DRIVES, CONTROLS & AUTOMATION | ROBOTICS
The Semi Mobility
Solution goes to a handover
point where wafer transport
boxes are located. When
the AGV has reached its
destination, the robot arm
is in place to precisely
determine its position with
the help of an integrated
image processing sensor
and performs a fine
calibration.
This moves the robot
into the position to grasp the
transport box with a high
degree of accuracy and
deposit the sensitive wafers
without any vibrations in a storage
space on the AGV platform. Using
this approach, the robot can pick up
and transport two different sizes of
boxes for wafers with a diameter of
200 or 300 mm. Once it has reached
its destination, the robot puts down
the transport boxes on the respective
processing line.
The Semi Mobility Solution moves
around the room on the basis of
stored destinations but chooses the
route there itself. The navigational
capacity of the LBR iiwa platform
enables it to move autonomously
in a safe and sensitive way.
Environment tracking is supported
by laser scanners. They perceive
the environment in real time, thus
preventing collisions.
The safety-oriented environment
recognition also creates the
preconditions for being able to use
the platform as a cobot (collaborative
robot) without a safety fence
near the operators. The gripping
process itself is guided by image
processing. Extremely high precision
and reliability are essential in this
process, because the wafers are
sensitive. Vibrations must be avoided.
Cognex In-Sight 2000 image
processing is responsible for the
referencing and millimeter-accurate
positioning of the gripper. When
selecting the image processing
system to guide the robot, KUKA’s
developers chose Cognex’s InSight
2000 sensors. These sensors
combine the performance of image
processing systems with the ease
and low cost of an industrial sensor.
They also offer maximum flexibility
when mounting in space-constrained
environments. This attribute was
KUKA has already delivered
the first Semi Mobility Solutions
to international semiconductor
manufacturers. The mobile robots
work under cleanroom conditions
and are certified in accordance
Tried-and-tested
cooperation between
KUKA and Cognex
Cognex supported KUKA
during the development of
the Semi Mobility Solution
through the choice of
the sensor, as well as
providing global end
highly
desired in
this application
because the IP sensor
travels on the robot
arm. Minimizing wiring
requirements was also a
key criterion and the In-
Sight 2000 provided easy
integration via Ethernet and
PoE connections, which was
another factor behind the decision.
In addition, KUKA’s engineers
appreciate the fact that with In-Sight
2000 the logic circuit is integrated into
the device and the image processing
quite simply lets itself be taught.
Ralf Ziegler, Business Development
Manager Electronics at KUKA:
“The extensive communication
possibilities that the sensor offers,
its ‘built-in’ intelligence and the
good programmability are also
advantageous.”
The In-Sight 2000’s patent-pending
integrated LED lighting provides
uniform illumination over the whole
image, regardless of the prevailing
lighting conditions. This is particularly
important in mobile applications
because there is not the same lighting
everywhere and even the time of day
or the season can affect the image
quality.
In practice, the Semi Mobility
Solution first drives the robot gripper
up to the transport box. At this point,
the image processing is activated.
It recognizes the offset from the
destination point stored in the control
system and on this basis references
the position of the gripper, which can
subsequently grasp the respective
transport box with the required high
user support
degree of
millimetric
precision. An
integrated calibration
function guarantees
consistently accurate
positioning.
with ISO Class 3 (IPA), UL
1740 and UL 1998. They
can also be used in a fleet
and using Cognex’s
state-of-the-are image
processing grasp the
boxes with the highly
sensitive wafers both
reliably and accurately.
This innovative solution
marks an important
automation step in the
microprocessor production
chain.
Tried-and-tested cooperation
between KUKA and Cognex
Cognex supported KUKA during the
development of the Semi Mobility
Solution through the choice of the
sensor, as well as providing global
end user support.
Supplying the In-Sight 2000 for
the Semi Mobility Solution is not the
first collaboration between KUKA
and Cognex. Cognex’s sensor and
camera systems are also used in the
high-performance ‘KUKA.VisionTech’
solutions for image processing
algorithms that KUKA has developed.
For example, they enable reliable
quality or completeness checks to
be made on components even in
unstructured environments.
KUKA appreciates working
with Cognex not only for the
high-performance products and
solutions but also because of their
straightforward collaboration and
global presence. Ralf Ziegler: “With
our partner Cognex, we can offer
our clients and integrators good
solutions and comprehensive support
all around the world. If spare parts
are needed, Cognex can supply our
clients and integrators within a very
short space of time.” !
22 WWW.EUREKAMAGAZINE.CO.UK | DECEMBER 2020
/WWW.EUREKAMAGAZINE.CO.UK