Self-aligning end effector for small components

摘要

A self-aligning end effector is mounted to a robot for transferring a magnetic read/write head from a feeder to an assembly fixture. The robot positions the end effector above the head. A hollow needle extends from the end effector adjacent to the head. A vacuum is applied through the needle to draw the head to the end of the needle and the end effector is lifted away from the feeder. As the robot moves the end effector toward the assembly fixture, a nest with an alignment locator is lowered onto the head. The locator has tapered sides for orienting the head in a precise alignment. An upper surface of the head seats against a flat surface when it is aligned. The vacuum holds the head on the end effector throughout this operation. The nest is then withdrawn from the head so that it is again located on the end of the needle. When the end effector is located above the assembly fixture, the head is released into the assembly fixture by turning off the vacuum.