PRECISE LOCALIZATION OF PARTS IN BINS - … · PRECISE LOCALIZATION OF PARTS IN BINS ... Ksic...

PLB

PRECISE LOCALIZATION OF PARTS IN BINS

Robot guidance systems

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P L B – R o B o t g u i d a n c e s y s t e m s | s i c K 2014849/2014-05-20Subject to change without notice

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PLB ROBOT GUIDANCE SYSTEMS

Robot-automated parts handling offers considerable potential for manufacturing process optimi-zations and cost reductions. Parts handling during the loading of machines demands a reliable, flexible solution that is able to adapt to diverse system configurations and specific application requirements. The PLB system from SICK can be used in a wide variety of applications such as automotive powertrain production or cast parts manufacturing.

The functionality of conventional machine vision systems is often inadequate for the task of robot guidance. For instance, they do not have any functions for aligning the coordinates of the vision system and the robot or verifying the collision-free positioning of the gripper in the bin. Usually new applications require a substantial amount of programming by the user, ma-king the time and cost for application development too high.

The PLB system provides an alternative to this. By offering flexible CAD-based teach-in of new parts without the need for programming, new applications can be configured within an hour.

With all the tools for integration with the robot available, and 3D-image acquisition optimized for metal surface imaging, it is easy to build the complete application.

Implementation of the system makes it possible to considerab-ly increase the degree of automation in targeted parts handling applications.

The PLB system from SICK is a cost-efficient, user-friendly system for optimizing production equipment by providing robot-assisted parts handling.

PROCESS OPTIMIZATION AND COST SAVINGS FOR AUTOMATED PARTS HANDLING IN PRODUCTION

P L B – R o B o t g u i d a n c e s y s t e m s | s i c K2014849/2014-05-20Subject to change without notice

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ROBOT GUIDANCE SYSTEMS PLB

The PLB system from SICK has been developed for precise localization of parts in bins and boxes. The system can be used in applications where parts need to be localized and passed to the production process individually. Such applications include handling of

EXAMPLES OF USE

Blanks, cast parts and forged parts

When manufacturing individual com-ponents for powertrain and chassis, the blanks are usually collected in bins and transported between the manufacturing cells, for instance lathes or loading systems, in order to cut down on costs.

Components in the assembly process

During assembly, different compo-nents and assemblies are taken from boxes, where they are someti-mes packed loosely, and combined to form the final product.

Stacked goods

Parts such as pistons, shafts and cylinder heads stacked in several layers on pallets are removed from the pallets and singularized.


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LOCALIZATION OF PARTS IN BINS

Additional information

Detailed technical data . . . . . . . . . . . .5

Ordering information . . . . . . . . . . . . . .5

Dimensional drawings . . . . . . . . . . . . .6

Product descriptionThe PLB system was developed for precise localization of parts in bins and boxes. It mobilizes the CAD-based teach-in of new parts for easy configu-ration of new applications and supports short pick-to-pick cycle times and high throughput.

The system comprises a 3D camera and part localization software along with additional tools for easy integration with the robot and communication with a higher-level controller. The came-ra delivers accurate and reliable 3D images and is unaffected by ambient artificial light.

The field-proven tools and functions for alignment of the PLB system with the robot coordinate system, communica-tion with the robot and verification of collision-free gripper positioning relative to the part make it a simple matter to integrate the system in production.

Both the software and hardware are de-signed to be used out of the box, so you can begin to use the system produc-tively without further preparations.

