • 3-axis Quattro (no rotation)
    • 25x stiffness improvement
    • 10x higher payload inertia
    • As seen at Pack Expo 2009
platforms p31
Platforms – P31
  • Rotation range

+/- 46.25˚

  • Part Number
    • 09503-000
platforms p32
Platforms – P32
  • Rotation range

+/- 92.5˚

platforms p34
Platforms – P34
  • Rotation range

+/- 185˚

agenda2
Agenda
  • USDA
  • Platforms
  • Ingress Protection
  • Application Guidance
  • Questions
wash down ip rating
Wash Down – IP rating
  • Ingress Protection (IP xx)
    • Entire robot is IP66
      • protected from solid objects
        • dust, particulate
      • provides protection from liquids
        • Water sprayed from any direction
    • Platform is IP67
      • Protected from solid objects
      • Protected against immersion 15cm to 1m
chemicals encountered
Chemicals encountered

We cannot test all chemicals!

Dura Foam 263

Chloro Clean 269

Multiquat 455

Liquid Fury

Enrich 299

Potassium Hydroxide (<15%), Sodium Tripolyphosphate <15%), Proprietary (<5%) Sodium Hypochlorite (<5%)

Sodium Hydroxide (<15%), Sodium Hypochlorite (<5%)

Alkyl dimethyl benzyl ammonium chloride (3%), Octyldecyldimethl ammonium chloride (2.25%),

Sodium Tripolyphosphate (<14%), Sodium MetasilicateAnhydous (<20%), Triehenolamine ( <10%)

Sodium Hydroxide (<10%), Sodium Hyposhlorite (<8%)

agenda3
Agenda
  • USDA
  • Platforms
  • Ingress Protection
  • Application Guidance
  • Questions
robot performance
Robot Performance

Performing long motions, at the top of the workspace, the inner arms have to travel the full range of motion, less efficient. When long moves are performed lower in the workspace the inner arms travel a shorter distance to reach the same position, more efficient.

Acceptable

Best

robot performance1
Robot Performance

Long move at top of the workspace

Long move lower in the workspace

platform stiffness
Platform Stiffness

Each platform is the most stable closer to the top, less flex in outer arms. As the platform moves lower in the workspace the outer arms become less stable. Therefore, the platform, positional repeatability, can be influenced by fast motions/ payloads

Best

Good

Acceptable

platform stiffness1
Platform Stiffness

More Stable

Less Stable

performance and stiffness
Performance and Stiffness
  • Application dependant
    • Best of both
      • Middle of cylinder
      • 100-200mm from top of workspace
    • Stiffness
      • 60D, P31
      • Top of workspace
    • Performance
      • Long motions lower in workspace, near frustum
dynamic effects
Dynamic Effects
  • Moving in X, Y or Z tool orientations will influence ALL other axes of motion. This effect is more pronounced in some regions of the workspace than others.
  • The most pronounced effect is motions of X, Y, or Z affecting the orientation of the flange, specifically theta. At high changes of acceleration, this effect can be quite visible. Platform “swim” is defined as undesired rotation of the flange during a motion.
    • swim can be reduced by decreasing the deceleration of the pick move and the acceleration of the depart move.
    • The swim effect is also sensitive to the orientation of the flange. Operating at orientations that are closest to world ROLL 180 (platform closest to square) reduces this effect.
location effect on stiffness
Location effect on stiffness

The Quattro robot platform is inherently more stiff with tool orientation at locations closer to the world X axis than at locations further out in the world Y direction. The locations where the robot is stiffer and more accurate are within the cylindrical region of the workspace (higher up in the workspace) along the X direction of travel.

outer arms
Outer Arms
  • Manufacturing Tolerances
    • Build process allows for variation
    • Does not effect performance!
  • Taught locations
    • Use caution when
      • Outer arms are replaced
      • Take care not to swap arms
    • When arms are swapped
      • Locations might need to be re-taught
application guidance overview
Application Guidance Overview
  • Optimal performance is along world X direction
  • Platform is most rigid at top of cylindrical workspace
  • Robot is faster lower in the workspace, bottom of cylindrical section
  • Platform stiffness is the greatest when theta rotation is kept to a minimum
  • Combining these points puts you in the sweet spot of the workspace.
agenda4
Agenda
  • USDA
  • Platforms
  • Ingress Protection
  • Application Guidance
  • Questions