Design bases of a mobile robotic
Co-Worker equipped with Vision and Artificial Intelligence to automate High
Value-Added operations
Integral
Equipment: COBOT for multiple uses (with one or two robotic arms of 6 degrees
of freedom) mounted on an AGV or electric rail motor cart, equipped with
Artificial Vision synchronized with the operation to be carried out and
equipped with Artificial Intelligence tools to make it in the medium term the
best "Artificial Operator of the process to be automated"
Pilot Case No. 1: Manual welding of all kinds,
even in places inaccessible to robots mounted on Gantries or on rails on the
ground, by putting guides / paths supported on pillars to the AGV / motor
carriage on which the Cobot is mounted
Pilot Case No. 2: Insertion and soldering of
transistors on an electronic board, screwing with torque control of the boards
in housings / cabinets and sealing of the entire structure to prevent corrosion
The implementation of this Co-Worker to automate
High Added Value operations will mean a radical improvement in the strategic
KPIs of all types of factories, for example, small and large batch boiler
factories with a high load of welders, electronics factories, Shipyards,
Railway Sector, Public Works Machinery, Large Metal Structures, Wind Farm,
Automobile, etc.
Version updated to 9. May. 2025
Álvaro Ballesteros
Summary of Pilot Case No. 1
Automation
of manual welding of all kinds, even in places inaccessible to robots mounted
on Gantries or on rails on the ground, by putting guides / paths supported on
pillars where the AGV / motor carriage on which the Cobot is mounted enters
Starting
point
In the key
welding processes of many factories there is a very worrying absence of welders
with the experience that is needed
And what is
more serious, in many cases this lack of welders is decisively limiting the
Business Plans of these Companies, since this operation is the Bottleneck that
conditions the capacity of the entire industrial process
On the
other hand, the costs of these operators are very high, clearly limiting the
benefits of these Income Statements: we are talking in many cases about €
50,000 / operator-year, company cost
These
welding operations are carried out in at least three work shifts, and in many
cases even weekend shifts with a much higher cost/hour than those on weekdays
In
addition, in addition to these manual welding operations, given their critical
nature, there are considerable costs of inspection operations of the quality of
these welds (inspectors who, in addition, have higher costs/hour than those of
welding operators)
Keys to
the Integral Project
Comprehensive
solution LEAN + COBOT ́s + AGV ́s + ARTIFICIAL VISION + ARTIFICIAL INTELLIGENCE
The
programming of the COBOT will be simple and easy to implement, with the
ultimate goal of having the programmer be the welder himself
The AGV
will be equipped with key autonomous navigation tools, such as LIDAR, radars,
RGB and infrared cameras, to ensure correct autonomous circulation through the
changing environments typical of welding halls
The
Navigation software will take the COBOT's to the locations/stations that are
defined, with the precision that is necessary, via differential GPS / SLAM
Navigation and will park them at the stations that are defined with the
precision that is required, by means of QR codes or similar technology
The 3D
scanning of the structure before starting the welding operations will allow,
after the initial pass, laser markings of the positions of the parts in the
structure
The
Artificial Vision will guide the COBOT to ensure the proper progress of the
cords that are carried out in a given joint, until the quality that has been
defined is finished
Artificial
Vision will provide COBOT, before the welding operation itself, with precise
images of the parts to be welded and the interior of the structure where the
parts are going to go
In the
final version, one of the robotic arms will hold the part to be welded while
the other arm performs the welding operation itself
There will
be COBOTS to carry out weld quality inspection, using ultrasonic equipment,
X-rays, etc., or other devices that will be mounted on the robotic arms
Each weld
carried out by COBOT, with its parameters of speed, angle and intensity, will
feed an Artificial Intelligence so that the corresponding learning of the
neural networks will bring us closer to the "State of the Art" of all
the welds that have been carried out for this type of specific problems
Global
approach
We propose
to focus the Project in three phases:
Phase nº1 Pilot: LEAN techniques +
Operator + welding COBOT capable of being transported by means of a trolley
equipped with a lifting system and motorised wheels
Phase nº2: COBOT + AGV + Machine Vision
Integration
Phase nº3: Artificial Intelligence +
Quantum Computing
