Patent ID: 6357994
Filing Date: 2002-03-19
Classification: B23F,B23P,B25J

Abstract:
An end effector of a robotic arm for a multi-station manufacturing operation having a machine with a continuously rotating mount such as a chuck for gripping a workpiece, the workpiece having an outside surface and an inside surface that forms an interior opening, said end effector comprising:a cross-member having a middle section and first and second ends, said middle section of said cross-member being secured to the robotic arm; a central gripping device secured to and extending from said middle section of said cross-member, said central gripping device having a gripping mechanism adapted to selectively grip the workpiece; an unloading arm secured to and extending from said first end of said cross-member, said unloading arm having first and second ends, said first end of said unloading arm having a gripping cylinder, said second end having a rotatable sleeve with a gripping mechanism, said gripping mechanism being adapted to selectively grip the inside surface of the workpiece via said gripping cylinder, and the robotic arm being adapted to insert said gripping mechanism of said unloading arm into the opening in the workpiece when it is held by the continuously rotating mount of the machine; and, a loading arm secured to and extending from said second end of said cross-member, said loading arm having first and second ends, said first end having a gripping cylinder and an extension cylinder, said second end having a rotatable sleeve with a gripping mechanism, said gripping mechanism being adapted to selectively grip the inside surface of the workpiece via said gripping cylinder, said extension cylinder being adapted to selectively and smoothly extend said rotatable sleeve and the workpiece held by its said gripping mechanism into engagement with the continuously rotating mount of the machine.