Browse Prior Art Database

Compliant Tilt Stage

IP.com Disclosure Number: IPCOM000103389D
Original Publication Date: 1990-Nov-01
Included in the Prior Art Database: 2005-Mar-17
Document File: 1 page(s) / 63K

Publishing Venue

IBM

Related People

Nguyen, AD: AUTHOR

Abstract

Disclosed is a device for protecting a robot end of an arm solder application tool.

This text was extracted from an ASCII text file.
This is the abbreviated version, containing approximately 100% of the total text.

Compliant Tilt Stage

      Disclosed is a device for protecting a robot end of an arm
solder application tool.

      Shown in the figure is a multi-directional compliant tilt stage
which comprises a cylinder 1, external piston 2, ball joint 3, light
orifice 3.1, support ring 4, head housing 5, through- beam sensor 6
and housing sleeve 7.  The tilt stage is shown carried by a robot
shaft.

      During normal operation, head 5 is positioned perpendicular to
the surface of a panel to be soldered. Cylinder 1 is pressurized so
that external piston 2 exerts a downward force directly on ball joint
3, forcing ball joint 3 to straighten itself and thus cause head
housing 5 to be straight.  Ball joint 3 includes a pair of light
orifices 3.1.  The center of ball joint 3 center is fixed by support
ring 4 at a known position.

      Should crash occur, head housing 5 and ball joint 3 tilt,
pushing external piston 2 upwardly.  This motion blocks the light in
a pair of photoelectric through-beam sensors 6.  Responsive to this
condition, the robot stops immediately.  Upon robot reset, when its
shaft is retracted, head 5 resets itself.  When a crash occurs, the
tip moves in a "spherical face" to provide X-Z compliance.

      Light orifices 3.1 may be replaced with those of a different
size to alter sensor sensitivity.  Pressure may be applied to
cylinder 1 to accommodate different applications.

      Disclosed anonymously.