NOTE. By
having the COBOT running, with all that it implies in recording the history of
welding sequences, Phase nº3 can be started at any time, feeding the Artificial
Intelligence Neural Network so that it learns from the successive robotic welds
that are carried out
Summary of Pilot Case No. 2
Insertion
and soldering of component transistors on an electronic board,
torque-controlled screwing of the boards into housings, and sealing of the
entire structure to prevent corrosion
The
operations are located in a Lay-out shaped U-cell promoted by Toyota/LEAN
The Cobot
goes from one station to another, carrying out the operations of each station
and moving between stations by means of the autonomous navigation AGV that
ensures precision in positioning in each case
Inserting
and Soldering Components on an Electronic Board
-Our Co-Worker explores the board
where the components are to be inserted, via 3D scan
-Pick up
the component handling head
-Takes the
components to be inserted, one by one, and inserts them into their positions,
supported by Vision
-Our
Co-Worker leaves the component insertion head, picks up the card handling head,
and flips the card over
-Grab the
smart tin solder head, e.g. one from JBC
-Our 6-axis
Cobot is capable of carrying out the necessary movements to face the tin
soldering head to the ideal position that is needed in each case
-Performing
a 3D scan of the area to be welded
-After this
first pass, the welding can begin, adapting the head to the real 3D relief of
the area to be welded
-Being
talking about a Cobot, the welding paths can be carried out by guiding the head
by the operators themselves, which greatly reduces programming hours
-By
carrying out this reduction in hours, it can be said that our Cobot solution is
ideal for solving problems of short batches
Screwing
cards into housings
-The
Co-Worker leaves the welding head and goes to the area where the cards are
mounted on the housings
-Grab the
screwdriver head that has torque control
-It makes a
3D scanner to know where the holes are
-Perform
the screwing
Sealing
of housings / cabinets / final structures to prevent corrosion in the field
-The
Co-Worker leaves the bolting head and heads to the area where the finished
structures are
-Takes a sealing
head, which has control of sealing parameters and management of the beginning
and end of operation
-Makes,
mounted on the AGV, a return to the structure, to scan the area to be sealed by
Vision
-Start the
operation, and seal by moving the head according to the parameters indicated by
the Vision / AI
This
solution will mean a radical improvement in the strategic KPIs of all types of
factories, for example small and numerous batch boiler shops with a high load
of welders, electronics factories, shipyards, the railway sector, machinery for
public works, large metal structures, wind power, automobile, etc.
Index
1.
Pilot Case No. 1: manual welding of all kinds, even in places
inaccessible to robots mounted on Gantries or on rails on the ground, when
putting guides/paths on it. LEAN Principles to Apply
2.
Pilot Phase: creation of the mobile Welding Equipment / COBOT that can
be moved by means of a trolley equipped with a lifting system and motorised
wheels
3.
Base equipment: COBOT + AGV + Machine Vision integration
4.
Integration of AI + Quantum Computing
5.
Use of the AGVs of the COBOT / AGV equipment for operations other than
the welding of parts in structures
6.
Use of COBOT/AGV equipment to perform assembly operations
7.
Implementation of AGVs to move structures/sections throughout the
factory
8.
Estimation, in large numbers, of costs / benefits
9.
Pilot Case No. 2: Insertion and soldering of component transistors on an
electronic board, torque control screwing of the boards into housings and
sealing of the entire structure to prevent corrosion
10.
Next steps
ANNEXES
ANNEX 1. Observations of LEAN Value
vs. No Value Waste in Welding of Key Boilermaking Parts in the Naval Sector
ANNEX 2. Best practices of Robotics
in Operating Rooms that can be applicable in welding processes of Heavy
Boilermaking
ANNEX 3. Digital Twins, Artificial
Intelligence and Simulation Software
ANNEX
4. Starting ideas that help lay the foundations of this Project
1.
Pilot Case No. 1: manual welding of all kinds, even in places
inaccessible to robots mounted on Gantries or on rails on the ground, when
putting guides/paths on it. LEAN Principles to Apply
The
solution sought, in the purest LEAN sense, has the following key objectives:
-Break
welding bottlenecks that are mounted around fixed installations such as robots
mounted on gantries or moving on the ground via a track
-Take
robotic welding to places impossible for robots mounted on gantries or for
those that run on tracks on the ground, for example, inside submarines,
internal ribs of large structures, etc.
