This machine assembles multiple sizes of precision industrial pipe fittings. Each fitting consists of four components that must be screwed together to a very precise torque setting and gap distance. The heart of the system is an 8-station rotary indexer. Vibratory bowl feeders bring components into the system while an Epson SCARA robot screws the components together. An ATI 6-axis force sensor is integrated to the robot so that cross threading and other undesired characteristics can be detected. Before unloading, a Keyence laser sensor is used to check the gap distance between components. To facilitate quick change over between codes of product, the feeder escapements use a clever “pin-wheel” design so that tooling does not need to be removed from the system.
