Compliance mechanism, compliance mechanism assembly, and method for manufacturing a product
Patent Information
- Application Number
- JP2025520420
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Filing Date
- 2025-06-19
- Publication Date
- 2025-09-02
Abstract
Description
Compliance mechanism and compliance mechanism assembly
[0001] The present invention relates to compliance mechanisms and compliance mechanism assemblies.
[0002] When a robot is used to insert an insert such as a connector or a positioning pin into an object, the robot moves the insert held by an end effector attached to the tip of the robot arm to a preset position and inserts it into the object. However, if there is a misalignment in the relative position or angle between the insert and the object, the insert and the object may come into contact or collide, causing problems such as the insert not being inserted properly into the object or damage to the insert or the object.
[0003] To solve this problem, for example, a compliance mechanism that absorbs the relative misalignment between the inserting object and the inserted object is used. For example, Patent Document 1 discloses a compliance mechanism that expands the movable range of relative position adjustment by combining multiple vertical springs, horizontal axis springs, and sliders set on both ends of each spring.
[0004] Japanese Patent Application Publication No. 6-297378
[0005] The compliance mechanism is required to have flexibility that allows its components to be displaced in response to the reaction force transmitted through the insert when the insert and the inserted object come into contact or collide. The compliance mechanism disclosed in Patent Document 1 is movable and adjustable in three mutually perpendicular axial directions, but it cannot be said to have sufficient flexibility to absorb relative misalignment between the insert and the inserted object, making it difficult to easily align the insert and the inserted object.
[0006] The present disclosure has been made in consideration of the above-mentioned circumstances, and aims to provide a compliance mechanism and a compliance mechanism assembly that can easily align an inserting object with an inserted object.
[0007] In order to achieve the above object, the compliance mechanism of the present disclosure is a compliance mechanism for eliminating misalignment that occurs between an insert and an insertee when the insert is inserted into the insertee, and comprises a movable holding part that holds the insert or the insertee, a fixed part that is fixed to a support body to which the compliance mechanism is attached, a first deformation part and a second deformation part that are interposed between the movable holding part and the fixed part and extend in different directions from each other, and a connecting part that connects the first deformation part and the second deformation part. The first deformation part and the second deformation part have a structure of a beam that is fixed at both ends and deforms due to an external force acting on the movable holding part, thereby displacing the movable holding part.
[0008] The compliance mechanism according to the present disclosure has a first deformation portion and a second deformation portion extending in different directions interposed between a movable holding portion that holds an insert or an inserted object and a fixed portion. As a result, the movable holding portion is flexibly displaced in various directions as the first deformation portion and the second deformation portion are deformed by an external force. Therefore, according to the present disclosure, the insert and the inserted object can be easily aligned.
[0009] Schematic diagram of an automatic assembly device including a compliance mechanism according to embodiment 1 of the present disclosure. A perspective view of the compliance mechanism according to embodiment 1. A plan view of the compliance mechanism according to embodiment 1. A diagram showing the state of the compliance mechanism when an external force is applied to a movable holder, where an external force in the X-axis direction is applied. A plan view showing the state of the compliance mechanism when an external force is applied to a movable holder, where an external force in the Y-axis direction is applied. A cross-sectional view taken along the cross-sectional line Va-Va in FIG. 3, where an external force in the Z-axis direction is applied. Compliance mechanism when an external force is applied to a movable holder. FIG. 7 is a diagram showing the state of the mechanism when an external force in the θZ direction is applied; FIG. 7 is a plan view of a compliance mechanism assembly according to embodiment 2; FIG. 8 is a plan view of a compliance mechanism according to embodiment 3; FIG. 9 is a diagram of the compliance mechanism shown in FIG. 7, a cross-sectional view taken along the cross-sectional line VIIIa-VIIIa in FIG. 7; FIG. 10 is a diagram of the compliance mechanism shown in FIG. 7, a perspective view of a first stopper; FIG. 11 is a diagram of the compliance mechanism shown in FIG. 7, a cross-sectional view taken along the cross-sectional line IXa-IXa in FIG. 7;
[0010] A compliance mechanism according to an embodiment of the present disclosure will be described in detail below with reference to the drawings. The compliance mechanism deforms due to contact or collision caused by misalignment of the position and angle between the insert and the receiving object when the insert is inserted into the receiving object. This deformation of the compliance mechanism can absorb misalignment between the insert and the receiving object, thereby improving the efficiency of the insertion process. In this disclosure, as shown in FIG. 1 , an example will be described in which the compliance mechanism 1 is attached to an end effector 50 disposed at the tip of a robot arm 41 of a robot 40. In this manner, the end effector 50 functions as a support for the attached compliance mechanism 1. In the following description, "contact or collision" between the insert and the receiving object may simply be referred to as "contact" between the insert and the receiving object. Furthermore, "misalignment of the position and angle" between the insert and the receiving object may also be referred to as "misalignment" between the insert and the receiving object. In the following description, the mutually orthogonal X-axis, Y-axis, and Z-axis directions, as well as the θZ direction, which is the rotational direction around the Z axis, will be referred to as appropriate, as shown in FIG. 1 . The direction in which the arrows of the X-axis, Y-axis, Z-axis, and θZ directions extend is the + direction, and the direction opposite to the + direction is the - direction. Here, the -Z-axis direction is the direction in which the inserting object is inserted into the receiving object.
