Fuegen von Crimpkontakten mit Industrieroboter unter Zuhilfenahme eines Bildverarbeitungssystems

In the automatic assembly of wire harnesses, the fitting of crimp contacts into connectors is especially difficult because of the flexible wires and the complexity of the contact shapes. In order to realize this automatic fitting with an industrial robot, two CCD-cameras are mounted on the robot arm to measure the tolerances of the crimp contacts and the connectors. Special backlight systems are developed in order to enable the binary image processing. By analyzing the positioning errors systematically, a fitting strategy is established and improved by experiments. (IPA)