Robot Vision Guiding Component-Placement End-Of-Arm Tooling
Original Publication Date: 1987-Sep-01
Included in the Prior Art Database: 2005-Feb-01
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.