Smart control system for zero-defect adhesive application using industrial robots

• Joao Cabrita ^[1] ; Fábio Miranda ^[1] ; Magno Guedes ^[1]
  1. [1] Universidade Técnica de Lisboa
• Localización: Proceedings of the Workshop on disruptive information and communication technologies for innovation and digital transformation: 20th December 2019. Bragança, Portugal / coord. por Paulo Leitão, Carlos Fernando da Silva Ramos, Javier Parra Domínguez, 2019, ISBN 978-972-745-271-2, págs. 39-50
• Idioma: inglés
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• Resumen

  • Methods for joining car parts are becoming more complex. The use of adhesive beads in this industry is gaining more relevance to guarantee robustness, comfort, weathertightness and safety when welding is insufficient or not even possible. However, external factors fromequipment, environment or process may influence the viscosity of theadhesive fluid and induce significant flaws that, if not detected and corrected beforehand, can provoke several problems during subsequent assembly procedures. The solution herein presented propose an integrated quality assurance system for the application of adhesive beads using industrial robots. The main objective is to contribute for the zero-defect paradigm in which waste should be reduced to a minimum. This goal is achieved by performing a visual inspection of the fluid application and introducing an additional system agnostic control stack to perform automatic and optimised corrections to the applied bead without hampering the throughput of the production line. The work was implemented and validated in two industrial demonstrators including a collaborative robot and legacy equipment, respectively. It was also integrated with the ROS MoveIt! framework,opening the possibility of extension to other robots.Results shown a success rate of 90% in a relevant industrial environment.