[0011] First Embodiment First, an automated assembly device 10 to which a compliance mechanism 1 according to the first embodiment is applied will be described. As shown in FIG. 1 , the automated assembly device 10 performs the task of inserting an insert object into an insertee. The insert object is, for example, a male member such as a male connector or a bolt. The insertee is, for example, a female member such as a female connector or a nut. In the following embodiments, the insert object will be described as a male connector 20 and the insertee as a female connector 30.
[0012] The automatic assembly device 10 is an automatic device and includes a robot 40 having an end effector 50 attached to the tip of a robot arm 41, a compliance mechanism 1 attached to the end effector 50 and holding a male connector 20, an assembly target 31 on which a female connector 30 is mounted, and a hanger 32 on which the assembly target 31 is fixedly held.
[0013] The robot 40 moves the male connector 20 to a position where it will be inserted into the female connector 30 mounted on the assembly target 31. During this process, there may be variations in the mounting position or mounting angle of the female connector 30 mounted on the assembly target 31, or variations in the positioning or angle of the robot 40. This may result in misalignment between the male connector 20 and the female connector 30. When the male connector 20 is inserted into the female connector 30 in this misaligned state, the chamfered portions 20a of the male connector 20 and the chamfered portions 30a of the female connector 30 come into contact with each other, causing the male connector 20 to receive a reaction force from the female connector 30. At this time, the compliance mechanism 1 that holds the male connector 20 deforms, thereby moving the male connector 20 in a direction that eliminates the misalignment.
[0014] 2 and 3 , the compliance mechanism 1 includes a movable holding portion 101 that holds the male connector 20 ( FIG. 1 ), fixed portions 102a, 102b, 102c, and 102d that are fixed to the end effector 50, first deformation portions 103a, 103b, 103c, and 103d and second deformation portions 104a, 104b, 104c, and 104d that elastically deform in response to an external force acting on the movable holding portion 101, and connecting portions 105a and 105b that connect the first deformation portion 103 and the second deformation portion 104. As shown in FIG. 3 , when viewed in plan from the +Z-axis direction, the compliance mechanism 1 has an axisymmetric shape with respect to a center line CL that passes through the center C of the compliance mechanism 1 and is parallel to the X-axis. In the following description, when the four fixing portions 102a, 102b, 102c, and 102d are not particularly distinguished from one another, they may be collectively referred to as "fixing portions 102." The same applies to the first deformation portion 103, the second deformation portion 104, and the connection portion 105. Note that, as shown in FIG. 2, each component of the compliance mechanism 1 is formed in the shape of a rectangular parallelepiped having faces perpendicular to the X-axis, Y-axis, and Z-axis.
[0015] As shown in Figure 3, when the compliance mechanism 1 is viewed in plan from the +Z-axis direction, the movable holding part 101 is disposed in the center of the compliance mechanism 1. As will be described later, the movable holding part 101 is formed of a material and dimensions that have greater rigidity than the first deformation part 103 and the second deformation part 104, i.e., have smaller mechanical compliance, and are not easily deformed by external forces. A holding mechanism (not shown) that holds the male connector 20 shown in Figure 1 is provided on the main surface of the movable holding part 101 facing the -Z axis. The male connector 20 shown in Figure 1, which is an insert, is attached to the movable holding part 101 via this holding mechanism.
