Importance

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Abstract

An improvement to computer control robot arm assemblies having a work head on the free end thereof for allowing the work head to be positioned and held within closer tolerance limits to a desired coordinate position. The work head is attached to the robot arm by a vernier control assembly allowing vernier movement in the X, Y, and Z directions. A moveable support member is provided on the robot arm adjacent the work head. A detector is mounted to the work head for sensing a light beam. A collimated light beam is passed through a point associated with the desired coordinate position under computer control. The work head is positioned within first tolerance limits by the robot arm under computer control. The logic of the computer then contacts the work piece with the support member to hold the free end of the robot arm in position. Under closed-loop computer control, the vernier drives are used to position the detector at a point where the work piece is in the desired coordinate position.

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First Claim