LTSOT500E/D

Robot-controlled scanner unit for pick & place applications

The scanners are integral components of the robot grippers.
The robot moves over the entire component or relevant sections during its "orientation run".
The cycle time and spatial conditions define the scanner type.
The scanners that we produce are equipped with one (LTSOT500E) or with two (LTSOT500D) line lasers for recording the component geometry.
They are installed on the robot gripper and are, in terms of the hardware and software, designed for the purpose of scanning the components in both of the robot's directions of movement (forwards and backwards), and defining the position above it.
The component areas are scanned using the line laser.
In accordance with the triangulation principle, the 3D reference profile is determined from that, and saved on the scanning sensor.

Using the comparison between the current 3D profile and the stored reference profile, the scanner calculates possible position and orientation deviations of the component

Scanning directly on the component

Component handling

  • Position-accurate component removal from stacking crates
  • Position-accurate prepacking and repacking
  • Detecting whether the component is present
  • Exact insertion through position-accurate pick up
  • Detection of component typesn
  • The scanners can be used on all robot systems or other handling systems, such as on KUKA, Motoman or Mitsubishi robots

Benefits

  • Installation of the scanners directly on the gripper of the robot or handling system.
  • High level of flexibility.
  • Consistently high measuring accuracy over the entire working area.
  • No complex set-ups or traversing units for covering large working areas (as needed for stationary or external sensors).
  • Cost-effective.
  • Insensitive to stray light.
  • Insensitive to changes in colour on the component surface.
  • No particular distinctive features required on the conveyor system.
  • Deployment of low-priced conveyor and packing systems with relatively large production tolerances.
  • High process reliability, since each part is measured directly prior to pick up.

Setting up in one place - scanning at many places

The systems need to be aligned once (with the robot) to the measuring areas in one place as an example. A special set-up place can also be used to do that.

The settings can be transferred directly to the other access points through copying.

Bin picking

The robot moves over the area where the transport container/crate is "normally" standing, and determines the position of the transport container or the crate using the "crate scan".

The "crate scan" is used to determine displacements relative to the taught-in reference position, and then to send the data to the system control.

The "container positional data" are now known to the robot; all following measurements relate to these positional data.

A plane scan is carried out using the command exchange between the robot and scanning system, whereby the uppermost component position to be scanned is determined firstly via automatic tracking in z-direction.

A list of positions, which is then used by the robot for further individual scans, is created using the found components.

The exact component position in x-, y- and z-direction is measured with each individual scan; after this is done, the coordinates are transferred to the robot for precision removal.

Changes to the component - no problem

  • Menu-guided user interface.
  • Marking the distinctive target areas by simple setting of windows.
  • Following the initial set-up, it is easy to adjust altered components by having the windows adapted in position and size, and by having a reference scanning run carried out again.

Measuring principle

The scanners are integral components of the robot grippers.

The robot moves over the entire component or relevant sections during its "orientation run".

The areas are scanned using the laser.

In accordance with the triangulation principle, the 3D reference profile is determined from that.

The information on height forms a so-called depth image for the profile.

The reference profile is recorded with a single scanning run when setting up the system, and saved.

Using the comparison between the current 3D profile and the stored reference profile, the scanner calculates position and orientation deviations of the component.

Alignment with positioning lasers

Additional lasers mark the reference point of the scanner in the area.

This means that its position in relation to the workpiece is directly visible. After the change made in the motion sequence or in the geometry, a direct, manual check can be made as to whether the reference point of the scanner is still correct in the nests.

Scanner version for one scanning direction

Technical data for the LTSOT500E

Working distance: 200 mm*
Scanning width: 165 mm*
Scans: 500 scans/sec.
Interfaces: 4x dig. Input, 4x dig. Output, 1x Ethernet 100 Mbit
Power supply: 24V DC
1x line laser: 650 nm, protection class 1M/2M
Dimensions (height x width x depth): 100mm x 150mm x 55mm
Housing: Aluminium

Scanner version for two scanning directions

Technical data for the LTSOT500D

Working distance: 250 mm*
Scanning width: 165 mm*
Scans: 500 scans/sec.
Interfaces: 4x dig. Input, 4x dig. Output, 1x Ethernet 100 Mbit
Power supply: 24V DC
2x line lasers: 650 nm, protection class 1M/2M
Dimensions (height x width x depth): 200mm x 270mm x 57mm
Housing: Aluminium



Wente/Thiedig GmbH

Gewerbepark Querumer Forst
Spechtweg 1
38108 Braunschweig

Tel:              +49 531 / 2 19 45 69 - 0
Fax:             +49 531 / 2 19 45 69 - 99
Mail:            info@wente-thiedig.de

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