View source for Part Alignment Application

In this application a work piece analyzed for orientation and manipulated until it is aligned properly.
It does not only fix the planar rotation, but also checks, if it is upside down.

'''Developer''': [https://rbtx.com rbtx]

You can find a Video of the application [https://downloads.cpr-robots.com/Wiki-Files/Examples/PartAlignment/PartAlignment_Video.mp4 here]!

Program files: [https://downloads.cpr-robots.com/Wiki-Files/Examples/PartAlignment/PartAlignment_Programs.zip PartAlignment_Programs.zip]

= Setup =
'''Robot Type''': igus Gantry DLE-RG-0004-BLDC

[[File:PartAlignment_Setup_close.JPG|thumb|250px]]
The gantry is equipped with a vacuum pump, that is fixed to an [https://www.igus.eu/product/22645?C=DE&L=en&artNr=LCA-RG-DSA-1A-1280-0100 Apiro rotary unit] for picking and turning the piece on a horizontally.

The work piece is placed on a conveyor belt that aligns the piece via a metal funnel. At the end of the belt is a light barrier that detects the piece. An [[2D Camera Integration | ifm-camera]] is placed above this barrier, to analyze the current orientation of the piece.

If the piece is upside-down, the gantry picks the piece and places it into a seperate gripper, which is able to turn it.
Afterwards the piece is aligned again via the conveyor.

Finally the piece is placed to it's exit destination.