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Compliance Mechanism for Assembly Robot

IP.com Disclosure Number: IPCOM000062613D
Original Publication Date: 1986-Dec-01
Included in the Prior Art Database: 2005-Mar-09
Document File: 2 page(s) / 54K

Publishing Venue

IBM

Related People

Okada, M: AUTHOR

Abstract

A compliance mechanism is provided for a vacuum chuck device of an assembly robot used, for example, to position an article having a hole above a tapered rod and assemble the article such that the rod is inserted into the hole. The vacuum chuck device includes a low-friction X slide 1 mounted on a low-friction Y slide 5. An air cylinder-actuated positioning pin is engaged with the X slide to position and lock the vacuum chuck device at a reference position prior to assembly operation. At the time of assembly, the positioning pin is disengaged from the X slide such that the slides can move in response to the engagement of the edge of the hole with the tapered surface of the rod to thereby correct lateral misalignment of the article relative to the rod. Fig.

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Compliance Mechanism for Assembly Robot

A compliance mechanism is provided for a vacuum chuck device of an assembly robot used, for example, to position an article having a hole above a tapered rod and assemble the article such that the rod is inserted into the hole. The vacuum chuck device includes a low-friction X slide 1 mounted on a low- friction Y slide 5. An air cylinder-actuated positioning pin is engaged with the X slide to position and lock the vacuum chuck device at a reference position prior to assembly operation. At the time of assembly, the positioning pin is disengaged from the X slide such that the slides can move in response to the engagement of the edge of the hole with the tapered surface of the rod to thereby correct lateral misalignment of the article relative to the rod. Fig. 1 is an exploded view of the vacuum chuck device at the head of the robot arm. X slide 1 is mounted on Y slide 5 by shafts 2 and low-friction linear bearings 3 for movement along the X axis. The X shafts 2 are inserted into holes 6 of the Y slide 5. The Y slide 5 is in turn mounted on base frame 9 by shafts 7 and low-friction linear bearings 8 for movement along the Y axis. The Y shafts 7 are inserted into holes 10 of the base frame 9. Positioning pin 12 with its tip conically shaped is provided to be actuated by an air cylinder 13 fixed to fixture 14 which is in turn attached to the robot arm (not shown). The base frame 9 has hole 11 through which the positioning pin 12 is inserted into positioning hole 4 of the X slide 1. The positioning hole 4 has a conical shape corresponding to the tip of the positioning pi...