Vision controlled mounting of circuit boards for lot sizes of 1

There are two bottlenecks of broader applications of industrial robots: off-line-programming must be more efficiently used and the accurate positioning must be achieved by sensor feedback if necessary. Today the flexibility of industrial robot cells generally refers to the flexibility of the programmable handling devices, but not to the peripherals. However, with a large number of parts to be supplied, the peripherals account for the largest part of the investment expenditure. The following demonstrated a concept which, by using component tolerances permits component-flexible parts supply capable of automatic changeover. Furthermore, a process is demonstrated and examined which enables optimal gauging and assembly of toleranced parts with respect to cycle times.