ROBOT TERMINAL EFFECTOR ASSEMBLY

摘要

PROBLEM TO BE SOLVED: To automatically assemble a spline system by providing a low-cost compliance connecting mechanism having a position feedback sensor and an oscillator assembly for preparing the matching of a plurality of splines between assembly processes of a torque converter relative to a transmission subassembly. SOLUTION: A terminal effector assembly 26 which is attached to an arm 22 of a robot 24 via a robot connecting board 70 has a lift means including a bottom plate 28 connected to a vacuum cup 32 and a plurality of stud cups 30. The connecting board 70 has an upper support shaft 64 attached thereto and the upper support shaft has a lower support shaft 60 connected thereto. An oscillator assembly 69 generates a front/rear rotation movement of a lower material relative to the arm 22. A compliance mechanism generating a limited relative movement of the lift means relative to the lower support shaft is provided and a distance sensor monitoring the relative vertical position between the lift means and the lower support shaft is provided.