Importance

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Abstract

An end effector device is mounted on the arm of a robot for movement through a predetermined motion relative to control axes of the robot under control of a robot controller which also controls a driver of the device to apply at least one variable programmed drive force to a first part relative to a second part at a work station. Preferably, the driver includes a screwdriver which is driven by an electric motor which, in turn, is controlled to apply a variable programmed torque at a variable programmed speed to a screw. The screwdriver and its electric motor are mounted on a slide for movement between extended and retracted positions relative to a base of the device. An air cylinder is coupled to the slide and is controlled to linearly move the slide so that the screwdriver applies a variable programmed axial force to the screw. The driver has a drive compartment formed therein which is maintained under a negative pressure for receiving and retaining the screw. For clean room applications of the device, the driver has a work compartment formed therein which is maintained under a second negative pressure. The work compartment is in fluid communication with the screw and the second part during driving thereof to evacuate any particulate from the work compartment.

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First Claim