초록 ▼

A multiple-task end effector attachment for the articulated head of a computer controlled robotic machining center capable of imparting multi-axis linear and rotational movements to the end effector which comprises opposingly aligned master and slave related tool heads that carry multiple tool drive

A multiple-task end effector attachment for the articulated head of a computer controlled robotic machining center capable of imparting multi-axis linear and rotational movements to the end effector which comprises opposingly aligned master and slave related tool heads that carry multiple tool drivers receptive of selectively changeable tooling. The tool heads are interjoined and rigidly supported in opposing alignment on opposite sides of fixture held stationary work pieces by means of an intervening generally U-shaped yoke or frame of selected configuration dedicated to the particular shape of the parts assembly. The master tool head of the end effector is connected directly to and carried by the mobile head of the robot which powers and controls the positioning and operation of both tool heads of the end effector. The tool heads operationally cooperate in slave relationship to clamp the parts therebetween and form and prepare holes through the work pieces at predetermined locations followed by the installation of selected fasteners such as rivets, bolts and the like. This arrangement enables a single robot to operate multiple tool heads on opposite sides of stationary work pieces.

대표청구항 ▼

An end effector attachable to the mobile head of a computer controlled robotic machining center operable to move the mobile head along multiple linear and about multiple rotational axes comprising: a master tool head, a slave tool head, attachment means for connecting said master head to the mobile

An end effector attachable to the mobile head of a computer controlled robotic machining center operable to move the mobile head along multiple linear and about multiple rotational axes comprising: a master tool head, a slave tool head, attachment means for connecting said master head to the mobile head of said robotic machining center for multi axis movement with the latter, a substantially U-shaped hollow yoke rigidly fixed at one end to said master head and attached at its other end to said slave head such that the two heads are disposed in coaxial, opposing, spaced relationship; power console means on said attachment means for connecting said master head and slave head to common pneumatic, hydraulic and electrical power supply means carried by the machining center, and plural power driven tool drivers mounted on each said head and adapted to be selectively energized by said power supply means for driving selected tools mounted on said drivers.