Automated assembly of torque converters to transmissions

An automated method of aligning splines of a torque converter with splines of a vehicle automatic transmission subassembly while assembling the torque converter to the transmission subassembly using an end effector assembly connected to an arm of a robot, the method comprising the steps of:

• positioning the transmission subassembly with the splines extending upwards in a substantially vertical direction;
• engaging the torque converter with the end effector assembly;
• positioning the torque converter over the transmission subassembly with the splines of the torque converter substantially centered over the splines of the transmission subassembly;
• providing a counterbalance mechanism in the end effector assembly such that a limited amount of relative movement can occur between the robot arm and the torque converter and the torque converter is resiliently supported relative to the robot arm;
• said counterbalance mechanism including spring assemblies
• providing sensing means such that the sensing means detects relative vertical position between the robot arm and torque converter;
• lowering the torque converter down onto the transmission subassembly until the sensing means detects a vertical change in relative position between the robot arm and torque converter;
• lifting the torque converter, rotating the torque converter and lowering the torque converter if the robot arm has not dropped a predetermined distance indicating full seating of the torque converter on the transmission subassembly until the sensing means detects a vertical change in relative position between the robot arm and torque converter;
• and
• repeating the lowering step and the lifting, rotating and lowering step until the robot arm has dropped the predetermined distance indicating a full seating of the torque converter.