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Browse Prior Art Database

Robot Vision Guiding Component-Placement End-Of-Arm Tooling

IP.com Disclosure Number: IPCOM000039980D
Original Publication Date: 1987-Sep-01
Included in the Prior Art Database: 2005-Feb-01
Document File: 2 page(s) / 39K

Publishing Venue

IBM

Related People

Bleau, C: AUTHOR [+3]

Abstract

This article describes an end-of-arm tool which allows surface mount components to be visually inspected and correctly oriented while the robot arm is in motion. The end-of-arm tool disclosed herein eliminates the necessity of the arm stopping over a fixed video camera for component inspection and orientation. This results in significant reduction in component placement cycle time. The drawing is a side view partly in section showing the tool of this disclosure attached to the robot at the Z axis via adapter 1. A video camera 3 is attached to mounting frame 2. Component viewing is achieved by way of lens 4 viewing through the vacuum chamber 7. This is accomplished by using optical flats 5 (optically correct windows) on both the top and bottom of the vacuum chamber. The component is picked and held by vacuum pickup 8.

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Robot Vision Guiding Component-Placement End-Of-Arm Tooling

This article describes an end-of-arm tool which allows surface mount components to be visually inspected and correctly oriented while the robot arm is in motion. The end-of-arm tool disclosed herein eliminates the necessity of the arm stopping over a fixed video camera for component inspection and orientation. This results in significant reduction in component placement cycle time. The drawing is a side view partly in section showing the tool of this disclosure attached to the robot at the Z axis via adapter 1. A video camera 3 is attached to mounting frame 2. Component viewing is achieved by way of lens 4 viewing through the vacuum chamber 7. This is accomplished by using optical flats 5 (optically correct windows) on both the top and bottom of the vacuum chamber. The component is picked and held by vacuum pickup 8. The vacuum circuit is through the pickup and vacuum chamber to an outside port which connects to a vacuum source. The vacuum pickup is in the center of the field of view of the video camera. This does not present a problem, however, as the part of the component visually blocked by the vacuum pickup is the center of the component body. The component leads are visually unimpeded, and are the critical part of the component which is to be inspected and orientally corrected via theta (r) movement of the robot. This tool allows component inspection, acceptance/rejection and coordinate transformati...