Schaefer, W.W.SchaeferSchuenemann, M.M.Schuenemann2022-03-082022-03-081996https://publica.fraunhofer.de/handle/publica/303384An optical system observes and controls the assembly and handling operations, and is mechanically coupled to the grab (4). It consists of a lens (5) and eyepiece accommodated directly in the latter. These form parallel rays into which light from a source (12) is projected. The image formed by the eyepiece is detected by an optical evaluation unit (10) following it, and is transmitted to a control or reproduction unit. The optical axis of the unit (5,9) coincides with the assembly axis, at least for the last part of the grab movement. USE/ADVANTAGE - The entire operation of the grab system for handling small components can be monitored.de608670patent1995-19534963