[0016] As shown in FIG. 3 , the fixed portions 102 are disposed at the four corners of the compliance mechanism 1, which has an "H" shape in plan view. Each of the four fixed portions 102 has the same shape and size. Of the four fixed portions 102a, 102b, 102c, and 102d, two fixed portions 102a and 102b are located on the +Y side of the movable holder 101 and are disposed on a line parallel to the X axis. The remaining two fixed portions 102c and 102d are located on the -Y side of the movable holder 101 and are disposed on a line parallel to the X axis. The distances of each of the fixed portions 102a, 102b, 102c, and 102d from the movable holder 101 are the same. The fixed portions 102 are immovable in the X axis direction, the Y axis direction, the Z axis direction, and the θZ direction.
[0017] As will be described later, the fixed portion 102 is formed of a material and has dimensions that make it more rigid, i.e., have less mechanical compliance, than the first deforming portion 103 and the second deforming portion 104, and are not easily deformed by external forces. As shown in Fig. 2, the fixed portion 102 is thicker in the Z-axis direction than the other components of the compliance mechanism 1, and protrudes in the +Z-axis direction of the compliance mechanism 1. As a result, when the surface of the fixed portion 102 facing the +Z-axis direction is attached in contact with the end effector 50, the other components of the compliance mechanism 1 are spaced apart from the surface of the end effector 50, as shown in Fig. 1.
[0018] As described below, the connecting portion 105 has greater rigidity than the first deforming portion 103 and the second deforming portion 104, i.e., smaller mechanical compliance, and is formed of a material and dimensions that do not easily deform due to external forces. As shown in FIGS. 2 and 3 , the two connecting portions 105a and 105b are arranged on a line parallel to the Y axis, sandwiching the movable holding portion. The connecting portion 105a is located between the fixed portions 102a and 102b, equidistant from the fixed portions 102a and 102b. The connecting portion 105b is located between the fixed portions 102c and 102d, equidistant from the fixed portions 102c and 102d. The movable holding portion 101 is arranged midway between the connecting portions 105a and 105b. The connecting portions 105 and the movable holding portion 101 are arranged on a line parallel to the Y axis. The connecting portion 105 and the movable holding portion 101 are aligned in the direction parallel to the Y axis, and have the same shape and size.
[0019] The first deformation portion 103 is a rod-shaped member having a longitudinal direction in the Y-axis direction. When the first deformation portion 103 is cut in a direction perpendicular to the longitudinal direction, the shape and size of the cross section are unchanged in the longitudinal direction of the first deformation portion 103. The first deformation portion 103 is formed from a material with a high elastic modulus, such as carbon tool steel or ribbon steel.
[0020] The first deformation portion 103a and the first deformation portion 103b are arranged in parallel and spaced apart in the X direction. One end of each of the first deformation portions 103a and 103b is connected to the +Y side surface of the movable holding portion 101. The other end of each of the first deformation portions 103a and 103b is connected to the -Y side surface of the connecting portion 105a. In this way, the first deformation portion 103a and the first deformation portion 103b extend in pairs from the side surface of the movable holding portion 101 and connect to the side surface of the same connecting portion 105a.
[0021] The first deformation portions 103c and 103d are arranged in parallel and spaced apart in the X direction. One end of each of the first deformation portions 103c and 103d is connected to a side surface on the -Y side of the movable holding portion 101. The other end of each of the first deformation portions 103c and 103d is connected to a side surface on the +Y side of the connecting portion 105b. In this way, the first deformation portions 103c and 103d extend in pairs from the side surface of the movable holding portion 101 and connect to a side surface of the same connecting portion 105b.
[0022] The total area of the cross sections of the first deformation portions 103a and 103b taken in a direction perpendicular to the Y axis is equal to the total area of the cross sections of the first deformation portions 103c and 103d taken in a direction perpendicular to the Y axis, and is smaller than the respective areas of the cross sections of the movable holding portion 101 and the connecting portion 105 taken in a direction perpendicular to the Y axis, as shown in FIG. 2 . In this way, the first deformation portion 103, which has a small cross-sectional area, can be considered to behave based on a mathematical model of a beam whose both ends are fixed to the movable holding portion 101 and the connecting portion 105, both of which have high rigidity, and is capable of bending and deforming in the X-axis and Z-axis directions. The ease of deformation of the first deformation portion 103 can be determined according to its length in the longitudinal direction and the dimensions of the cross section taken in a direction perpendicular to the Y axis.
