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Epson G10-854SR

Epson G10-854SR Robot Assembly Station, Dispensing Station

The assembly station is divided into the sub-stations 3.1 Dispensing Area, 3.2 Assembly Area Cooler + End Plate, and 3.3 Front Assembly Area. (Cooler = Heat Sink, End Plate = End Plate Angle)

St. 3.1: Dispensing Area
- A WT (Work Tray) with attached chassis and circuit boards enters the dispensing area via the transfer belt.
- It is stopped at the lifting and positioning unit (HuPo), lifted from the belt, and fixed in place.
- The x-y-z handling system then moves the dispensing head to the designated position and starts the dispensing process.
- After successful dispensing, the handling system moves over the rest position, and the WT is placed back onto the belt.
- Further transport to the assembly area Cooler + End Plate (condition: no WT in the assembly position).

St. 3.2: Assembly Area Cooler + End Plate
- A WT from the dispensing area enters the assembly area Cooler + End Plate via the transfer belt.
- It is stopped at the lifting and positioning unit (HuPo), lifted from the belt, and fixed in place, while the side walls of the chassis of the partially assembled unit are aligned.
- Simultaneously, the cooler tray and end plate tray are positioned.
- A stack of cooler trays (12) and a stack of end plate trays (12) are manually placed on the respective infeed belt outside the protective enclosure.
- The two safety gates are opened, and the loaded tray stacks move into the gripping position of the respective stacker.
- The two safety gates are closed again.
- The respective grippers grasp the corresponding tray.
- The z-axis separates the trays and transports them upwards (above the actual picking height).
- A centering support is pushed and positioned under the respective tray using x-axis movement for centering and tray stabilization.
- The respective stacker's z-axis places the respective tray on the corresponding centering support.
- The trays are ready for component removal.
- The multi-gripper on the SCARA robot grips the cooler in the tray and places it in an intermediate position as an alignment aid (to compensate for inaccuracies when picking from the fixed gripping position for assembly).
- The cooler is scanned, gripped again, and, if the scanner result is positive, mounted on the WT.
- The non-conforming cooler is placed in a non-conforming box.
- The multi-gripper on the SCARA robot then grips the end plate in the tray and places it in the alignment position.
- The end plate is gripped again and mounted on the WT.
- Continues with the front assembly area.

Technical Data
Design: SCARA (4-axis robot)
Load capacity: nominal 5 kg, max. 10 kg
Horizontal reach: 850 mm
Vertical reach: Axis 3: 420 mm
Orientation reach: 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
Permissible moment of inertia: nominal 0.02 kg*m², max. 0.25 kg*m²
User cabling, electrical: 1x D-Sub 9 pin, 1x D-Sub 15 pin
Z-axis: Outer diameter: 25 mm
Pressing force: 250 N
Weight: 48 kg
Controller: EPSON RC180
Type of mounting: Ceiling
IP protection class: IP20
Power and signal cable: 3m

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