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Epson G10-854SR

Epson G10-854SR Robot Assembly Station Dispensing Station

The assembly station is divided into the following sub-stations: 3.1 Dispensing Area, 3.2 Assembly Area Heatsink + Front Wall Bracket, and 3.3 Assembly Area Front. (KK = Heatsink, SW = Front Wall Bracket)

St.3.1: Dispensing Area
- A workpiece carrier (WT) with mounted chassis and PCB enters the dispensing area via the transfer belt.
- It is stopped at the lift-positioning unit (HuPo), lifted off the belt and fixed in place.
- Next, the x-y-z handling system moves the dispensing head to the specified location and starts the dispensing process.
- After successful dispensing, the handling system moves into the park position and the WT is set back onto the belt.
- The carrier is then conveyed to the Assembly Area Heatsink + Front Wall Bracket (provided there is no WT in the placement position).

St.3.2: Assembly Area Heatsink + Front Wall Bracket
- A WT moves from the dispensing area into the Assembly Area Heatsink + Front Wall Bracket via the transfer belt.
- It is stopped at the lift-positioning unit (HuPo), lifted off the belt, and fixed in place; at the same time, the chassis side walls of the partially assembled unit are aligned.
- Simultaneously, the heatsink tray and front wall tray are positioned.
- A stack of 12 heatsink trays and a stack of 12 front wall bracket trays are manually placed onto the respective infeed belts outside the safety enclosure.
- The two safety interlocks are opened and the loaded tray stacks move into the gripping position of each stacker.
- The safety interlocks close again.
- The corresponding grippers pick up the respective tray.
- The tray is separated and transported upwards with the stacker z-axis to above the actual pick-up height.
- To center and stabilize the tray, a centering support is pushed and positioned underneath each tray by the x-handling system.
- With the stacker z-axis, each tray is set onto its corresponding centering support.
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- The trays are now ready for component removal.
- Using the multi-gripper on the SCARA robot, the heatsink (KK) is gripped from the tray and placed in an intermediate alignment position (to compensate for pickup inaccuracies and ensure a repeatable gripping position for assembly).
- The heatsink is scanned, picked up again, and if the scanner result is OK, it is assembled onto the WT.
- If not OK, the heatsink is placed in an NOK box.
- The SCARA robot multi-gripper then picks up the front wall bracket (SW) from the tray and places it in the alignment position.
- The front wall bracket is picked up again and assembled onto the WT.
- Proceed to Assembly Area Front.

Technical Data
Model: SCARA (4-axis robot)
Payload: nominal 5 kg, max. 10 kg
Horizontal reach: 850 mm
Vertical reach: Axis 3: 420 mm
Orientation range: J4: +/- 360°
Horizontal repeatability: +/- 0.025 mm
Vertical repeatability: J3: +/- 0.01 mm
Orientation repeatability: J4: +/- 0.005°
Max. operating range: Axis 1: +/- 152°, Axis 2: +/- 152.5°, Axis 3: 420 mm, Axis 4: +/- 360°
Max. operating speed: J1,J2: +/- 11,000 mm/s, J3: +/- 2,350 mm/s, J4: +/- 2,400°/s
Allowable moment of inertia: nom. 0.02 kg*m², max. 0.25 kg*m²
User cabling electrical: 1x D-Sub 9 pin, 1x D-Sub 15 pin
Z-Axis: Ø outer: 25 mm
Press-in force: 250 N
Weight: 48 kg
Controller: EPSON RC180
Mounting type: ceiling
IP Protection class: IP20
Power and signal cables: 3m

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