Compliant robot arm adapter assembly
First Claim
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1. A compliant adapter assembly useful with an articulatable robot arm requiring an accessory, said adapter assembly comprising:
- means for mounting said adapter assembly to said arm, said mounting means having a plate provided with an opening;
a first ring positioned within said opening,means for pivotably connecting said first ring to said mounting means while allowing translation of said first ring with respect to said mounting means,a first spring means positioned between said first ring and said mounting means,a second ring disposed within said first ring,means for pivotably connecting said second ring to said first ring while allowing translation of said second ring with respect to said first ring,a second spring means positioned between said first ring and said second ring,a motor carried by said second ring, said motor having an output shaft;
means for biasing said motor towards a position which is substantially perpendicular to said plate, said biasing means comprising a plurality of orthogonally disposed springs carried between said motor and said plate, andholding means connected to said output shaft for attaching an accessory to said adapter assembly, said holding means being capable of translation along the longitudinal axis of said output shaft.
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Abstract
A five axis compliant device for use as an industrial robot end-of-arm tooling. This device compensates for the inherent positioning and repeatability inaccuracies found in a robot and therefore allows the robot to be applied to work requiring high accuracies such as screw and nut insertion, close tolerance pin insertion and hole deburring.
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Citations
7 Claims
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1. A compliant adapter assembly useful with an articulatable robot arm requiring an accessory, said adapter assembly comprising:
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means for mounting said adapter assembly to said arm, said mounting means having a plate provided with an opening; a first ring positioned within said opening, means for pivotably connecting said first ring to said mounting means while allowing translation of said first ring with respect to said mounting means, a first spring means positioned between said first ring and said mounting means, a second ring disposed within said first ring, means for pivotably connecting said second ring to said first ring while allowing translation of said second ring with respect to said first ring, a second spring means positioned between said first ring and said second ring, a motor carried by said second ring, said motor having an output shaft; means for biasing said motor towards a position which is substantially perpendicular to said plate, said biasing means comprising a plurality of orthogonally disposed springs carried between said motor and said plate, and holding means connected to said output shaft for attaching an accessory to said adapter assembly, said holding means being capable of translation along the longitudinal axis of said output shaft. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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Specification