Abstract

BUSTAMANTE CLAURE, Iver; PRUDENCIO TORRICO, Carlos Y.  and  BAKIR, Jaime. End effector for soldering electronic boards with the ABB IRB 120 robot. RevActaNova. [online]. 2024, vol.11, n.4, pp.321-334.  Epub Nov 30, 2024. ISSN 1683-0789.  https://doi.org/10.35319/acta-nova.202422.

This article presents the design and development of a welding end effector for the IRB 120 robot of the Catholic University "San Pablo". The objective is to automate spot welding on pre-drilled electronic boards, providing additional functionality to the arm to increase its usefulness. Additionally, this will improve the university laboratory and enhance student practices.

The designed system performs automatic spot welding with a millimeter precision of ±0,5 mm, reaching a success rate of more than 90%, performing up to 16 welds per minute. The research includes the design of the tool, its structure and operation, the base-plate support, the control box, the tin application system and the discrete PID controller to regulate the soldering iron temperature. In addition, it details the programming in RobotStudio to control the IRB 120 robot and presents the results of tests performed to validate the performance of the end-effector under real working conditions. Statistical analysis of the tests shows a 7,2% probability of failure in the welds. The effector achieves accurate welds with high success rates by complying with specific parameters such as temperature of 200 °C, heat exposure of two seconds before welding, the use of through components and the application of approximately three mm3 of tin.

Keywords : End effector; automatic welding; IRB 120 robot; discrete PID controller; electronic boards..

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