| 摘要 |
<p>The invention provides a workpiece transferring assembly comprising a robotic arm (12) adapted to be selectively positioned and having r-, o- and z-axis motion capability. Controls (71) serve for controlling the positioning of said robotic arm (12). A workpiece holder (16) holds a plurality of worpieces (18) in parallel array substantially perpendicular to a line parallel to said z-axis with the worpieces held in slots (19) a spaced distance apart. An end effector (24) fits in any one of the spaces. It is adapted to pick up any selected workpiece (18) from the workpiece holder (16). The end effector (24) has a proximal end portion (26) pivotally mounted to the robotic arm (12) about an axis parallel to the z-axis and a distal end portion (28) having a vacuum pick up adapted to fasten onto a selected worpiece (18). A workpiece detector system (36) is associated with the end effector (24) includes a) a signal transmitting device (38) for transmitting a first signal longitudinally forward from the distal end of the end effector parallel to the workpieces, b) a signal detector device (40) for providing a signal indicative of impinging incident energy, and c) an energy gathering and transmitting device (30) for gathering energy caused by reflection of the first signal from a respective one of the workpieces (18) and transmitting such energy to the signal detector device (40). A status signal transmitting (70) device is provided for transmitting a signal to the control (71) indicative of the presence or absence of energy caused by reflection of the first signal from the respective one of the workpieces (18).</p> |