-Change the
paradigm that parts must be moved to robotic stations that are in fixed
locations and be able to make welding Robots/Cobots capable of moving
intelligently throughout large parts that are located anywhere in the factories
For this
reason, we will opt for a series of welding Cobots that can be mounted on AGVs
if the ground is normal and/or on motorized carts that are mounted on guides
supported by pillars in order to overcome the obstacles that are in the ground
to be welded
The
technology to take the Cobots to places with difficult access would be similar
to the electrorail systems that exist in automobile factories to, for example,
take the already welded doors by air to the Framing 1 stations, where the total
assembly of the body is carried out, before being sent to the Paint
With this
solution, the welding of parts will never be a bottleneck because we will put
as many autonomous equipment as we need, capable of welding simultaneously on
different parts of the structure and/or different structures
On the
other hand, following another of TOYOTA's key principles when it defined LEAN,
it would be necessary to avoid the risks of an implementation in which
everything is new, which implies relying on already proven technologies, to
which we are going to add successive integrations
Examples:
-The COBOT
must be able to work with any type of robotic welding
-The
objective of the above statement is that we must be able to adapt to the brands
of solder sources that each Customer has, including tin solder in electronic
factories
-AGVs will
have LIDAR and SLAM Navigation systems (which allow autonomous navigation)
already existing in the market
-The AGVs will be equipped with Mecanum type
wheels already on the market, capable of turning each of them 360º without
moving, in order to have a maximum maneuverability on complicated roads
-The team
will be able to have a double robotic arm, with the ultimate goal that one arm
is able to pick up the part and the other weld
-The
Solution will be COBOTS type, so that from the beginning there is a harmonious
human-machine coexistence/integration
This
COBOTS-type solution also has a fundamental advantage over 100% automations
where there is a low or medium percentage of complex operations: we can start
by automating repetitive / painful / low value-added operations with Cobots and
let the most complex operations continue to be done by people
-In this
way, we are gradually automating operations, which will involve simple
progressive implementations, instead of tackling a large complex automation
In fact, we
suggest an initial Pilot Phase exclusively based on the Welder-COBOT pair
In the
initial stage, we would leave the most painful and repetitive tasks to COBOT
For
example, in a first phase the welder would do the stippling operations and the
COBOT would follow to do the welding itself
Behind the
equipment would come another AGV with a robotic arm equipped with a probe +
Vision, to check immediately after the welding operation the correct quality
2.
Pilot Phase: creation of the mobile Welding Equipment / COBOT that can
be moved by means of a trolley equipped with a lifting system and motorised
wheels
Following the purest philosophy of COBOT's,
seeking maximum simplicity, the most important part of the commissioning of the
first parts must be done by the welder, guiding the robotic arm according to
his experience of 20 / 30 years
We firmly believe that welders will approve of
the idea of letting their more tedious/unergonomic tasks be done by their new
partner
In this way, these good professionals will be
able to dedicate their time to what is really important: achieving high-quality
welds, in 100% of cases
It must be remembered that one of the magics of
automating a weld is that all the sequences are recorded, so being able to
choose the ones that have given the best results is of vital importance for the
Company
It must be remembered that one of the magics of
automating a weld is that all the sequences are recorded, so being able to
choose the ones that have given the best results is of vital importance for the
Company
This implies that in this Pilot we would not
include anything related to AGVs or Artificial Vision
In this pilot case, the COBOT and the welding
equipment would be transported by means of a trolley equipped with a lifting
system and motorised wheels
What we do propose is to lay the foundations in
this Pilot Project to include Artificial Intelligence tools from the beginning
In this Pilot Project we will make things
simple enough so that the Client's need for programming resources is minimal
(which, on the other hand, is within the implementation philosophy of the COBOT
concept)
In fact, we want the COBOT
"programmer" to be the operator himself
The initial tasks of the COBOT would serve as
an aid to the operator, in order for the COBOT to do things that are painful
and/or unattractive to the operator
