Importance

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Abstract

A system for automatically inserting the leads of electrical components into circuit boards is disclosed. In the preferred embodiment, an electrical component is acquired by the robot. The leads of the component have been trimmed and preformed such that they are substantially parallel with respect to each other with the leads differing in length. The robot positions the component at a fixed location relative to the axis of the robot and within the view of an optical sensor such as a TV camera. The sensor determines the location of each of the leads relative to a fixed location. A first rotary motion rotates the component about a selected axis of the robot through a predetermined angle and a second measurement is made. A second rotation positions the component 180.degree. from the original position and a third measurement is made. Since the angles through which the component is rotated are known, the distance or radius of rotation of each of the leads can be calculated using the known axis of rotation and the radius of rotation, the precise location of each of the leads with respect to the robot is calculated. From the results of these calculations, the longest lead is partially inserted in the desired hole in a circuit board. The component is repositioned, as necessary, for insertion of the second longest lead. This process is repeated to insert all of the leads of the component.

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First Claim