Position detection for removal of the upper housing part

The task

In order to close the battery pack, the housing top must be removed from a material container using a gantry or articulated-arm robot. To do this, it is first necessary to determine the position of the component in the container without contact.

The challenge

The housing tops are transported to the removal station in material containers, which leads to a certain position inaccuracy of the components. For a precise gripping process, sensors should determine the exact position of the housing tops. They can be made of different materials such as carbon fiber composites or aluminum and stored horizontally or vertically. The size of such housing tops adds to the difficulty - even small mismeasurements can cause damage to the robot gripper or the component.

Our solution

Due to the size of the housing tops, two VISOR^® Robotic are integrated directly on the robot gripper over two prominent features of the object, making efficient use of the resolution and enabling precise and smooth removal of the housing tops from the material container. With the hand-eye calibration included in the vision sensor, it communicates directly in robot coordinates. In addition, the contour detector offers position control and thus provides additional information for safe gripping of the component in addition to the position coordinates. The VISOR^® is triggered by a special robot command in which the current robot position is transmitted to the VISOR^®. Without a complex back-calculation on the robot controller, it thus always provides the real position of the component in robot coordinates. This is a considerable advantage, especially when handling several objects from different storage areas.