Patent ID: 9221137
Filing Date: 2015-12-29
Classification: B23P,B25J,G01B,G05B,Y10T

Abstract:
1. A method for auto-alignment, comprising: gripping a laser sensor tool by a gripper unit of a robotic arm, wherein the laser sensor tool is configured to emit a laser pulse and receive a reflection of the laser pulse; identifying a landmark on a work surface by scanning the work surface with the laser sensor tool in an X-Y plane; determining a center point of the landmark in the X-Y plane to align the gripper unit with the work surface in the X-Y plane; aligning the gripper unit with the work surface in the X-Y plane based on the determined center point of the landmark; and calibrating the gripper unit on a Z-axis by moving the gripper downward in a z-direction until the gripper unit contacts the work surface.