Assembly of boards (pressing on a still liquid adhesive) into a housing with robot Mitsubishi, RV-12SL.
Boards of different types are recognized and gripped on a feed belt with the help of a camera (Cognex) in the correct position. Depending on the type, various processing steps follow and finally the assembly of the gripped board, which is also completely camera-guided.
Processing period for the project: November 2004 - December 2004, including project planning and subsequent operator training for the end customer lasting several days.
Almost all process-relevant movements of the robot are 100% camera-guided.
The communication between robot and camera is done via TCP/IP
Depending on the type, a smaller board (pressure sensor) is required in addition to the main board. This is supplied to the system in pallets of 60 pcs. The robot program has a "scan mode" with the help of which it scans the pallet for a pressure sensor, detects it in the correct position and then grips it.
Due to the different types, the robot requires different grippers. The robot is equipped with a gripper change system which enables it to get the right tool for the current type fully automatically.
The robot has an automatic basic position movement from any situation.
Type and tool variety
complex error management
Communication to the higher-level control system (PLC) via digital I/O's.