[0023] The second deforming portion 104 is a rod-shaped member having a longitudinal direction in the X-axis direction. As such, the extension direction of the second deforming portion 104 is different from the extension direction of the first deforming portion 103, and the two directions are perpendicular to each other. When the second deforming portion 104 is cut in a direction perpendicular to the longitudinal direction, the shape and size of the cross section are unchanged in the longitudinal direction of the second deforming portion 104. The second deforming portion 104 is formed from a material with a high elastic modulus, such as carbon tool steel or ribbon steel.
[0024] The second deformation portion 104a connects the +X side surface of the fixed portion 102a to the -X side surface of the connecting portion 105a. The second deformation portion 104b connects the -X side surface of the fixed portion 102b to the +X side surface of the connecting portion 105a. The second deformation portion 104a and the second deformation portion 104b are arranged side by side on a straight line parallel to the X axis. In this way, the second deformation portion 104a and the second deformation portion 104b extend in directions that are 180° different from each other from the opposing side surfaces of the connecting portion 105a and connect to the side surfaces of the fixed portions 102a and 102b, which are different from each other.
[0025] The second deformation portion 104c connects the +X side surface of the fixed portion 102c to the -X side surface of the connecting portion 105b. The second deformation portion 104d connects the -X side surface of the fixed portion 102d to the +X side surface of the connecting portion 105b. The second deformation portion 104c and the second deformation portion 104d are arranged side by side on a straight line parallel to the X axis. In this way, the second deformation portion 104c and the second deformation portion 104d extend in directions different by 180° from the opposing side surfaces of the connecting portion 105b and connect to the side surfaces of the different fixed portions 102c and 102d.
[0026] The cross-sectional area of the second deforming portion 104a when cut in a direction perpendicular to the X-axis is smaller than the cross-sectional area of the fixed portion 102 and the connecting portion 105 when cut in a direction perpendicular to the X-axis. The second deforming portion 104, which has such a small cross-sectional area, can be considered to behave based on a mathematical model of a beam fixed at both ends to the fixed portion 102 and the connecting portion 105, both of which have high rigidity, and can bend and deform in the Y-axis and Z-axis directions. The ease of deformation of the second deforming portion 104 can be determined according to its length in the longitudinal direction and the dimensions of the cross-section cut in a direction perpendicular to the X-axis.
[0027] In this way, the first deformation portion 103a and the second deformation portion 104a are connected to each other in a direction perpendicular to each other via the connecting portion 105a. Similarly, the other first deformation portions 103 and second deformation portions 104 are also connected to each other in a direction perpendicular to each other via the connecting portion 105.
[0028] Next, with reference to FIGS. 4 and 5, the operation of the compliance mechanism 1 when the movable holding part 101 receives an external force will be described.
[0029] As shown in FIG. 4A , when the movable holding unit 101 receives an external force in the +X-axis direction via the male connector 20 ( FIG. 1 ), the first deformation unit 103, which has a large mechanical compliance, deforms with the mechanical connection unit 105, which has a small mechanical compliance, as the fixed point and the movable holding unit 101, which also has a small mechanical compliance, as the point of application. As a result, the movable holding unit 101 moves in the X-axis direction without deformation or without significant deformation. At this time, a tensile force acts in the X-axis direction on the second deformation units 104a and 104c via the connection unit 105, and a compressive force acts in the X-axis direction on the second deformation units 104b and 104d via the connection unit 105. Because these tensile and compressive forces act along the axis of the second deformation unit 104, the second deformation unit 104 does not deform significantly, thereby maintaining the position of the connection unit 105.
