Patent ID: 6135854
Filing Date: 2000-10-24
Classification: B24B

Abstract:
An automatic workpiece transport apparatus for loading and unloading workpieces into and from workpiece holders of workpiece holding carriers, comprising:a positioning device having a position sensor and moving mechanism for positioning the carrier at a predetermined position;a visual sensor for optically recognizing a workpiece holding surface of the positioned carrier and for outputting image recognition data; anda control device for image-processing the image recognition data in order to determine the positions of the workpiece holders or the workpieces and for controlling the position of a robot arm having a workpiece holding mechanism on the basis of the determined positions of the workpiece holders or the workpieces, wherein the robot arm for workpiece transport has at least two visual sensors that optically recognize the peripheral portion of a workpiece held by the robot arm and output image recognition data to the control device.