Dvoručno robotsko sklapanje kućišta osigurača

master's thesis

• Title (english): Dual-arm robotic fuse box assembly
• Author: Mihael Mikulec
• Mentor: Marko Švaco (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2021-07-14, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U ovome radu predstavljen je i validiran koncept autonomnog dvoručnog robotskog sklapanja kućišta osigurača. Proces sklapanja kućišta osigurača danas se obavlja ručno ili primjenom proizvodnih linija koje nemaju dovoljno visok stupanj autonomije i fleksibilnosti u montaži kada su u pitanju manje proizvodne serije koje se mogu sastojati od većeg broja različitih komponenata. Korišteni je dvoručni robot YASKAWA CSDA10F s 15 osi dizajniran za kompleksnije montaže. Robot je opremljen automatskim izmjenjivačima alata pomoću kojih može promijeniti trenutno aktivnu hvataljku. Lijeva ruka robota (R1) sadrži dvije dvoradne pneumatske hvataljke: paralelnu hvataljku za manipulaciju kućištem osigurača te kutnu hvataljku za manipulaciju žicama prethodno umetnutih sa stražnje strane kućišta. Desna ruka robota (R2) opremljena je jednoosnim senzorom sile kojim se precizno kontrolira sila umetanja osigurača/releja u kućište osigurača. Robotska ruka R2 koristi paralelnu pneumatsku hvataljku s prstima oblikovanim za manipulaciju osiguračima/relejima te četveroprstnu hvataljku namijenjenu za montažu poklopca na kućište osigurača u završnoj fazi montaže. Implementirani vizijski sustav sastoji se od dvije industrijske kamere. Montažni sustav na temelju vizualnog naučenog reprezentativnog uzorka autonomno obavlja montažu uz korištenje napredne vizijske inspekcije koja može precizno detektirati anomalije kod osigurača/releja prije umetanja.

Abstract (english)

In this paper, the concept of autonomous dual-arm robotic fuse box assembly was presented and validated. Today the process of fuse box assembly is either being done manually, or by using production lines which don't have sufficiently high degree of autonomy and flexibility in assembly process, when it comes to smaller production batches that may consist of a large number of different components. For the purpose of this paper, a dual-arm robot YASKAWA CSDA10F with 15-axis designed for the complex assembly was used. The robot is equipped with automatic tool-changers by which it can change the currently active gripper. The left robot arm (R1) consists of two double-acting pneumatic grippers: a parallel gripper for manipulation of the fuse box and an angular gripper for handling wires previously inserted from the back of the housings. The right robot arm (R2) is equipped with a 1-axis force sensor that precisely controls the insertion force of the fuse or relay in the fuse box. Robot arm R2 uses a parallel double-acting pneumatic gripper with fingers designed for manipulation with fuses and relays and a parallel 4-finger pneumatic gripper designed to mount the cover on the fuse box in the final mounting stage. The implemented vision system consists of two advanced industrial cameras. The assembly system based on a visual learned representative pattern autonomously performs the assembly using an advanced vision inspection that can precisely detect anomalies at the fuse or relay before insertion

• Keywords: dvoručni robot; montaža; kućište osigurača; vizijska inspekcija; vizijsko učenje na temelju uzorka; kontrola sile umetanja
• Keywords (english): dual-arm; assembly; fuse box; vision inspection; pattern-based vision learning; force control insertion
• Language: croatian
• URN:NBN: urn:nbn:hr:235:501429
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access; Embargo expiration date: 2023-07-07
• Created on: 2021-07-07 13:55:35