2.0 Water Pump- Vision Inspection and Pull Force Test

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Application Video

Scenario

  • Robot registers a Landmark to find the location of a water pump for assembly quality assurance.
  • The robot will perform a number of vision inspections and a force pull test. Each time the test passes a green light will be displayed on the light stack. Red light for a failed test.
  • Vision inspect a bolt for part presence.
  • Vision inspect a label for part presence.
  • Vision inspect to see if the pump switch is ON or OFF. If OFF- PASS, If ON- FAIL. If FAIL, the robot takes correction action to flip the switch to the OFF position.
  • Perform a pull test on the spark plug cable to ensure that it is affixed properly. If the cable is tight, then PASS. If FAIL- signal a red light.


Gripper Information

Type: Rethink Robotics Electric Parallel Gripper (EPG)

  • Tool Center Point= 155 mm (Z)
  • Weight= 550 grams
  • COM= (X) 2.8 mm, (Y) -0.4 mm, (Z) 32.2 mm

Pump Inspection Studio Tooling Editor.png

Task Overview

Note: This task was created using Intera 5.1. Some differences may be seen if you are using newer versions of Intera.

Pump Inspection Studio View.png

Key Task Elements

Task Work Flow

Pump Inspection Studio View Task Sequence.png

Bolt and Label Vision Inspection Sequence

Pump Inspection Vision Inspection Sequence.png

Bolt Vision Node

Pump Inspection Vision Inspection Node Bolt.png

Bolt Learn Object Panel

Pump Inspection Vision Inspection Learn Object Bolt.png

Label Vision Node

Pump Inspection Vision Inspection Node Label.png

Label Learn Object Panel

Pump Inspection Vision Inspection Learn Object Label.png


Switch Inspection Sequence

Pump Inspection Vision Inspection Switch Sequence.png

Switch Vision Node

Pump Inspection Vision Inspection Node Switch.png

Switch Learn Object Panel

Pump Inspection Vision Inspection Learn Object Switch.png Pump Inspection Vision Inspection Learn Object Switch Not Present.png


Spark Plug Cable Pull Test

Pump Inspection Wire Pull Force test Sequence Do IF.png


Completed Task

Task File Download

2_0_Water Pump Inspection