1. It is very important to connect robots with other production equipment so as to create the robot-assisted technological complexes. The robot in technological
complexes may be programmed individually or by means of a central computer.
2. Individually controlled robots are used in complexes where technological
processes are performed by means of single transfer lines. Fig. l shows robots in
an automated metal-working transfer line having CNC machine tools.
3. The automated metal-working transfer line consists of three robots of similar
types (4, 8, 12), two CNC milling and one CNC drilling machine tools (3,7, 11),
a workpiece feeder (1) with a buffer store(2), additional stores for milled and
drilled parts (5, 13, 9), output store (13), transporter for removal of defective and
unfinished workpiece (15), controllers for milling and drilling operations (6,10)
and minicomputer to dispatch tools and the robot control system.
4. The machining cycle begins when the workpieces are fed by a workpiece
feeder (1) to the buffer store (2). If the buffer store is overfilled with workpieces
the line has to be stopped. If not, the first robot (4) loads the workpieces to and
unloads from CNC milling tool (3), gauge them and sort into store cells for
milled parts (5).
5. After completion of one operation the control system signals the start for the
next one. If the store cell feeding the next robot (8) is overfilled the preceding
robot (4) has to be stopped, if not, the cycle continues.
6. Besides feeding the machine tools, the robot performs auxiliary operations.
It changes the cutting tools, collects chips and transports the defective workpieces to the transporter.
7. One of the very important parameters of the robot is the speed with which it
works. When the robot speed is high the losses due to defective and unfinished
workpieces may increase, when the speed is low the losses decrease but the average production rate also decrease. So that is why the time that the robots may
handle the workpieces should be strictly distributed for different operations and
controlled from their own controllers.

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2. The main parts of the robot-assisted technological complex.
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