Combination tool for robot assisted assembly

A method of assembling a part to a workpiece (2) with a combination tool supported on a robot (not illustrated), wherein a mounting surface (4) of the part (1) is assembled on a target surface (5) of the workpiece (2),

• wherein the combination tool comprises:
• a base (6) matching a tool support (not illustrated) of the robot;
• a workpiece arm (7) including:
• a workpiece target surface scanning module (13) with offset means for communicating workpiece target surface position data to the robot;
• and
• including a workpiece target surface preparation module (11);
• a part delivery arm (9) including a part gripper (10) capable of releasably holding the part (1) with mounting surface (4) exposed;
• a part mounting surface preparation module (11) supported by the base (6) between:
• an engaged position (FIG. 5 dashed outline) in contact with the part mounting surface (4) while the part (1) is held in the part gripper (10);
• and
• a disengaged position (FIG. 5 solid outline) retracted from the part mounting surface (4);
• and
• an indexing module (12) supported on the base (6), the indexing module (12) alternating between:
• a preparation position (FIGS. 1, 3, 5);
• and
• said assembly position (FIGS. 4, 6), wherein:
• the indexing module (12) in the preparation position (FIGS. 1, 3, 5) supports the workpiece arm (7) aligned on the operating axis (3) while simultaneously supporting the part delivery arm (9) aligned with the part mounting surface preparation module (11) and wherein:
• the indexing module (12) in the assembly position (FIGS. 4, 6) supports the workpiece arm (2) withdrawn (FIG. 6) from the workpiece (2) while simultaneously supporting the part delivery arm (9) aligned on the operating axis (3),
• and wherein the method comprises:
• indexing to the assembly position (FIG. 4);
• picking a part (1) with the part gripper (10) on the part delivery arm (9) from a part supply station (not shown);
• indexing arms (7, 9) to the preparation position(FIG. 5);
• operating the workpiece target surface scanning module (8) and communicating workpiece target surface position data to the robot (not shown);
• moving the robot to set the tool operating axis (3) and calculate tool offsets relative to the position and orientation of the scanned target surface (5);
• simultaneously:
• engaging the part mounting surface (4) with the part mounting surface preparation module (11);
• and
• engaging the workpiece target surface preparation module (13) with the target surface (5) (FIG. 5 dashed outline);
• indexing to the assembly position (FIG. 6);
• using the previously set tool operating axis (3) and calculated tool offsets, engaging the prepared part mounting surface (4) with the prepared workpiece target surface (5);
• and
• releasing the part gripper (10) and withdrawing the tool from the part/workpiece assembly.