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ROBOTIC X, Y AND r MICROSTEPPING END-OF-ARM TOOL FOR PLACING SURFACE-MOUNTED COMPONENTS

IP.com Disclosure Number: IPCOM000036476D
Original Publication Date: 1989-Oct-01
Included in the Prior Art Database: 2005-Jan-29
Document File: 2 page(s) / 30K

Publishing Venue

IBM

Related People

Bleau, CD: AUTHOR [+2]

Abstract

This article describes a mechanism which allows robots with relatively crude accuracy and repeatability to do fine positioning in placing surface-mounted components.

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ROBOTIC X, Y AND r MICROSTEPPING END-OF-ARM TOOL FOR PLACING SURFACE-MOUNTED COMPONENTS

This article describes a mechanism which allows robots with relatively crude accuracy and repeatability to do fine positioning in placing surface-mounted components.

Referring to the drawings, Fig. 1 is a front view, partly in section, of the mechanism. Fig. 2 is a top view in the direction of line A-A in Fig. 1. The robotic X, Y and r microstepping end-of-arm tool attaches to the "Z" axis of a robot. The X, Y and r movement of the robot performs the rough coordinate adjustments for the tool.

(Image Omitted)

The tool moves to a crude X, Y and r position upon command from the robot controller. The fine position error is measured by an optical or other device (not shown). Then in order to achieve the X, Y fine positions, X and Y microsteppers (stepping motors under microstep control) are used to drive the ball lead screws which in term drive the X and Y microstages.

The X and Y microsteppers are controlled in a pseudo-closed loop mode by a low-power laser diode and a photo-detector. A laser beam from the laser diode shines on the target surface of the microstage. A scattered light is reflected onto the photo-detector. Consequently, the home position of the microstage can be calibrated very accurately based on the position of the scattered light on the photo-detector, as shown in Fig. 2.

The surface-mounted component then is rotated into a corrected orientation via the r microste...