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Browse Prior Art Database

Data Drive for Generic Robotic

IP.com Disclosure Number: IPCOM000099146D
Original Publication Date: 1990-Jan-01
Included in the Prior Art Database: 2005-Mar-14
Document File: 4 page(s) / 128K

Publishing Venue

IBM

Related People

Aronoff, RD: AUTHOR [+7]

Abstract

This article describes how the GRC (Generic Cell), a robotic component-insertion tool, is data via an IBM PC. The GRC is designed to insert of various form factors (SIPs, DIPs, and IBM into printed circuit cards. It must be able to generate programs for the hundreds of printed circuit cards it can build. Data drive this automatic generation capability, giving the maximum flexibility and eliminating training time for parts.

This text was extracted from an ASCII text file.
This is the abbreviated version, containing approximately 43% of the total text.

Data Drive for Generic Robotic

       This article describes how the GRC (Generic Cell), a
robotic component-insertion tool, is data via an IBM PC.  The GRC is
designed to insert of various form factors (SIPs, DIPs, and IBM into
printed circuit cards.  It must be able to generate programs for the
hundreds of printed circuit cards it can build.  Data drive this
automatic generation capability, giving the maximum flexibility and
eliminating training time for parts.

      The GRC consists of a feeder system that picks out of
escapements, a robot that inserts the into the card, and an XY table
that positions a mechanism that locks the component in place. of
these systems must be programmed through the data programs.

      The GRC is given (either manually or through a host a data file
for the card assembly that has information.  This information
includes type, orientation and placement locations in card

      The data drive programs analyze this information and programs
for the robot subsystem, the clinch and the feeder subsystem on the
GRC.  A set of is created for each component type in the card
database.

      This data drive allows the GRC to automatically be to insert
components into a card based on the existing assembly data.  No
teaching of the GRC is to show it where to insert components, as is
on some assembly tools.

      In order to automatically generate the program, the GRC be able
to automatically calibrate its robot and XY to real-world (printed
circuit card) coordinates.  In the data drive programs must be ale to
interpolate and XY table coordinates between the calibration

      Finally, the data drive must assign feeders to the in an
intelligent manner that minimizes swapping different card part
numbers.

      AUTOMATIC CALIBRATION: SCARA (Selective Compliance Assembly
Robot Arm) and XY table are auto-calibrated to real-world  A special
cali sensor was made for the robot.  This consists of a - LED pair
with an air gap between them.  A plate that consists of a grid of
pins at 1" is located on the robot work surface.  This plate located
with the same mechanism that locates the cards are normally built on
the tool, thus referencing the on the plate to physical locations on
the cards.

      The robot is programmed to find each pin with its sensor.  The
robot stores both the real-world of the pin as well as the pin's
robot coordinates using the sensor).  The entire plate is measured by
the robot.  It builds a table of all the positions.

      The robot then moves to each of the pin positions, and XY table
is calibrated to the robot positions.

      The calibration is now complete.  Later, when a part is be
inserted, its real-world coordinates are determined. closest
calibrated points are used to interpolate the that the robot and XY
table are moved to.

      INTERPOLATION: robot and clinch coordinates are interpolated
from four surrounding reference points.  ...