At a glance

• Localization of parts in bins and bo-xes independent of part orientation

• 3D camera with superior image quality

• Reliable part localization, even under varying ambient conditions

• Part localization based on matching between CAD model of part and 3D image

• Verification that free space is availa-ble for the gripper in reported pick positions

• Complete solution comprising hard-ware and software preconfigured and tailored for the precise localization of parts in bins

• Integrated tools for coordinate alignment and communication with the robot

Your benefits • The comprehensive, easy-to-use

solution makes it possible to confi-gure new applications quickly and efficiently

• PLB noticeably reduces the effort of analyzing and designing solutions for new applications

• PLB enables reliable robot-automa-ted part-picking without the need for precise part placement in the bin or on the pallet, thereby maximizing part handling uptime

• Features tailored for the target appli-cations ensure high part localization accuracy and short part picking cycle time

• With PLB, no machine vision exper-tise is needed in order to use and maintain the system

• CAD-based localization makes it easy to introduce new parts in production


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ROBOT GUIDANCE SYSTEMS PLB

Detailed technical dataFeatures

system type: Robot guidance

applications: Localization of parts in storage bins

system features: 3D camera and software package for part localization

camera: 3D snap-shot

example volume of view (L x W x H): 800 mm x 1,200 mm x 1,000 mm (max. size of field of view)1,000 mm x 1,200 mm x 750 mm (max. height range)

nominal working range: 1,000 mm through 2,000 mm

image resolution (X, y, Z): 1 mm through 4 mm, depending on the distance from the camera

Light source: Laser, red, 660 nm, ± 15 nm

Laser class: 2M

3d cad format: IGES, STEP

Part size (approximate): > 100 mm x 100 mm x 100 mm

Localization principle: Matching of 3D shape between CAD model and 3D image

output data: x, y, z (mm), roll, pitch, yaw (degrees)

Performance data

Part localization time: 5 s through 10 s (typical)

Localization accuracy: < ± 2 mm and < ± 1º (typical)

Interfaces

communication: Ethernet, 2x, camera <-> PC, PC <-> robot

data transfer rate (ethernet): 1 Gbit/s (camera), 10/100 Mbit/s (robot)

Protocol (ethernet): UDP/IP (camera), TCP/IP (robot)

digital i/o: 24 V DC I/O (1x input, 1x output)

Camera

mechanical/electrical

connections: Power: M12, 8-pin male, Ethernet: RJ45

supply voltage: 100 V through 240 V AC ± 15 %

Housing material: Aluminum

Housing color: Gray, powder-coated

dimensions (L x W x H): 820 mm x 107 mm x 145 mm

Weight: 13.5 kg

enclosure rating: IP 65

ambient data

ambient temperature, operation: 0 °C through 40 °C, non-condensing

impact load1): 15 g, 3 x 6 directions

Vibration load1): 5 g, 58 Hz through 150 Hz

1) Not during scanning

Ordering information

system type system characteristics type Part number

Robot guidance 3D camera and software package for part localization PLB-500 1058009


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Dimensional drawings

4

5

1 2

76 (2.9

9)

638 (25.12)

820 (32.28)

95 (3.74)

106

(4.1

7)

107

(4.2

1)

3 3

3

31(1.22)20

(0.79)37

(1.46)

16.5

(0.6

5)13

.2(0

.52)

120 (4.72) 120 (4.72) 290 (11.42)

128

(5.0

4)17 (0.6

7)

16.7(0.66) 163 (6.42)

185.2 (7.29)

Key

1 Image sensor

2 Laser unit and rotating mirror

3 Fastening screw thread (M8 x 15 mm)

4 Voltage I/O (M12, 8-pin)

5 Gigabit Ethernet

All dimensions in millimeters (inches)


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SERVICES

Product

Applications

Literature

Service

Accessories

Software

search online quickly and safely – with the sicK “Finders” Efficiency – with the e-commerce tools from SICK

Product Finder: We can help you to quickly target the product that best matches your application.

applications Finder: Select the application description on the basis of the challenge posed, industrial sector, or product group.

Literature Finder: Go directly to the operating instructions, technical information, and other literature on all aspects of products from SICK.

these and other “Finders” at - www.mysick.com

Find out prices and availability: Determine the price and possible delivery date of your desired product simply and quickly at any time.

Request or view a quote: You can have a quote generated online here. Every quote is confirmed to you via e-mail.

order online: You can go through the ordering process in just a few steps.

WWW.MYSICK.COM – SEARCH ONLINE AND ORDER

SERVICES FOR MACHINES AND SYSTEMS: SICK LifeTime ServicesOur comprehensive and versatile LifeTime Services are the perfect addition to the comprehensive range of products from SICK. The services range from product-independent consulting to traditional product services.

