Multi-spindle end effector

Abstract

A multi-spindle end effector is provided for a multiple axis robot. The multi-spindle end effector includes a plate housing having at least a pair of spaced-apart spindles mounted thereon. A servo-motor drivingly engages the spindles. A gear box steps down the RPMs of the motor to the desired RPM of the object to be rotated. A timing belt, which may be continuous, interlinks the first and second spindles so that the rotation of first spindle matches the rotation of the second spindle. An idler pulley may be employed to properly tension the belt.

What is claimed is:  
     
         1 . An end effector for a multiple axis robot comprising: 
 a plate housing adapted to connect to said robot;    a plurality of spindles rotatably coupled to said plate;    a motor drivingly engaging at least one of said spindles; and    a synchronizer interconnecting said spindles.    
     
     
         2 . The end effector of  claim 1 , wherein the plate housing further comprises: 
 a base; and    an annular rib coupled to said base.    
     
     
         3 . The end effector of  claim 1 , wherein said plate housing includes a recessed portion adapted to connect to said sixth axis of said robot to selectively position a center of gravity of said end effector.  
     
     
         4 . The end effector of  claim 1 , further comprising a gear box interconnecting said motor and said at least one of said plurality of spindles.  
     
     
         5 . The end effector of  claim 1 , further comprising a driving pulley interconnecting said motor and said at least one of said plurality of spindles by way of said synchronizer.  
     
     
         6 . The end effector of  claim 1 , wherein said motor extends opposite said at least one of said plurality of spindles relative to said plate housing.  
     
     
         7 . The end effector of  claim 1 , further comprising a spindle housing rotatably interconnecting select ones of said plurality of spindles to said plate housing.  
     
     
         8 . The end effector of  claim 7 , wherein said spindle housing extends opposite said select ones of said plurality of spindles relative to said plate housing.  
     
     
         9 . The end effector of  claim 1 , further comprising: 
 a driving pulley coupled to said at least one of said plurality of spindles; and    a driven pulley coupled to a remainder of said plurality of spindles;    wherein said driving pulley and said driven pulley are interconnected by said synchronizer.    
     
     
         10 . The end effector of  claim 1 , wherein said synchronizer further comprises a belt.  
     
     
         11 . The end effector of  claim 1 , further comprising an indexing member coupled between each of said plurality of spindles and each object to be rotated.  
     
     
         12 . The end effector of  claim 11 , further comprising a locator plate interposed between each of said indexing members and each of said plurality of spindles, said locator plate having a configuration matching a pattern of said objects to be rotated.  
     
     
         13 . The end effector of  claim 1 , further comprising a wheel holder assembly secured between each wheel to be rotated and each of said plurality of spindles, said wheel holder assembly comprising: 
 a support arm coupled to said spindle;    an outwardly biased piston slidably coupled to said support arm and radially extending relative to said spindle; and    a moveable arm laterally extending from a free end of said piston and engaging said wheel.    
     
     
         14 . The end effector of  claim 1 , further comprising at least one idler pulley rotatably and slidably mounted relative to said plate housing and interconnected to said synchronizer.  
     
     
         15 . The end effector of  claim 14 , wherein said idler pulley further comprises: 
 a jam nut having a shaft;    a sleeve rotatably mounted on said shaft; and    a pulley wheel coupled to said sleeve, said sleeve engaging said synchronizer.    
     
     
         16 . The end effector of  claim 1 , wherein said plurality of spindles are distributed along a common edge of said plate housing.  
     
     
         17 . The end effector of  claim 1 , wherein said plurality of spindles are distributed at select corners of said plate housing.  
     
     
         18 . An end effector for a multiple axis robot comprising: 
 a plate housing adapted to connect to a sixth axis mounting surface of said robot;    a plurality of spindles rotatably mounted to said plate housing, said plurality of spindles adapted to rotatably support a plurality of objects to be rotated;    a motor coupled to said plate housing;    a gear box drivingly connected to said motor;    a driving pulley coupled to said gear box;    a belt coupled to said driving pulley; and    at least one driven pulley coupled to said driving pulley.    
     
     
         19 . The end effector of  claim 18  further comprising at least one idler pulley rotatably and slidably mounted relative to said housing plate and engaging said belt.  
     
     
         20 . An apparatus comprising: 
 a robot having an end effector mounting surface; and    an end effector mounted to said end effector mounting surface, said end effector including: 
 a base;  
 a plurality of objects-to-be-rotated support members rotatably mounted to said base;  
 a motor drivingly engaging said plurality of mounting members; and  
 a rotation synchronizer interengaging said motor and said plurality of support members.