The second robotic arm would not be necessary
in this Pilot, because the welder would do the stippling of the part and the
COBOT the rest
3. Base equipment: COBOT + AGV +
Machine Vision integration
Starting ideas for the robot
-ABB's
Yumi-type COBOT, with two robotic arms of 6 degrees of freedom each, with the
same waist or different waists
-Google's
APOLLO robot (presented by Google after its agreement with APPTRONIK)
-The most
important thing we can take advantage of this robot, apart from the 6 degrees
of freedom of the arms, would be what it has in its head: viewers + access /
collaboration with GOOGLE Artificial Intelligence
COBOT +
AGV + Machine Vision Integration
In the
lower part, for movement, we believe that it is much more suitable than the
lower limbs of the APOLLO that there is an AGV with MECANUM wheels, to be able
to rotate 360º without moving (which will allow complicated maneuvers within
the structure to be able to access difficult places)
We do not
see the head part like the APOLLO: we would replace it with a third robotic arm
with 6 degrees of freedom, where Artificial Vision can be mounted, a 3D LIDAR
Scanner to take a precision 3D scan of the interior of the structure before
starting the welding of parts, with ultrasonic inspection equipment (for
example ToFD type "Time of Flight Difraction") to be carried out
automatically, by means of another AGV,
the welding inspection operations
The AGV
would be equipped with LIDAR and SLAM Navigation
If it is
necessary to maintain total security for people, we will add infrared detectors
One of the
arms would carry the torch and the other the piece to be welded
Under the
arms would go the welding equipment
The arms
and equipment must be designed in such a way that the entire assembly can be
mounted on top of a pallet
Example
found on the Internet:
(Image by
THG)
This
equipment, with its pallet-type base, apart from being easily mounted on the
AGV, can be moved anywhere in the factory with a forklift or pallet truck
This could
be useful for taking the equipment to other welding areas, although in our case
I think it would be best to opt for the integrated COBOT + AGV solution from
the beginning
In
conclusion, it is good that the COBOT can be removed from the AGV for cases
where a wheeled AGV is not the best way for the robot to move
In other
cases, when the surface on which the robot moves is very irregular, which has
reinforcing ribs on the ground, which must be welded, we will put guides on top
of this floor, supported by supports
The COBOT
will rely on these guides and will have a motorized system to move through them
https://www.youtube.com/watch?v=jGYHkEEUb2U
(Image by
Inrotech)
The 3D
scanning camera will take 3D images of the parts to be welded and the actual
state of the surface on which each part is to be mounted. From this 3D image,
the corresponding CAD/CAM and the specific schedules, piece by piece, of each
weld will be created.
In a first
phase the parts will be placed/dotted on the structure by the welder
The welder
will perform with the COBOT the welding sequence that he, based on his
experience, advises
With this,
the sequence will remain in the COBOT and the robotic welding operation itself
can begin
In a second
phase, after the corresponding learning, it will be possible to carry out as
has been said: 3D CAD IMAGEà -à CAM-à robotic welding
Physical
displacement system of the COBOT/AGV to weld parts within a structure that has
very uneven soil
The
solution to move the AGV+ROBOT within a structure of this type, if the lower
part is very complicated and has a multitude of obstacles, would be to put some
simple rails mounted on pillars that would be fixed to the irregular bottom
The COBOT
would be mounted on a motorized cart that would move along the path of the
rails
(see Annex
4.5)
At a later
stage, for more complex cases, we would mount the COBOT on an AGV
It would be
like creating a "highway to cross Despañaperros"
These train
tracks would be placed halfway up inside the hole of the structure
Continuing
with the simile, that highway should have split areas, so that a COBOT/AGV
vehicle can be overtaken by others
In very
special cases we could electrify the guides, with electrovia-type solutions
present in all car factories
In either
case, these tracks must be designed in such a way that they are capable of
making the turns and ramps that are necessary to overcome the obstacles inside
the structure, for example, parts that have already been welded in the first
passes of the AGV / COBOT equipment
In order
for AGVs/ROBOTS to be able to enter and exit structures we need exit entry
ramps
Once the
work on the structure was finished ("tunnel traversed"), the
AGVs/COBOTS would go autonomously across the floor of the halls to initiate
internal welding operations on other structures
In the end
it would be like building a model of train tracks, with tunnels/pillars and
