Patent ID: 6606774
Filing Date: 2003-08-19
Classification: B23P,B23Q,Y10T

Abstract:
A combination tool for assembling a part (1) to a workpiece (2) with a robot (not illustrated) following a programmed series of predetermined motions including picking the part (1) from a supply and transferring the part (1) to an assembly position (FIGS. 4, 6) aligned on an operating axis (3) wherein a mounting surface (4) of the part (1) engages a target surface (5) of the workpiece (2), the robot including a tool support, the combination tool comprising:a base (6) matching the tool support of the robot; a workpiece arm (7) including a workpiece target surface scanning module (8) with offset means for communicating workpiece target surface position data to the robot; a part delivery arm (9) including a part gripper (10) capable of releasably holding the part (1) with mounting surface (4) exposed; a part mounting surface preparation module (11) supported by the base (6) between: an engaged position (FIG. 5 dashed outline) in contact with the part mounting surface (4) while the part (1) is held in the part gripper (10); and a disengaged position (FIG. 5 solid outline) retracted from the part mounting surface (4); and an indexing module (12) supported on the base (6), the indexing module (12) alternating between: a preparation position (FIGS. 1, 3, 5); and said assembly position (FIGS. 4, 6), wherein: the indexing module (12) in the preparation position (FIGS. 1, 3, 5) supports the workpiece arm (7) aligned on the operating axis (3) while simultaneously supporting the part delivery arm (9) aligned with the part mounting surface preparation module (11) and wherein: the indexing module (12) in the assembly position (FIGS. 4, 6) supports the workpiece arm (7) withdrawn (FIG. 6) from the workpiece (2) while simultaneously supporting the part delivery arm (9) aligned on the operating axis (3).