[0030] As shown in FIG. 4B , when the movable holding portion 101 receives an external force in the +Y-axis direction via the male connector 20 ( FIG. 1 ), the second deformation portion 104, which has a large mechanical compliance, deforms with the fixed portion 102, which has a small mechanical compliance, as the fixed point and the movable holding portion 101, which also has a small mechanical compliance, as the point of application. As a result, the connecting portion 105, the first deformation portion 103, and the movable holding portion 101 move together in the Y-axis direction without deformation or significant deformation. At this time, a tensile force acts in the Y-axis direction on the first deformation portions 103c and 103d via the movable holding portion 101, and a compressive force acts in the Y-axis direction on the first deformation portions 103a and 103b via the movable holding portion 101. Because these tensile and compressive forces act along the axis of the first deformation portion 103, the first deformation portion 103 does not deform significantly, and the positional relationship between the two connecting portions 105 is maintained.
[0031] 5A , when the movable holding unit 101 receives an external force in the +Z-axis direction via the male connector 20 ( FIG. 1 ), the second deformation unit 104, which has a large mechanical compliance, deforms with the fixed unit 102, which has a small mechanical compliance, as the fixed point and the movable holding unit 101, which has a small mechanical compliance, as the point of application, thereby moving the connecting unit 105, which has a small mechanical compliance, in the Z-axis direction. Furthermore, the first deformation unit 103, which has a large mechanical compliance, deforms with the connecting unit 105, which has moved in parallel, as the fixed point and the movable holding unit 101 as the point of application. As a result, the movable holding unit 101 moves in the Z-axis direction without deformation or without significant deformation.
[0032] As shown in FIG. 5B , when the movable holding unit 101 receives an external force in the +θZ direction via the male connector 20 ( FIG. 1 ), the first deformation unit 103, which has a large mechanical compliance, deforms with the movable holding unit 101, which has a small mechanical compliance, as the starting point. At this time, the connecting unit 105 is pulled by the first deformation unit 103 and rotates in the θZ direction. The second deformation unit 104, which has a large mechanical compliance, deforms in conjunction with the rotation of the connecting unit 105 with the fixed unit 102, which has a small mechanical compliance, as the starting point. In this way, the first deformation unit 103 and the second deformation unit 104 rotate the connecting unit 105 while maintaining the position of the fixed unit 102, thereby rotating the connecting unit 105 and rotating the movable holding unit 101 in the θZ direction without deforming or significantly deforming the movable holding unit 101.
[0033] According to this embodiment, the first deformation portion 103 and the second deformation portion 104, which extend in different directions and are interposed between the movable holding portion 101 and the fixed portion 102, are deformed to displace the movable holding portion 101 that holds the male connector 20. This allows the movable holding portion 101 to be flexibly displaced in various directions, making it easy to align the inserting object with the inserted object.
[0034] Furthermore, by using the connecting portion 105 to connect the first deformation portion 103 and the second deformation portion 104 in a perpendicular state, the first deformation portion 103 and the second deformation portion 104 can be deformed in directions different from each other. This makes it possible to adjust the position of the movable holding portion 101 in four directions, namely, the X-axis direction, the Y-axis direction, the Z-axis direction, and the θZ direction, as described with reference to Figures 4 and 5. That is, it is possible to eliminate positional deviations in the X and Y directions, deviations in the Z direction (i.e., insertion height position), and angular deviations in the θZ direction, which are "deviations" that occur between the inserting object and the inserted object.
[0035] Furthermore, if the proper insertion position, which indicates the proper insertion depth for mating male connector 20 and female connector 30, is shallower than the insertion position preset for robot 40, male connector 20, while being guided into female connector 30, will come into contact with the bottom of female connector 30 before reaching the preset insertion position. Even if robot 40 further inserts male connector 20 from this contact position to the preset insertion position, first deformation portion 103 and second deformation portion 104 of compliance mechanism 1 will deform in the Z-axis direction, thereby absorbing the difference between the proper insertion position and the preset insertion position.
[0036] Furthermore, the first deformation portion 103 and the second deformation portion 104 of the compliance mechanism 1 achieve displacements equivalent to the maximum relative deviations between the male connector 20 and the female connector 30 in the X-axis direction, the Y-axis direction, and the θZ direction with forces sufficiently smaller than the reaction forces in the X-axis direction, the Y-axis direction, and the θZ direction actually received via the male connector 20. In this way, by configuring the compliance mechanism 1 to freely displace in the X-axis direction, the Y-axis direction, the Z-axis direction, and the θZ direction, it is possible to realize a compliance mechanism 1 that can follow positional and angular deviations and allow repeated insertion without damaging the inserting object or the inserted object. This makes it possible to automate assembly work in which there is concern about damage to the product during insertion due to positional deviations in the X-axis and Y-axis directions, deviations in the Z direction (i.e., deviations in the insertion height position), and angular deviations in the θZ direction.