open spaces along the entire length of the warehouse
Traffic
control on those routes on which the COBOTs/AGVs will move will be managed with
all the existing technology in the AGVs, via SLAM Navigation
They will
also carry Differential GPS and QR codes to ensure exact positioning at the
stations that are defined
Obviously,
in accordance with the SMED principles of the LEAN, these rails equipped with
pillars must be designed so that they can be assembled and dismantled quickly
Whatever
the method of introducing the COBOTS/AGVs into the interior of the structure,
the result will be that the COBOTS/AGVs will move at a certain level/height
within the structure, on which they will be able to weld the pieces inside the
structure
As we have
mentioned before, the millimetric precision that we need for welding operations
will be achieved by passing the information to the COBOT with Differential GPS
and QR codes recorded at each station
Important
note: it is not necessary for the arms of the robots to be large in order to
reach considerable heights on the surface of the structure: it is the AGV that
must be equipped with lifting tables with three degrees of freedom in order to
be able to position the COBOT/AGV in the necessary spatial position
This aspect
is key to the design because it implies that small robots have to be put inside
the structure, given the small spaces inside
Welding
work according to LEAN Cell principles to get several COBOTS / AGVs to work at
the same time in a coordinated way
In a first
start-up phase, we suggest working as you do in LEAN Cells, especially by
applying the concept of operator/machine separation
From this
point of view, the welder will perform the operations of pinpointing the part
in its correct position, and then behind the welder the COBOT/AGV will arrive
to carry out the welding itself: the operator goes to tap another internal one
and the machine stays until the operation is finished
Continuing
with the U-cell concepts, there could be several operators and several
COBOTS/AGVs working at the cycle time that has been defined to meet the
deadlines defined by the Client
For
sequential operations where the part has to pass different machines, if it is
not possible to make U-cells because the cost of moving those machines is too
high (e.g. because of having pits), the AGV-mounted Cobto can carry the part
from machine to machine and perform only the loading/unloading operations on
each machine, with the help of your
Machine Vision devices
In the case
of Robots that are mounted on a 7-axis via Rail / Track and that serve to
connect machines, our solution of the COBOt being mounted on the AGV gives you
much better possibilities in terms of maneuvering capabilities
https://www.linkedin.com/company/evomatic/posts/?feedView=all
Marking
of waypoints for navigation of the COBOT/AGV within the structure
In the
first phase, the marking will be carried out manually
In a second
phase, prior to the welding operation itself, an AGV carrying a mounted 3D
scanner would carry out a sweep of the entire structure, to know its
irregularities and to be able to mark the references that are needed for the
correct navigation of the COBOT / AGV
After the
initial sweeps have been carried out, a marker COBOT mounted on an AGV will
mark the places where the parts will be assembled on the inside of the
structure
4. Integration
of AI + Quantum Computing
The
experience of professional welders teaches COBOT the best welding sequences
The
parameters of the optimal weld are recorded
We compare
these welding sequences / parameters with the Best Practices that are in CLIENT
and on the Internet for similar cases
With Deep
Learning, welding will improve day by day
For
example, with the use of neural networks, predictions can be made of the
optimal heights of the weld seam travel so that the operation is perfect
All the
videos of the welds that have been made in the past must be entered into the IA
so that the IA tells us which one is the best, so that it can be performed in
the next operation
As one of
the key creators of AI, Jurgen Schmidhuber, would say, it would be a matter of
gradually creating "the best artificial welder"
We can take
advantage of Google's quantum computing (whose services can be rented on
demand) to calculate the optimal paths, carry out the simulations in real time
and give instant feedback to the robot to achieve the perfect weld
We
understand that this speed in the response, of all the simulations proposed by
AI, would be the great advantage of this quantum computing
One option
would be to partner with Google DeepMind to have at our disposal all the
possibilities of its GEMINI AI and the WILLOW quantum chip
5. Use
of the AGVs of the COBOT / AGV equipment for operations other than the welding
of parts in structures
As
mentioned above, the welding equipment must be able to be easily and
automatically removed from the AGV
We are
thinking of facilitating this operation if the COBOT + Welding Equipment
