D6: Hydraulic valve assembly using sensitive compliant lightweight robots (HyLight)
Joining small parts with tight fit (few micrometres), like inserting a spool into the main body of a valve assembly, is so far very hard to automatise and requires complex, costly and as such not SME suitable machinery. Demonstrator D6 shows a versatile automation system for tight fits using a KUKA iiwa compliant robot arm, custom-made grippers and several external sensing systems.
The system will assemble hydraulic valves consisting of 17 parts in a fully automated process, including use of the KUKA iiwa’s internal sensors for in-line quality control. Integration of assembly planning and 2D or 3D vision is used to minimise the need for product specific fixtures or accurate part delivery. The integrated planning allows shop floor workers to “reprogram” the systems quickly for product variations (different size, weight or auxiliary connectors of the valve).