[0037] Furthermore, even if the first deformation portion 103 and the second deformation portion 104 are thick in the Z-axis direction and do not deform in the Z-axis direction, the misaligned male connector can be inserted while sliding along the chamfered portion of the female connector and absorbing the positional misalignment in the X-axis direction and Y-axis direction, and the angular misalignment in the θZ direction.
[0038] (Embodiment 2) Next, a compliance mechanism assembly 2 according to embodiment 2 will be described. Below, a description of components that have the same functions and actions as those of the compliance mechanism 1 according to embodiment 1 will be omitted.
[0039] As shown in Fig. 6 , the compliance mechanism assembly 2 is formed by arranging a plurality of compliance mechanisms 1 according to embodiment 1 on the same plane, and by connecting the fixed portions of each compliance mechanism 1 with a connecting member 110 to integrate all of the compliance mechanisms 1. The method of connecting the fixed portions is arbitrary, and may involve fixing the fixed portions to a connecting member 110 having a plurality of frames as shown in Fig. 6 , or the fixed portions may be cut out from the same material and formed collectively. Note that in Fig. 6 , to make the drawing easier to see, only the constituent parts of the compliance mechanism 1 at the top left as you face the page are labeled with reference numerals, and the other parts are not labeled with reference numerals.
[0040] By attaching the compliance mechanism assembly 2 shown in Fig. 6 to the end effector 50 of the robot 40 shown in Fig. 1, the robot 40 can be equipped with a plurality of movable holders 101. By attaching the male connector 20 shown in Fig. 1 to each movable holder 101, it becomes possible to collectively perform insertion operations on an assembly workpiece 31 on which a plurality of female connectors 30 are mounted.
[0041] Normally, individual differences between the male connectors 20 and the female connectors 30 cause variations in the proper insertion positions, making it difficult to insert multiple connectors at once. However, by using the compliance mechanism assembly 2, all male connectors can be fully inserted by applying the insertion position of the male connector 20 with the deepest proper insertion position, i.e., the greatest insertion depth, to the insertion positions of the other male connectors 20. This is because the male connectors 20 other than the male connector 20 with the greatest insertion depth are displaced in the Z-axis direction by the compliance mechanism assembly 2, automatically adjusting the insertion depth.
[0042] Third Embodiment Next, a compliance mechanism 3 according to a third embodiment will be described. The compliance mechanism 3 is obtained by adding a stopper to the compliance mechanism 1 according to the first embodiment shown in FIG. 2 in order to prevent damage to the mechanism.
[0043] 7 , the compliance mechanism 3 includes a reference body 60 to which a fixed portion 102 is fixed, and a pair of first stoppers 70 and a pair of second stoppers 80 that are provided on the reference body 60 and limit the displacement of the movable holding portion 101. The reference body 60 is a rectangular flat plate in a plan view, and the fixed portions 102 are fixed to the four corners. The pair of first stoppers 70 are disposed in positions that sandwich the movable holding portion 101 on a line parallel to the Y axis. The pair of second stoppers 80 are disposed in positions that sandwich the movable holding portion 101 on a line parallel to the X axis.
[0044] As shown in FIGS. 8A and 8B , the first stopper 70 has a rectangular parallelepiped shape with a recess 70a and a notch 70b formed therein. The +Z end of the first stopper 70 is fixed to the reference body 60. The pair of first stoppers 70, 70 have recesses 70a formed on their opposing sides facing the movable holder 101 to accommodate a portion of the movable holder 101. As shown in FIG. 8A , the movable holder 101 is inserted into the recesses 70a formed in the pair of first stoppers 70, 70. Gaps S1 and S2 are formed between the movable holder 101 inserted into the recess 70a and the recess 70a on the +Y and −Y sides. The movable holder 101 can be displaced in the Y-axis direction by the amount of these gaps S1 and S2, but further displacement in the Y-axis direction is restricted. Furthermore, gaps S3 and S4 are formed between the movable holding part 101 inserted into the recess 70a and the recess 70a on the +Z and -Z sides. The movable holding part 101 can be displaced in the Z-axis direction by the amount of these gaps S3 and S4, but any further displacement in the Z-axis direction is limited. In this way, the first stopper 70 limits the displacement of the movable holding part 101 in the Y-axis and Z-axis directions.
