Multi-purpose end effector for a robotic arm

Abstract

This invention relates to a multi-purpose end effector for a robotic arm that moves a workpiece through an automated, multi-station, manufacturing operation. The end effector is particularly useful in a gear manufacturing operation in which a gear piece is annealed, ground and tested to ensure it meets desired specifications. The relatively lightweight and compact end effector securely grips the workpiece during multi-directional movements, and provides a degree of softness when loading the normally non-rotating workpiece onto a continuously rotating chuck or tool. The end effector is secured to the robotic arm by a cross-member equipped with three different gripping implements. A central gripping device extends from the middle of the cross-member, a loading arm extends from one end of the cross-member, and an unloading arm extends from the other end. Each gripping implement includes pneumatically controlled gripping fingers for holding the gear pieces. Each loading and unloading arm has a gripping cylinder and a rotatable sleeve for supporting its gripping mechanism. The loading arm has an extension cylinder for extending its gripping mechanism with a degree of softness or resiliency that helps prevent binding when the normally non-rotating workpiece engages the rotating chuck or tool.