Method and an apparatus for the positioning of components with reference to a workpiece
First Claim
1. A method of positioning a component in a preset position on a workpiece, said method comprising the steps of:
- removing the component from a storage;
transporting the component from the storage into the region of the workpiece by component transporting means, said component transporting means having a positioning axis, and the component having a predetermined nominal position relative to the positioning axis;
moving the component transporting means to position said positioning axis in a predetermined position relative to the workpiece;
detecting the actual position of the component relative to the positioning axis of said component transporting means and measuring the deviation of said actual position of the component from the predetermined nominal position thereof relative to the positioning axis while the component is spaced from the workpiece;
generating a control signal in response to a deviation of the actual position of the component from the predetermined nominal position thereof relative to the positioning axis;
changing the position of the positioning axis of the component transporting means with respect to the workpiece in response to the control signal to thereby change the actual position of the component so that it coincides with the preset position thereof on the workpiece, andthereafter positioning the component on the workpiece.
2 Assignments
0 Petitions
Accused Products
Abstract
The present method and apparatus provide a possibility to remove components from a magazine, from a storage bin or the like, to transport these components to a workpiece and to put these components onto the workpiece or into it precisely at a preselected position. The component which has been picked-up by and is retained by the transportation member will usually not be in a exactly preselected position with regard to the gripping means of the transportation device, but will be more or less shifted and/or tilted with regard to a theoretical, nominal positioning axis. In order to determine the actual position of the component retained by the gripping means, the component is brought to a position scanning station during its transportation from the magazine or storage bin to the workpiece. The scanning station measures and records the actual position of the component, e.g. by scanning the shape of the component by means of laser beam scanning according to the reflection or shadowing technique, calculates any deviation and generates one or more correction signals. The latter ones are further processed in order to influence the transportation path of the component transportation device, the position of the workpiece or both of them, so that the component finally may be placed onto or into the workpiece exactly at the desired position.
92 Citations
23 Claims
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1. A method of positioning a component in a preset position on a workpiece, said method comprising the steps of:
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removing the component from a storage; transporting the component from the storage into the region of the workpiece by component transporting means, said component transporting means having a positioning axis, and the component having a predetermined nominal position relative to the positioning axis; moving the component transporting means to position said positioning axis in a predetermined position relative to the workpiece; detecting the actual position of the component relative to the positioning axis of said component transporting means and measuring the deviation of said actual position of the component from the predetermined nominal position thereof relative to the positioning axis while the component is spaced from the workpiece; generating a control signal in response to a deviation of the actual position of the component from the predetermined nominal position thereof relative to the positioning axis; changing the position of the positioning axis of the component transporting means with respect to the workpiece in response to the control signal to thereby change the actual position of the component so that it coincides with the preset position thereof on the workpiece, and thereafter positioning the component on the workpiece. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An apparatus for positioning a component on a workpiece in a preset position, said apparatus comprising:
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a workpiece receiving and retaining means for receiving and retaining a workpiece, storage means containing the component to be positioned onto the workpiece; component transporting means displaceable between said storage means and said workpiece receiving and retaining means and comprising a pickup retaining member adapted to pickup and remove the component from said storage means and to retain it during transportation thereof to the workpiece, said component transporting means having a positioning axis, and the component having a predetermined nominal position relative to the positioning axis; means for moving said component transporting means to position said positioning axis in a predetermined position relative to said workpiece receiving and retaining means; position detection means for detecting an actual position of the component relative to the positioning axis of the component transporting means, for measuring a deviation of said actual position of the component from the predetermined nominal position thereof relative to the positioning axis, and for generating a control signal in response to a deviation of said actual position of the component relative to the positioning axis from the predetermined nominal position thereof relative to the positioning axis, said position detection means being located within the path of displacement of the component by said pickup and retaining member of said component transporting means; and control means for effecting a change in the position of the positioning axis in response to said control signal to thereby change the actual position of the component so that it coincides with the preset position thereof on the workpiece. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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Specification