The mechanical tasks of the robot cells were designed and manufactured by Entra-Sys Ltd. 3i Ltd. developed the control technology for robot cells.  

It belongs to the control technology of robot cells

    • robot cell security system
    • control technology for serving units and machines
    • synchronizing the operation of the robot and the serving units
    • use of optical and camera systems for positioning, checking the size of the workpiece and the quality characteristic of the workpiece
    • programming the robot
    • commissioning the robot cell

Tasks solved by robot cells

    • palletizing – placing components arriving in bulk in a prefabricated substrate. Particular attention had to be paid to solving the acceptance of workpieces (vibrating feeder handling) and to positioning and orienting the substrates with the accuracy expected by the robot.
    • pallet dismantling/building – receiving the workpieces arriving on the pallet, delivering them to the receiving position of the machining machines, then taking the machined workpieces from the machining machines and placing them on the pallet. When dismantling the pallet, the coordinates of the workpieces on the pallet had to be solved – the use of a laser distance meter and the use of a camera system.
    • workpiece dimensional inspection – in order to reduce the number of instruments required for dimensional inspection (profile gauge, distance meter) and to measure relatively large distances (600 mm) and sufficiently accurate (0.1 mm), the robot moves the workpiece to the dimensional inspection instrument, thus checking its various measuring points.
    • quality control of workpieces – in addition to the size of the workpieces, the absence of scratches and blur on the workpiece had to be checked with a camera system.
    • moving large panes of glass – large glass panes (max. 2600x3210x16 mm, max. 343.7 kg) arrive at the robot cell on a turntable. The glass plate is gripped with vacuum discs. A particular problem was the treatment of the adhesion of the glass panes, the solution of the “A” side “B” side deposition, and the avoidance of the swinging of the thin (2-4 mm thick) glass panes.

Applied robots

    • According to the manufacturer, depending on the customer, we used Mitsubishi, Fanuc and ABB robots
    • Depending on the task, we used 2 kg, 4 kg, 70 kg and 800 kg robots
    • Depending on the task, 6-axis and SCARA robots were used

Video 1: Palletizing robot cell, controlled by 3i Ltd. and programmed with Mitsubishi robot

Video 2: Pallet loader and workpiece moving robot cell, controlled by 3i Ltd. and programmed with Fanuc robot

Video 3: Large glass pane moving robot cell, controlled by 3i Ltd. and programmed with ABB robot


Video 4: Two robotic quality control robot cells, controlled by 3i Ltd. and programmed with Mitsubishi scara robot