Screw tightening work using robot vision iVY system

The iVY system highly functionalizes screw tightening work by a SCARA robot

  • Various conditions can be handled by adding the iVY system’s position detection function.For example, the robot can be easily incorporated in cases such as when the screw hole positions are inconsistent, the workpiece position on the conveyor is not consistent, or when multiple types of workpieces are supplied.
  • The iVY system can be calibrated with simple operations. The teaching process can be reduced, so the system startup time can be shortened and labor costs can be reduced, etc.
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Process-to-process transfer using inverse specifications

Transfer workpieces between processes using the inverse specifications

  • The inverse specifications allow the workpiece to be held from below, so the dropping of foreign matter onto the workpiece being transferred can be prevented.
  • Three installation patterns can be selected: the Yamaha Scalar robot’s standard floor installation, wall mounting and this inverse specification (*). Yamaha proposes various ideas when designing your system.
  • The optimum mechanism combination and control method are proposed according to the required repeatability.

* Caution
If the standard specifications, normal ceiling suspended or wall mounted specifications are installed in an inverse state, the system could fail. Always select the inverse dedicated specification (YK-XS-U) when considering a system as explained in this example.

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Process-to-process transfer of heavy workpieces

Process-to-process transfer of heavy workpieces

  • The timing belt-less drive using the built-in structure realizes a high tolerable inertia for the R axis.
  • A large hand can be used with this high tolerable inertia for the R axis. The transferrable quantity per session increases, and attains a higher efficiency.
  • With a low inertia, the R axis can be moved with a high acceleration, and the cycle time can be shortened.
  • Harmonic gears are adopted for the XYR axis reduction gears.
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Finished product inspection, touch-panel type evaluation machine

Finished product function test.
Developed software evaluation.
Push button type quality check.

  • Supports a variety of systems in a product lineup that is top class in its field with arm lengths from 120mm to 1200mm.
  • Space saving.
  • Using SCARA, judgment is made through image processing by pushing each button.

Conveying masks for wafers

Replacing wafer mask from the stocker.

  • Drive section installed beneath work pieces has clean specs + inverted structure.
  • If the cylindrical coordinate type robot is used, a running axis is necessary for this application. However, if SCARA with the interpolation function is used, the fixed type is usable.

Assembly cell (independent cell)

Tall workpieces stacked by utilizing long Z axis.

  • Use of SCARA can cope with the Z axis long stroke as a
    quasi standard.
    YK250XH to 400XH Quasi standard Z axis stroke: 300mm
    YK500XG to 600XGH Quasi standard Z axis stroke: 600mm
    YK700XG to 1000XG Quasi standard Z axis stroke: 800mm
  • Advantages of use of SCARA: speed of XY axis and space saving installation.

Assembly cell (line cell)

Base machine of independent type assembly cell.

  • Optimum for multi type variable quantity production.
  • Setting up reception places forms a construction of multiple number of cells.

IC palletizing within the unit

Base machine of line type assembly cell.

  • Utilization of advantages of SCARA with a wide operation range.
  • Form a line to any length by coupling these cells together.

Assembly cell (Handling unit for special purpose tester)

When placed between 2 turn tables, handling of both tables is possible.

  • Utilization of advantages of SCARA which has a wide operation range.