assembly is mounted on a European pallet base
Another
option would be to mount the Cobot on a base that has four legs and be able to
move that structure with AGVs that enter from underneath, rise, mount the Cobot
on top and take it to the next station to continue doing welding operations
https://www.youtube.com/watch?v=eqxXwqhZ5DY&t=69s
For
example, the COBOT + Welding Equipment assembly can be removed and a robotic
arm can be inserted with one of the following devices in the gripper:
-An
ultrasonic or X-ray defect detection equipment
-A sealing
dispenser
-A
screwdriver
7. Estimation, in large numbers, of costs /
benefits
Savings
2 welders/shift
Company cost per welder: 50,000 €
Savings: 2 welders / shift x 3 shifts x €50,000
/ operator: €300,000
Total,
estimated savings: €300,000 / year
Costs
COBOT: 100,000 €
AGV: 100.000 €
Design Engineering Hours: 1000h x 100 € / h = 100.000 €
Machine Vision + AI Integration Hours: 1000h x 100 € / h = 100,000
€
Commissioning hours: 1000h x 50 € / h = 50.000 €
Total,
estimated costs: 450.000 €
Estimated
cost/benefit ratio: 1.5 years
Other
savings to be estimated
100% quality the first time
Inspector time savings, for 100%
first-time quality
Additional
benefits for destruction of the welding bottleneck and being able to have more
orders (loss of opportunity benefits)
Possible project for partial
automation of inspection operations, with ultrasonic equipment mounted on the
COBOT / AGV
VERY
IMPORTANT NOTE
As can be
seen in a LEAN sampling of quantification of waste in a welding operation
carried out by welders in a Boiler Shop in the Naval sector, the percentages of
Value vs No Value are as follows:
Summary
Value
added: 54%
No Added
value required: 23%
Waste: 23%
Key
takeaway from this Value vs Non-Value observation: a comprehensive strategy to
eliminate LEAN waste (with existing means) + Automation with this Equipment
would allow productivity leaps far greater than those derived from simple
automation
9. Pilot Case No. 2: Insertion and soldering of
component transistors on an electronic board, screwing with torque control of
the boards into housings and sealing of the entire structure to prevent
corrosion
The
operations are located in a Lay-out shaped U-cell promoted by Toyota/LEAN
The Cobot
goes from one station to another, carrying out the operations of each station
and moving between stations by means of the autonomous navigation AGV that
ensures precision in positioning in each case
Inserting
and Soldering Components on an Electronic Board
-Our Co-Worker explores the board
where the components are to be inserted, via 3D scan
-Pick up
the component handling head
-Takes the
components to be inserted, one by one, and inserts them into their positions,
supported by Vision
-Our
Co-Worker leaves the component insertion head, picks up the card handling head,
and flips the card over
-Grab the
smart tin solder head, e.g. one from JBC
-Our 6-axis
Cobot is capable of carrying out the necessary movements to face the tin
soldering head to the ideal position that is needed in each case
-Performing
a 3D scan of the area to be welded
-After this
first pass, the welding can begin, adapting the head to the real 3D relief of
the area to be welded
-Being
talking about a Cobot, the welding paths can be carried out by guiding the head
by the operators themselves, which greatly reduces programming hours
-By
carrying out this reduction in hours, it can be said that our Cobot solution is
ideal for solving problems of short batches
Screwing
cards into housings
-The
Co-Worker leaves the welding head and goes to the area where the cards are
mounted on the housings
-Grab the
screwdriver head that has torque control
-It makes a
3D scanner to know where the holes are
-Perform
the screwing
Sealing
of housings / cabinets / final structures to prevent corrosion in the field
-The
Co-Worker leaves the bolting head and heads to the area where the finished
structures are
-Takes a
sealing head, which has control of sealing parameters and management of the
beginning and end of operation
-Makes,
mounted on the AGV, a return to the structure, to scan the area to be sealed by
Vision
-Start the
operation, and seal by moving the head according to the parameters indicated by
the Vision / AI
The
implementation of this Co-Worker to automate High Added Value operations will
mean a radical improvement in the strategic KPIs of all types of factories, for
example small and numerous batch boiler factories with a high load of welders,
electronics factories, Shipyards, Railway Sector, Public Works Machinery, large
Metal Structures, Wind, Automobile, etc.
10. Next steps
This
document aims to be a basis for agreeing on technical alternatives. Once we
agree on this section, we will address the Business Case itself of each
specific case, with quantification of its benefits, its ROI, implementation
periods, resources, commercial expectations, etc.
