Method for removing component from component carrier, involves moving gripping tool towards component stack until gripping tool of robot is contacted with highest component of component stack, so as to seize components

摘要

The method involves receiving an image of the component carrier (10) by using a camera (22) directed along stacking direction of components (20). The midpoint coordinates of the component stack (18) are determined by a two-dimensional image recognition system along stacking direction orthogonal axes. A gripping tool of a robot is moved to a position defined by midpoint coordinates, while lying above the component carrier. The gripping tool is moved towards the stack until the tool is contacted with the highest component of stack, so as to seize the component.