Patent ID: 6836944

Claim:
A combination tool for assembling a part to a workpiece with a robot following a programmed series of predetermined motions including picking the part from a supply and transferring the part to an assembly position aligned on an operating axis wherein a mounting surface of the part engages a target surface of the workpiece, the robot including a tool support, the combination tool comprising: a base matching the tool support of the robot; a workpiece arm including a workpiece target surface preparation module; a part delivery arm including a part gripper capable of releasably holding the part with mounting surface exposed; a part mounting surface preparation module supported by the base between: an engaged position in contact with the part mounting surface while the part is held in the part gripper; and a disengaged position retracted from the part mounting surface; and an indexing module supported on the base, the indexing module alternating between: a preparation position; and said assembly position, wherein: the indexing module in the preparation position supports the workpiece arm aligned on the operating axis while simultaneously supporting the part delivery arm aligned with the part mounting surface preparation module: the indexing module in the assembly position supports the workpiece arm withdrawn from the workpiece while simultaneously supporting the part delivery arm aligned on the operating axis; and wherein at least one of: the workpiece target surface preparation module; the part gripper; and the part mounting surface preparation module, are releasably mounted with a common tool interface.