Célula de trabalho para montagem de pequenos componentes em PCB

Dissertação de mestrado integrado em Engenharia Eletrónica Industrial e Computadores, Controlo, Automação e RobóticaNa montagem de uma placa de circuito impresso (PCB), quando todos os componentes são dispositivos montados à superfície (SMD), o processo de montagem é automático. No entanto, se a placa incluir componentes de pino através de furos (PTH), estes têm de ser inseridos manualmente, o que leva a atrasos na linha de produção. Neste contexto, o presente trabalho propõe e valida uma célula de trabalho para a inserção automática de diferentes conetores e componentes eletrónicos, como condensadores, tirístores, entre outros (do tipo PTH), em placas de circuito impresso, baseada num robô colaborativo, num sistema de visão e num controlador lógico programável (PLC, do inglês Programmable Logic Controller). Especificamente, foi utilizado o robô colaborativo TM5-700, capaz de realizar movimentos rápidos e seguros, garantindo uma tarefa de pick and place precisa e eficiente, o sistema de visão externo FH1050 da OMRON, capacitado de funcionalidades de melhoramento de imagem e inspeção, e ainda o PLC NX102-9020, capaz de monitorizar e controlar a célula de trabalho. Para além da tarefa de pick and place, o robô está ainda encarregue de, através do seu sistema de visão interno, fazer a leitura do part number da PCB e a referenciação da mesma, garantindo a correta inserção de todos os componentes nas placas. Por sua vez, o sistema de visão externo valida cada componente antes da sua inserção, dividindo para tal o componente em secções e contabilizando o número de pinos presentes face ao esperado. Por fim, o PLC controla o fluxo da célula de trabalho desenvolvida, recebendo os diferentes sinais provenientes dos restantes sistemas e sensores, e posteriormente tomando decisões e dando ordens para que os sistemas realizem as suas respetivas tarefas de acordo com o fluxo de trabalho. Os diferentes módulos foram validados, tendo sido realizados testes à rapidez e segurança do sistema robô, à fiabilidade e precisão do sistema de visão externo, e ainda à capacidade de monitorização do PLC, bem como de comunicação à base de dados. Os resultados obtidos foram satisfatórios, tendo sido verificados todos os requisitos propostos inicialmente para a célula de trabalho. Em suma, desenvolveu-se uma célula de trabalho operacional capaz de substituir o processo manual na assemblagem de PCBs com componentes do tipo PTH, otimizando este processo e mantendo os altos níveis de desempenho.When assembling a printed circuit board (PCB), when all components are surface mount devices (SMD), the process can be automatic. However, if the board includes pin through-hole (PTH) components, these must be manually inserted, which leads to delays in the production line. In this context, this work proposes and validates a work cell for the automatic insertion of different connectors and electronic components, such as capacitors, thyristors, among others (of the PTH type), in printed circuit boards, based on a collaborative robot, a vision system and a programmable logic controller (PLC). Specifically, it was used the TM5-700 collaborative robot, capable of fast and safe movements, ensuring an accurate and efficient pick and place task, the OMRON FH1050 external vision system, integrating image enhancement and inspection functionalities, and also the NX102-9020 PLC, capable of monitoring and controlling the work cell. Besides the pick and place task, the robot is also in charge of, through its internal vision system, reading the PCB part number and perform its referencing, ensuring the correct insertion of all components in the board. In turn, the external vision system validates each component before its insertion, dividing it into sections and counting the number of pins present compared to what is expected. Finally, the PLC controls the flow of the developed work cell, receiving the different signals from the other systems and sensors, and then making decisions and giving orders to the other systems to perform their respective tasks according to the workflow. The different modules were validated, and tests were made to the speed and safety of the robot system, the reliability and precision of the external vision system, and the PLC monitoring capacity, as well as the database communication features. The results obtained were satisfactory, having verified all the requirements initially proposed for the work cell. In short, an operational work cell was developed capable of replacing the manual process in the assembly of PCBs with PTH components, optimizing this process and maintaining high levels of performance

Work cell for assembling small components in PCB

Flexibility and speed in the development of new industrial machines are essential factors for the success of capital goods industries. When assembling a printed circuit board (PCB), since all the components are surface mounted devices (SMD), the whole process is automatic. However, in many PCBs, it is necessary to place components that are not SMDs, called pin through hole components (PTH), having to be inserted manually, which leads to delays in the production line. This work proposes and validates a prototype work cell based on a collaborative robot and vision systems whose objective is to insert these components in a completely autonomous or semi-autonomous way. Different tests were made to validate this work cell, showing the correct implementation and the possibility of replacing the human worker on this PCB assembly task.European Regional Development Fund (ERDF) through the Operational Competitiveness and Internationalization Programme (COMPETE 2020) of the Portugal 2020 Program [Project No. 45070, " FlexASComp”; Funding Reference: POCI-01-0247FEDER-045070]

Human-robot collaboration (HRC) with vision inspection for PCB assembly

Flexibility and speed in the development of new industrial machines are essential factors for the success of capital goods industries. When assembling a printed circuit board (PCB), since all the components are surface-mounted devices (SMD), the whole process is automatic. However, in many PCBs, it is necessary to place components that are not SMDs, called pin through-hole components (PTH), having to be inserted manually, which leads to delays in the production line. This work proposes and validates a prototype work cell based on a collaborative robot and vision systems whose objective is to insert these components in a completely autonomous or semi-autonomous way. Different tests were made to validate this work cell, showing the correct implementation and the possibility of replacing the human worker on this PCB assembly task.ERDF - European Regional Development Fund(45070

Characterisation of microbial attack on archaeological bone

As part of an EU funded project to investigate the factors influencing bone preservation in the archaeological record, more than 250 bones from 41 archaeological sites in five countries spanning four climatic regions were studied for diagenetic alteration. Sites were selected to cover a range of environmental conditions and archaeological contexts. Microscopic and physical (mercury intrusion porosimetry) analyses of these bones revealed that the majority (68%) had suffered microbial attack. Furthermore, significant differences were found between animal and human bone in both the state of preservation and the type of microbial attack present. These differences in preservation might result from differences in early taphonomy of the bones. © 2003 Elsevier Science Ltd. All rights reserved