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US 4,518,307 AGranted
Compliant robot arm adapter assembly
AssigneeThe Boeing Company
InventorJoseph T. Bloch
Life of this patent
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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.
Claims7
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, 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.
7 more elements
Dependencies are inferred from the claim text.