Training & EducationPractical, focused and professional

Upgrade & RetrofitsEasy, safe, economical

Consulting & DesignSafe and professional

Verification & OptimizationSafe and regularly inspected

Product & System SupportReliable, fast and on-site

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SICK AG | Waldkirch | Germany | www.sick.com

SICK AT A GLANCESICK is a leading manufacturer of intelligent sensors and sensor solutions for industrial applications. With more than 6,500 employees and over 50 subsidiaries and equity investments as well as numerous repre-sentative offices worldwide, we are always close to our customers. A unique range of products and services creates the perfect basis for controlling processes securely and efficiently, protecting individuals from accidents and preventing damage to the environment.

We have extensive experience in various industries and understand their processes and requirements. With intelligent sensors, we can deliver exactly what our customers need. In application centers in Europe, Asia and North America, system solutions are tested and optimized in accordance with customer specifica-tions. All this makes us a reliable supplier and development partner.

Comprehensive services round out our offering: SICK LifeTime Services provide support throughout the machine life cycle and ensure safety and productivity.

For us, that is “sensor intelligence.”

Worldwide presence:Australia, Austria, Belgium/Luxembourg, Brazil, Czech Republic, Canada, China, Denmark, Finland, France, Germany, Great Britain, Hungary, India, Israel, Italy, Japan, Mexico, Netherlands, Norway, Poland, Romania, Russia, Singapore, Slovenia, South Africa, South Korea, Spain, Sweden, Switzerland, Taiwan, Turkey, United Arab Emirates, USA

Detailed addresses and additional representatives - www.sick.com

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PLR

3D LOCALIZATION OF PARTS IN CARRIERS

Robot guidance systems

P L R – R o b o t g u i d a n c e s y s t e m s | s i c K 8015006/2014-05-20Subject to change without notice

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PLR ROBOT GUIDANCE SYSTEMS

COST-EFFECTIVE, PRECISE ROBOT GUIDANCEPart handling is one of the most important applications for factory automation. The use of flexible robots for this task represents a cost-effective alternative to traditional manual and semiautoma-tic handling systems.

Implementation of part localization for robot guidance de-mands a solution that is reliable and delivers reproducible results while at the same time being easy to use.

Part localization using a 3D-vision sensor delivers the flexibility needed when dealing with discrepancies such as:

• Inaccurately positioned part carriers • Damaged part carriers • Tilted stacks on the pallet • Part positions shifting during transport • Natural part manufacturing tolerances

The PLR sensor from SICK combines a number of key features that are crucial for efficient, precise robot guidance:

• Reliability • Short cycle times • Ease of operation • Low cost

One of the outstanding characteristics of the PLR sensor is its high level of long-term reliability, which is necessary to ensure trouble-free material handling and thus guarantee maximum production uptime.

Because all the functions needed for installation, configuration and verification are integrated in the sensor itself, the effort involved in setting it up and maintaining it in production is kept to a minimum.

The PLR sensor from SICK is a cost-effective, easy-to-use sen-sor for robot guidance in part handling applications.

P L R – R o b o t g u i d a n c e s y s t e m s | s i c K8015006/2014-05-20Subject to change without notice

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ROBOT GUIDANCE SYSTEMS PLR

Among the greatest challenges to be overcome when handling large, bulky stamped sheet metal parts are the mechanical inaccuracies that frequently arise in real life. The parts that are to be manipulated or transported might move. The carriers in which the parts are stored can be da-maged during transportation. Furthermore, it is difficult to position the carriers precisely at the specified location. Introducing PLR-based guidance of the robot provides the flexibility needed to overcome these problems by ensuring reliable and speedy robot parts handling.

EXAMPLE OF USE

ReliabilityThe rugged design of the PLR, its integrated illumination and combined 2D/3D vision technology ensure that measurement results are not impacted by varying ambient conditions or light reflections from the parts.

