Method and devices for picking and placing workpieces into devices under manufacture using dual robots

Abstract

A device includes a first robot configured to move along a common X-axis and parallel to a Y-axis and a Z-axis. A second robot is configured to move along the common X-axis and parallel to the Y-axis and the Z-axis. A motor assembly coupled to the workpiece supply tray is configured to move the workpiece supply tray at least after the first robot has picked the workpiece to reduce a distance travelled by the first robot or second robot when a next workpiece is picked from the moved workpiece supply tray. In another aspect, a device includes a first and second robots configured for movement parallel to a Z-axis and to a Y-axis. A workpiece supply tray is configured to support a supply of workpieces, and a motor assembly coupled to the workpiece supply tray is configured to relocate the workpiece supply tray.

We claim: 
     
         1 . A device, comprising:
 a workpiece supply tray;   a first robot configured to move along a common X-axis and parallel to a Y-axis and a Z-axis, the first robot including a first end-effector configured to pick a workpiece from the workpiece supply tray and to place the picked-up workpiece on or in a device under manufacture;   a second robot configured to move along the common X-axis and parallel to the Y-axis and the Z-axis, the second robot including a second end-effector; and   a motor assembly coupled to the workpiece supply tray and configured to move the workpiece supply tray at least after the first robot has picked the workpiece therefrom so as to reduce a distance travelled by the first robot or second robot when a next workpiece is picked from the moved workpiece supply tray.   
     
     
         2 . The device of  claim 1 , wherein the motor assembly is further configured to move the workpiece supply tray parallel to at least one of the common X-axis, the Y-axis, and the Z-axis. 
     
     
         3 . The device of  claim 1 , wherein the second robot is configured to move independently of the first robot. 
     
     
         4 . The device of  claim 1 , further comprising a controller configured to determine movement of the workpiece supply tray to minimize movement of at least one of the first robot and the second robot. 
     
     
         5 . The device of  claim 1 , wherein the workpiece supply tray includes slots or molded recesses for presenting workpieces in at least one of a known location or a known orientation on the workpiece supply tray. 
     
     
         6 . The device of  claim 1 , further comprising:
 a second workpiece supply tray; and   a second motor assembly coupled to the second workpiece supply tray and configured to move the second workpiece supply tray at least after the first robot or the second robot has picked a second workpiece therefrom so as to reduce a distance travelled by the first robot or the second robot.   
     
     
         7 . A method, comprising:
 providing a device including:
 a workpiece supply tray; 
 a first robot including a first end-effector configured to pick a workpiece from the workpiece supply tray and to place the picked-up workpiece on or in a device under manufacture; 
 a second robot including a second end-effector; and 
 a motor assembly coupled to the workpiece supply tray; and 
   wherein the method further comprises:   moving the first robot along a common X-axis and parallel to a Y-axis and a Z-axis;   moving the second robot along the common X-axis and parallel to the Y-axis and the Z-axis; and   moving the workpiece supply tray using the motor assembly at least after the first robot has picked the workpiece therefrom so as to reduce a distance travelled by the first robot or the second robot when a next workpiece is picked from the moved workpiece supply tray.   
     
     
         8 . The method of  claim 7 , further comprising using the motor assembly to move the workpiece supply tray parallel to at least one of the common X-axis, the Y-axis, and the Z-axis. 
     
     
         9 . The method of  claim 7 , further comprising moving the second robot independently of the first robot. 
     
     
         10 . The method of  claim 7 , further comprising determining movement of the workpiece supply tray to minimize movement of at least one of the first robot and the second robot. 
     
     
         11 . The method of  claim 7 , wherein the workpiece supply tray includes slots or molded recesses for presenting workpieces in at least one of a known location and a known orientation on the workpiece supply tray. 
     
     
         12 . The method of  claim 7 , further comprising moving a second workpiece supply tray using a second motor assembly at least after the first robot or the second robot has picked a second workpiece from the second workpiece supply tray so as to reduce a distance travelled by the first robot or the second robot. 
     
     
         13 . A device, comprising:
 a first robot configured for movement parallel to a Z-axis and to a Y-axis and including a first X-axis driven element configured for movement parallel to an X-axis;   a second robot configured for movement parallel to the Z-axis and to the Y-axis and including a second X-axis driven element configured for movement parallel to the X-axis;   a workpiece supply tray configured to support a supply of workpieces to be integrated into a device or devices under manufacture by at least one of the first and second robots; and   a motor assembly coupled to the workpiece supply tray and configured to relocate the workpiece supply tray.   
     
     
         14 . The device of  claim 13 , wherein the first robot and the second robot are configured to move along a common X-axis. 
     
     
         15 . The device of  claim 13 , wherein the first robot includes a first end-effector configured to pick a workpiece from the workpiece supply tray and to place the picked-up workpiece on or in a device under manufacture. 
     
     
         16 . The device of  claim 13 , wherein the motor assembly is further configured to relocate the workpiece supply tray parallel to at least one of the X-axis, the Y-axis, and the Z-axis. 
     
     
         17 . The device of  claim 13 , wherein the second robot is configured to move independently of the first robot. 
     
     
         18 . The device of  claim 13 , further comprising a controller configured to determine movement of the workpiece supply tray to minimize movement of at least one of the first robot and the second robot. 
     
     
         19 . The device of  claim 13 , wherein the workpiece supply tray includes slots or molded recesses for presenting workpieces in at least one of a known location or a known orientation on the workpiece supply tray. 
     
     
         20 . The device of  claim 13 , further comprising:
 a second workpiece supply tray; and   a second motor assembly coupled to the second workpiece supply tray and configured to relocate the second workpiece supply tray.