Drilling and threading of dovetails for wavepower generator with robot

To make wave power more competitive on the market Uppsala University leads projects that examine how to accomplish better efficiency in the production. One of these projects is described in this report and examines whether it is possible to make the production of dovetails more efficient by using an industry robot of type ABB IRB6000 S3 M91. This project is using an already presented working method, from a previous project, which involves that the robot picks up the dovetail and moves against fixed cutting machines where the dovetail will be drilled, threaded and milled. Drilling and threading are the sub operations that will be examined in this project where experiments are made with the presented working method and with equipment from Uppsala University. Experiments show whether it is possible to drill the holes in the dovetail within specifications by using the specific robot and the presented working method. The threading operation is examined theoretically if it is possible to accomplish by using the same working method. A tool for the robot is constructed so that the robot can pick up the dovetail and hold it though all the cutting operations. The functions of the tool are evaluated. In this project a working station for drilling and threading is also presented with external fixtures that are adjusted to fit the designs of the used dovetails. Using the specific robot and the presented working method in the experiment, a result within the specifications could be obtained in the processing rate. In the terms of time the result was not within desired limits, although the time of the process with the experiment setup could be reduced. It is reasonable to use the same working method for the threading operation. The prototype of the tool for the robot was able to pick up the dovetail and take the different working positions; however the tool should be tested in operation with external fixtures for further evaluation.