Ease of operationVery little effort is involved in installing and maintaining the PLR sensor. The sensor can be set up and completely configured in a matter of minutes. The integrated web server means that you can operate the sensor using any stan-dard browser. Maintenance is simple and the PLR offers a quick device repla-cement concept.

Cost-effectivenessThe PLR sensor is an integrated, pre-calibrated standalone sensor that is inexpensive and quick to install and requires no investment in ancillary equipment (such as PCs or controllers).


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LOCALIZATION OF MAINLY ORIENTED PARTS IN CARRIERS

Additional information

Detailed technical data . . . . . . . . . . . .5

Ordering information . . . . . . . . . . . . . .5

Dimensional drawings . . . . . . . . . . . . .6

Product description

At a glance

Your benefits

The PLR has been developed for robot-automated part handling. It is a stand-alone device that includes all the loca-lization functions, an easy-to-use robot interface, as well as all the functions necessary for rapid integration with the robot. The sensor combines state-of-the-art 2D and 3D machine vision tech-niques to provide a unique solution that can be used reliably in environments where ambient conditions vary.

The user interface, which is operated via the integrated web server, and the field-proven tools ensure problem-free integration of the sensor. The short setup time is a hallmark of the sensor.

It can be smoothly retrofitted into exis-ting robot cells and handling stations without any need for vision specialists or additional computer systems.

The PLR is supplied factory-calibrated with software preloaded to enable any new solution to go live without further preparations by the user. Simply install the device, connect it to the robot cont-roller, load an existing job configuration or create a new one in a just couple of minutes, and PLR is ready for operation.

The PLR sensor from SICK is the ideal solution for cost-effective automated part handling.

• Sensor for flexible automated part handling

• Standalone sensor factory-calibrated at SICK

• Precise part localization and rapid measurements

• Combined 2D/3D part localization

• Calculation of correction values for the coordinate system of the gripper

• Reliable part localization, even under varying ambient conditions

• Web server user interface • Tools for alignment and communica-

tion with the robot

• The PLR gives you the flexibility you need for reliable automated part handling.

• The standalone sensor is very cost-effective. Additional hardware such as PCs and cabinets are not required.

• Factory calibration and tools for inte-gration with the robot make it easy to configure new applications.

• The design, together with the func-tions for alignment of the robot and position correction, makes it easy for robot integrators to work with the sensor.

• The functionality of the PLR makes it easy to use without knowledge of machine vision.

• The innovative combination of 2D and 3D image processing techniques provides the reliability and flexibility needed for problem-free material handling operation.

• The integrated web server allows the PLR to be operated through a stan-dard web browser without installing any PLR-specific software on factory PC’s or laptops.


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ROBOT GUIDANCE SYSTEMS PLR

Detailed technical data

Features

system type: Robot guidance

applications: Part localization for robot guidance

system features: Standalone sensor for localization of parts using combined 2D and 3D measurements

Example field of view: 200 mm x 260 mm at 365 mm distance (typical)

measurement range: 360 mm through 370 mm (high-accuracy measurement range)350 through 1500 mm (coarse measurement range)

image resolution (X, y, Z): 0.26 mm

Light source: Laser (660 nm), LED (630 nm)

Laser class: 2M

Led class: Risk group 1 (low risk, IEC 62471:2006)

Performance data

Part localization time: < 500 ms

Localization accuracy1): ± 0.5 mm and ± 0.1º

output data: x, y, z (mm), roll, pitch, yaw (degrees)

1) Depending on part characteristics such as material reflectivity, edge features etc.