ANNEXES
ANNEX 1. Observations of LEAN Value vs. No
Value Waste in Welding of Key Boilermaking Parts in the Naval Sector
Summary
Value added: 54%
No Added value required: 23%
Waste: 23%
ANNEX
2. Best practices of Robotics in Operating Rooms that can be applicable in
welding processes of Heavy Boilermaking
Robotic
Surgery: How Robots Can Help Doctors in Surgery
https://www.diginerve.com/blogs/robotic-surgery-how-robots-can-help-doctors-in-surgery/?hl=es-ES
Accuray
CyberKnife Patient Workflow
https://www.youtube.com/watch?v=72Fqg7Wf5VI
ANNEX 3. Digital Twins, Artificial
Intelligence and Simulation Software
Digital
Twins and AI
https://www.swantec.com/welding-solutions/digital-twins-and-ai/
RobotStudio
Simulation Software
https://toolkittech.com/shop/abb-toolkit-robotstudio-simulation-software/?hl=es-ES
ANNEX 4. Starting ideas that help lay the
foundations of this Project
Annex 4.1. YUMI with two robotic arms and a 3D
camera
https://youtu.be/MzFzUqJxCwM
Ideas to
collect
Double
robotic arm, one to pick up the piece and one to carry the torch
The arm
that holds the part means that no tools are necessary, as it can rotate the
part as necessary to weld the 3D relief
The 3D
camera can be mounted on a third robotic arm, handheld above the workstation
Annex 4.2. Robot with double arm and mounted on
an AGV, playing pool
https://www.linkedin.com/posts/supriyarx_research-paper-authors-activity-7272482829421203456-6BqJ/?utm_source=share&utm_medium=member_android
Ideas to
collect
Robot + AGV
integration, on flat surfaces
Machine
Vision, to guide the two robotic arms
Annex 4.3. Autonomous robot
for harvesting
https://www.youtube.com/watch?v=Nvgqokf3RAg&t=8s
Ideas to
collect
Browsing
irregular sites
Equipped
with sensors and Artificial Vision to navigate autonomously through the sea of
vines
Equipped
with Artificial Intelligence, to be able to distinguish ripe grapes from those
that are not yet ripe and thus be able to leave them for another day
Annex 4.4. Robot capable of climbing
vertically, on metal surfaces
https://www.youtube.com/watch?v=Rt_MXGd_bPE
Ideas to
collect
Magnetic
wheels, shaped like tank-type slides, for more grip surface
Annex 4.5. Ability to mount the COBOT + AGV on
rails fixed with magnets to the surface, for super complicated access in the
Naval sector
https://www.youtube.com/watch?v=QZ5lvgu9O50
Ideas to
collect
These lanes
must be able to be configured with straights, curves and ramps, to be able to
access unlikely places, such as the case of submarine welding
Annex 4.6. Maximum simplicity in commissioning
new parts
https://www.youtube.com/watch?v=ySZ9KJgekd0&t=48s
Ideas to
collect
Seek
maximum simplicity in the programming of new parts
The
programmer must be the welder himself, bringing his 20/30 years of welding
experience to the cobot, via guiding his arm
The most
complex tasks will continue to be carried out by the welder, while the COBOT
will dedicate itself to the simplest ones, freeing up key time for the expert
External
links
AUTOMATION
FOR EVERYONE
https://thgautomation.com/
Robotic
Surgery: How Robots Can Help Doctors in Surgery
https://www.diginerve.com/blogs/robotic-surgery-how-robots-can-help-doctors-in-surgery/?hl=es-ES
Accuray
CyberKnife Patient Workflow
https://www.youtube.com/watch?v=72Fqg7Wf5VI
YuMi
takes over THT assembly at GLAUB
https://www.youtube.com/watch?v=MzFzUqJxCwM
Playing
Pool with a Dual-Armed Robot
https://mediatum.ub.tum.de/doc/1082128/876590.pdf
Androver
II | Autonomous navigation in the vineyard
https://www.youtube.com/watch?v=Nvgqokf3RAg&t=8s
Tank
Cleaning Robot - External Tank Cleaning
https://www.youtube.com/watch?v=Rt_MXGd_bPE
Inrotech-Crawler
I Revolutionizing Mobile Welding Robot I Adaptive Multipass Welding Technology
https://www.youtube.com/watch?v=QZ5lvgu9O50
LINC
COBOT YOUR WELDING ASSISTANT
https://www.youtube.com/watch?v=ySZ9KJgekd0&t=48s
Human-CoBot-collaboration
for final shell assembly in project AGREED
https://www.youtube.com/watch?v=eqxXwqhZ5DY&t=69s
