Patent ID: 8443526
Filing Date: 2013-05-21
Classification: B25J,Y10T

Abstract:
1. A robot compliance device comprising, in combination: first and second discs spaced from each other along a first axis, with one of the first and second discs being adapted to be fixed to an arm of a robot, with the other of the first and second discs being adapted to couple with an object having an object axis to be inserted into a workpiece having a workpiece axis; a beam intermediate the first and second discs; a column interconnected between the first disc and the beam and extending along the first axis; a compliance member mounted around the column between the first disc and the beam, with the compliance member being moveable relative to the column; first and second canted resilient plates interconnected between the beam and the compliance member, with each of the first and second canted resilient plates being at a first acute angle with and spaced from the first axis, with the column intermediate the first and second canted resilient plates, with the first and second canted resilient plates spaced from each other along a second axis perpendicular to the first axis; and third and fourth canted resilient plates interconnected between the second disc and the compliance member, with each of the third and fourth canted resilient plates being at a second acute angle with and spaced from the first axis, with the column intermediate the third and fourth canted resilient plates, with the third and fourth canted resilient plates spaced from each other along a third axis perpendicular to the first and second axes, wherein when one of the first and second discs is subjected to a force acting in a direction not coincident to the first axis resulting from misalignment of the object axis and the workpiece axis during insertion of the object into the workpiece, the first and second canted resilient plates deform along the second axis with the compliance member moving along the second axis responsive to the deforming of the first and second canted resilient plates, and the third and fourth canted resilient plates deform along the third axis with the compliance member moving along the third axis responsive to the deforming of the third and fourth canted resilient plates, with the compliance member deflecting relative to the first axis and with the object rotating about an object center of compliance during insertion of the object into the workpiece.