Interfaces

communication: Ethernet

data transmission rate: 100 Mbit/s

Protocol: TCP/IP XML and CSV (robot), TCP/IP (operator)

operator interface: Web server

PLR sensor

mechanical/electrical

connections: Power supply: Connector M12, 8-pin, male; Ethernet: M12, 4-pin, D-coded

Supply voltage: 24 V DC ± 20 %

Power consumption: 1.2 A

Housing material: Aluminum (anodized)

Weight: 3 kg

enclosure rating: IP 65

ambient data

ambient temperature, operation: 0 °C through 45 °C

ambient temperature, storage: -30 °C through 70 °C

impact load: 15 g, 3 x 6 directions

Vibration load: 5 g, 58 Hz through 150 Hz

Ordering information

system type system characteristics type Part number

Robot guidance Standalone sensor for localization of parts using combined 2D and 3D measurements

PLR3000 1058779


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Dimensional drawings

189.5 (7.46)

144

(5.6

7 )

73 (2.87) 189 (7.44) 1 (0.0

4)

50

(1.9

7)

85.4

(3

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132.5 (5.22)

211.2 (8.32)

310 (12.20)

6 x 18

80(3.15)

150 (5.91)

(0.71)

150

(5.9

1)

87

(3.4

3)

15

(0.5

9)

30 (1.1

8)

60

(2.3

6)

1 (0.04)

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1 Power supply connector (M12, male)

2 LED illumination connector (M12, female)

3 Ethernet connector (M12, female)

4 Laser aperture

5 Camera aperture

6 Mounting hole pattern, M8 x 8 mm deep

7 Fitting hole pattern, Ø 6H7 x 8 mm deep

8 Top-mounted LED illumination; it is also possible to fit the illumination in 4 positions around the camera aperture

9 Emitted laser light

ß Camera field of view


7

SERVICES

Product

Applications

Literature

Service

Accessories

Software

Search online quickly and safely – with the SICK “Finders” Efficiency – with the e-commerce tools from SICK

Product Finder: We can help you to quickly target the product that best matches your application.

Applications Finder: Select the application description on the basis of the challenge posed, industrial sector, or product group.

Literature Finder: Go directly to the operating instructions, technical information, and other literature on all aspects of products from SICK.

These and other “Finders” at - www.mysick.com

Find out prices and availability: Determine the price and possible delivery date of your desired product simply and quickly at any time.

Request or view a quote: You can have a quote generated online here. Every quote is confirmed to you via e-mail.

order online: You can go through the ordering process in just a few steps.

WWW.MYSICK.COM – SEARCH ONLINE AND ORDER

SERVICES FOR MACHINES AND SYSTEMS: SICK LifeTime ServicesOur comprehensive and versatile LifeTime Services are the perfect addition to the comprehensive range of products from SICK. The services range from product-independent consulting to traditional product services.

Training & EducationPractical, focused and professional

Upgrade & RetrofitsEasy, safe, economical

Consulting & DesignSafe and professional

Verification & OptimizationSafe and regularly inspected

Product & System SupportReliable, fast and on-site

8015

006/

2014

-05

-20

∙ WK

_FA

∙ Pre

USm

od e

n43

SICK AG | Waldkirch | Germany | www.sick.com

SICK AT A GLANCESICK is a leading manufacturer of intelligent sensors and sensor solutions for industrial applications. With more than 6,500 employees and over 50 subsidiaries and equity investments as well as numerous repre-sentative offices worldwide, we are always close to our customers. A unique range of products and services creates the perfect basis for controlling processes securely and efficiently, protecting individuals from accidents and preventing damage to the environment.

We have extensive experience in various industries and understand their processes and requirements. With intelligent sensors, we can deliver exactly what our customers need. In application centers in Europe, Asia and North America, system solutions are tested and optimized in accordance with customer specifica-tions. All this makes us a reliable supplier and development partner.

Comprehensive services round out our offering: SICK LifeTime Services provide support throughout the machine life cycle and ensure safety and productivity.

For us, that is “Sensor Intelligence.”

Worldwide presence:Australia, Austria, Belgium/Luxembourg, Brazil, Czech Republic, Canada, China, Denmark, Finland, France, Germany, Great Britain, Hungary, India, Israel, Italy, Japan, Mexico, Netherlands, Norway, Poland, Romania, Russia, Singapore, Slovenia, South Africa, South Korea, Spain, Sweden, Switzerland, Taiwan, Turkey, United Arab Emirates, USA

Detailed addresses and additional representatives - www.sick.com

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