Roboterprogrammierung - Individual Software - Innovationen

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VisDelta
Application for determining differences in the shape or position of components.
Creation of 3D objects that can be transferred to a CAD system.
To determine the differences, we use several light-section sensors. These are light-insensitive and have a good price-performance ratio. With the application, different sensors, depending on the purpose, can be used.
The application is clearly structured so that no lengthy training is required.
Should a sensor misalign or a sensor be replaced, it can be corrected again via a setup function. This takes less than two minutes.
Structure of the system

VisDelta runs on a separate PC. The latter communicates with the robot via Profibus®, Interbus®. or DeviceNet®. The sensors are connected to the system via Ethernet:


Euler angle format

This application can calculate the following Euler angles:

  • Quatanions are used by e.g. ABB®.
  • ZYX are used by e.g. KUKA®.
  • XYZ are used by e.g. Fanuc®.
  • ZYZ are used by e.g. Comau®.

The following functions are integrated in the application
Calc TCP

TCP determination, a TCP must be determined for each sensor. This is done via a function that is executed on the robot.


Frame Measure

When removing components from a rack or component container, the components are pushed into the gripper by a guide. This has the consequence that the mechanics of the gripper or the component is mechanically stressed.
With the Frame Measure method, it is possible to measure the components and remove them without a guide.
It can be removed components with a maximum displacement of 50mm.
Tolerances when using Leuze sensors: <1.5mm and <0.2 degrees of rotation.


  • The robot drives in front of the component with a distance of 200-300mm.
  • VisDelta calculates the displacement of the component.
  • The robot receives the newly calculated frame and moves to the measuring position again.
  • VisDelta again calculates the displacement, if it is below the set delta, the system gives OK to remove the component.
  • The robot moves with the new frame for removal.

The complete cycle does not take longer than three seconds.
Gap Measure

Under Frame Measure, a gap measurement can also be created. This determines whether an area is free, so that the robot can enter without collisions.


Single Measure

For robot applications where parallelism and position are important, the Single Measure function helps.
In every position of the robot, this function determines the distance to an edge, the distance to the component and the angle to the component.
Components can be checked with a maximum displacement of 5mm.
Tolerances when using Keyence sensors: <0.5mm and <0.1 degrees of rotation.


  • The robot approaches each point with the TCP of the laser.
  • VisDelta calculates the displacement and rotation to the component.
  • The positions of the robot are recalculated by VisDelta and sent to the robot.
  • The robot starts the program with the newly calculated positions.
Object Scan

To help create robot programs that must follow an object, an object can be scanned and loaded into an offline program.
Scanning can be done simultaneously with up to 4 sensors.
Width, length and height of the object can be determined.
Furthermore, the width and height can be determined at certain positions.


  • The robot moves along the object to be detected and scans it.
  • After scanning, an STL file will be generated.
  • The STL file can be sent to an FTP server or stored locally.
  • The STL file can be loaded into a CAD program and it is possible to create a robot program on the contour of the object.
Avarage Mode

In case of failure of a sensor can be switched to the avarage mode.
The system calculates an average value over the last 1000 measurements. This is transmitted to the robot.


Log

All measured values, errors and changes are stored in log files and can be viewed via the software.


Sensor calibration

The sensors are adjusted via calibration plates.
If a sensor has been changed or changed, a new adjustment of the sensors is necessary.
This is triggered by the robot.


  • The robot drives the calibration plates.
  • VisDelta checks if the sensors are within a freely adjustable range.
  • If the sensors are misaligned, a new setup for the sensors can be performed.
Display

The data of the measuring points can be determined via display.
This window displays the current data of the sensors.
Furthermore, it is possible to control the sensors in this window:


  • Connecting and disconnecting the sensors.
  • Switch the laser on and off.
  • Start reading and stopping data.
Credentials

  • Volvo Cars Gent. Removal of A-pillar for Y413 and Y283.
  • Volvo Cars Gent. Removal of front and back door for P11, P12, P14 and Y55x.
  • Volvo Cars Göteborg. Removal A-pillar.
  • Ford Werke Saarlouis. Removal of rear axle.
  • Ford Werke Saarlouis. Loading racks with bumper brackets.
  • MZB Hünxe. Determine the width and length of ordnance, as well as create 3D objects based on the scanned ordnance.

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eMail: info@s-cubic.de