Pre-assembly surface inspection with a wrist-mounted camera
View pose, surface evidence and placement outcome share one board record. Occluded or uncertain surfaces are not accepted; assembly completion remains separate from the inspection verdict. Vision, robot and PLC states are an illustrative solution concept.
View pose, surface evidence and placement outcome share one board record. Occluded or uncertain surfaces are not accepted; assembly completion remains separate from the inspection verdict.
- 01 Image and reference
- 02 Pose and evaluation
- 03 Grip and lift
- 04 Controlled transfer
- 05 Final check and record
Associate the wrist-camera view with the PCB surface and establish board identity.
- Illustrative pose offset
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- Illustrative grip confirmation
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- Completed transfers
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Scenes are illustrative simulations; they are not customer references or performance guarantees.
Need
A PCB surface can remain partly occluded from a fixed camera before assembly. Wrist-camera view pose and board identity must stay linked; a defect observed from another view must not migrate into a different board verdict.
Solution approach
Associate the wrist-camera inspection view with PCB identity. Show surface region, visibility and illustrative inspection result separately. Preserve the image verdict identity while gripping and carrying the board to assembly; check final position and inspection record after release.
Process steps
- 01
Image and reference
Associate the wrist-camera view with the PCB surface and establish board identity.
- 02
Pose and evaluation
Link the visible surface region and illustrative inspection result to the assembly destination.
- 03
Grip and lift
Grip and lift the board from its presentation fixture; retain the image record on that board.
- 04
Controlled transfer
Carry the board above the assembly destination with its inspection verdict linked.
- 05
Final check and record
Release the board; verify final placement and inspection record as separate outcomes.
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