Multi-purpose end effector for a robotic arm

A robotic arm for a multi-station manufacturing operation having a machine with a continuously rotating mount for gripping a workpiece, said workpiece having an outside surface and an inside surface that forms an interior opening, said robotic arm comprising:

• a robotic arm with a mounting bracket at its proximal end, and lines for supplying pressure;
• a cross-member having a middle section and two opposed ends, said middle section of said cross-member being secured to the robotic arm;
• a central gripping device secured to and extending from said middle section of said cross-member, said central gripping device having a gripping mechanism adapted to selectively grip the workpiece;
• an unloading arm secured to and extending from said first end of said cross-member, said unloading arm having first and second ends, said first end of said unloading arm having a gripping cylinder, said second end having a rotatable sleeve with a gripping mechanism, said gripping mechanism being adapted to selectively grip the inside surface of the workpiece via said gripping cylinder, and said robotic arm being adapted to insert said gripping mechanism of said unloading arm into the opening in the workpiece when it is held by the continuously rotating mount of the machine;
• and,
• a loading arm secured to and extending from said second end of said cross-member, said loading arm having first and second ends, said first end having a gripping cylinder and an extension cylinder, said second end having a rotatable sleeve with a gripping mechanism, said gripping mechanism being adapted to selectively grip the inside surface of the workpiece via said gripping cylinder, said extension cylinder being adapted to selectively and smoothly extend said rotatable sleeve and the workpiece held by its said gripping mechanism into engagement with the continuously rotating mount of the machine.

A multi-station manufacturing process for machining a number of workpieces having an outside surface and an inside surface that forms an interior opening, said workpieces including first, second and third workpieces, said multi-station process comprising the steps of:

• providing first, second and third stations, said second station having a machine with a continuously rotating mount for gripping one of the workpieces, and further providing a robotic arm equipped with an end effector having a gripping device, a loading arm and an unloading arm, each of said gripping device, loading arm and unloading arm having a gripping mechanism;
• using said robotic arm to align said gripping mechanism of said gripping device with and gripping the first workpiece;
• moving said robotic arm and the first workpiece to a first work station, aligning said loading arm with the second workpiece, gripping the inside surface of and removing the second workpiece, and aligning the first workpiece with said first work station and placing the first workpiece at said first station;
• performing a first manufacturing operation on the first workpiece at said first station;
• moving said robotic arm to said second station having said machine, using said robotic arm to insert said gripping mechanism of said unloading arm inside the opening of the third workpiece held by said continuously rotating mount, gripping the inside surface of the third workpiece, and moving the third workpiece away from said continuously rotating mount;
• aligning said loading arm and the second workpiece with said continuously rotating mount;
• extending said extension cylinder of said loading arm to smoothly engage the second workpiece with said continuously rotating mount;
• performing a second manufacturing operation on the second workpiece at said second station;
• and,
• moving said robotic arm to and placing the third workpiece at said third station.

A multi-station manufacturing process for machining a number of workpiece having an outside surface and an inside surface that forms an interior opening, said workpieces including first, second and third workpieces, said multi-station process comprising the steps of:

• providing first, second and third stations, said first station having a machine with a continuously rotating mount for gripping the workpiece, and further providing a robotic arm equipped with an end effector having a gripping device, a loading arm and an unloading arm, each of said gripping device, loading arm and unloading arm having a gripping mechanism;
• using said robotic arm to align said gripping mechanism of said loading arm with the first workpiece and gripping the inside surface of that workpiece;
• moving said robotic arm and the first workpiece to the first station and using said robotic arm to insert said gripping mechanism of said unloading arm inside the opening of the second workpiece held by said continuously rotating mount, gripping the inside surface of the second workpiece, and moving the said workpiece away from said continuously rotating mount;
• aligning said loading arm and the first workpiece with said continuously rotating mount;
• extending an extension cylinder of said loading arm to smoothly engage the first workpiece with said continuously rotating mount;
• performing a first manufacturing operation on the first workpiece at said first station;
• using said robotic arm to move the second workpiece away from said machine;
• moving said robotic arm and the second workpiece, using said robotic arm to align said gripping mechanism of said gripping device with the third workpiece at said second workstation and gripping that third workpiece, and placing said second workpiece at said second station;
• and,
• moving said robotic arm to and placing the third workpiece at said third station.