ROBOT ABB YUMI MOTOR INSERTION

ROBOT ABB YUMI MOTOR INSERTION

EIIT presents for Productronica Innovation Award 2019 this project that collects the three leading concept that currently are needed in automatization industry, specifically:

  1. Robotic
  2. Artificial Vision
  3. Collaborative

To get this goal, the concept mounts a real piece from one of our customers.

This subset is constituted by 4 pieces that will be mounted automatically by our project.

Currently this subset is mounted semi-automatically and finally will constitute the acoustic warning integrated in most of the vehicles in operation.

INNOVATION DESCRIPTION

The innovation is that we collect the main concepts requested currently by the automatization industry: Artificial Vision, Robotic and Collaborative.

All the pieces provided by the supplier are going to be fed in bulk and their position in an XY plane will be chaotic so that several artificial vision systems will be needed to indicate to the robotic arm which is the position of the most optimal piece to be removed and proceed to its manipulation.

Obviously, the feeding of these pieces by means of a bulk hopper system means that not all the pieces have an optimal position for their collection. In this sense, one of the elements included in our project is a development of the OMRON company known as AnyFeeder (This device combines the concept of feed hopper and repositioning table).

The main process is described below:

  • The pieces to be fed are deposited in a controlled feed hopper.
  • The hopper feeds a repositioning table which, by means of a controlled vibration system, makes the pieces vibrate so that their position varies.
  • By means of a camera arranged in the upper part of the vibrating table, the pieces are identified in optimal position to be picked up by the robot or otherwise the signal is sent to the table to reposition the pieces.

The advantage of this system, unlike the precise feeding elements that exist in the market, is not being linked to the geometry of the piece. Simply by training the vision system (ARTIFICIAL VISION) to recognize the new piece, the system will be ready to manipulate this new element.

Although the project in a real phase of industrialization would require as many AnyFeeder as parts to be fed, to simplify its development we will use an AnyFeeder to feed the connector and we will predispose the rest of the pieces (base, coil and cover) in position chaotic on an XY table but with the manipulation face in the correct position.

Therefore, we will have 4 parts collection areas supervised by 4 independent 5Mpx cameras that will be connected to an OMRON specific vision controller model FH-5050-2. The mission of this controller is to take independent images of each of the 4 parts feeding areas and tell the robot (ROBOTIC) the position of each of them to proceed with its manipulation.

Finally, the robot responsible for handling parts is a development of the company ABB model Yumi IRB1400. It is a fully collaborative (COLLABORATIVE), double-arm robot and allows the manipulation of pieces of up to 500gr in weight.

According to this layout, the assembly process will be as follow.

  1. We collect connector and position on assembly tool
  2. We collect base and mount on connector in assembly tool
  3. We collect coil and mount on connector and base
  4. Finally, we close the assembly with the lid