Robotically controlled multi-task end effector

摘要

A multiple-task end effector (20,21) attachable to the articulatable head of a computer controlled robotic machining center or "robot" operable to impart multiple linear and rotational axis movements to the end effector which comprises a tool head (30) attachable to the mobile head of the robot for carrying a plurality of working tools held by a power actuated shuttle (60). The shuttle (60) is selectively operable to position or index each tool (61, 48, 62) carried thereby to a position of coaxial alignment with the central axis of the robot's mobile head and the end effector's tool head (30). In operation two robots are positioned on opposite sides of fixture held work pieces (28) so that end effectors (20, 21) attached thereto are coaxially aligned and operable to clamp work pieces (28) therebetween with measured, balanced forces. The shuttle (60) of at least one end effector (20, 21) is selectively actuated to present tools (61, 48, 62) for forming and preparing holes through the work pieces (28) followed by insertion and installation of suitable fasteners, such as rivets, bolts or the like without unclamping the work pieces (28). IMAGE