[0045] Furthermore, in the pair of first stoppers 70, 70, notches 70b formed from the opposing side surfaces are provided at the end on the +Z side that is fixed to the reference body 60. By providing such notches 70b, when the movable holding part 101 is displaced in the Y-axis direction and comes into contact with the recess 70a, the first stoppers 70 can be deformed around the notches 70b, thereby preventing the movable holding part 101 from suddenly stopping.
[0046] As shown in Figures 9A and 9B, the second stopper 80 is a rectangular parallelepiped, and its end on the +Z side is fixed to the reference body 60. Gaps S5 and S6 are formed between the second stopper 80 and the movable holding part 101 on the +X and -X sides. The movable holding part 101 can be displaced in the X-axis direction by the amount of these gaps S5 and S6, but further displacement in the X-axis direction is restricted. Note that the end of the second stopper 80 that is fixed to the reference body 60 may have a notch formed thereon, similar to the first stopper 70.
[0047] In the compliance mechanism 1, an external force acting on the movable holding part 101 elastically deforms the first deformation part 103 and the second deformation part 104, displacing the movable holding part 101. For this reason, if the compliance mechanism 1 is hit by a foreign object or dropped and a large impact is applied to the movable holding part 101, the amount of elastic deformation allowed by the first deformation part 103 and the second deformation part 104 may be exceeded, potentially causing damage to these parts.
[0048] However, with the compliance mechanism 3, when the movable holding part 101 attempts to be significantly displaced by an external force, the movable holding part 101 comes into contact with the first stopper 70 or the second stopper 80, thereby limiting the displacement of the movable holding part 101. In this way, the first stopper 70 and the second stopper 80 limit the displacement of the movable holding part 101, thereby making it possible to prevent damage to the first deformation part 103 and the second deformation part 104.
[0049] In particular, when performing a removal operation to remove the male connector 20 from the female connector 30, the resistance force acting on the male connector 20 may cause the movable holder 101 to be significantly displaced in the −Z direction. For this reason, the first deformation portion 103 and the second deformation portion 104 are required to have high rigidity in the −Z direction. However, with the compliance mechanism 3, the displacement of the movable holder 101 in the −Z direction is limited by the first stopper 70, thereby reducing the required rigidity level of the first deformation portion 103 and the second deformation portion 104. Furthermore, by narrowing the distance between the main surface of the movable holder 101 and the surface of the recess 70a that abuts against the movable holder 101, the displacement of the movable holder 101 in the Z-axis direction is strictly limited or prohibited, thereby making it possible to easily remove the male connector 20 from the female connector 30. In this way, the compliance mechanism 3 according to the third embodiment can prevent damage to the first deformation portion 103 and the second deformation portion 104 and efficiently perform the removal operation.
[0050] In the compliance mechanism 3 described above, the displacement of the movable holding part 101 in the Y-axis and Z-axis directions is limited by the first stopper 70, and the displacement of the movable holding part 101 in the X-axis direction is limited by the second stopper 80. However, the displacement in each axial direction may be limited by an independent individual stopper, or the displacement in each axial direction may be limited in an appropriate combination.
[0051] (Fourth Embodiment) Next, a compliance mechanism 4 according to a fourth embodiment will be described. Hereinafter, descriptions of members that have the same functions and actions as the compliance mechanisms 1 and 3 and compliance mechanism assembly 2 according to the first to third embodiments will be omitted. In this embodiment, a compliance mechanism 4 that can more flexibly displace a movable holding part in response to an external force applied via the male connector 20 will be described. Note that, as shown in FIGS. 10 and 11 , each component of the compliance mechanism 4 is formed in a rectangular parallelepiped shape having faces perpendicular to the X-axis, Y-axis, and Z-axis.
[0052] As shown in FIG. 11, the compliance mechanism 4 is a mechanism formed in a cross shape in a plan view. As shown in Figures 10 and 11, the compliance mechanism 4 comprises a movable holding portion 201 that holds the male side connector 20 shown in Figure 1, fixed portions 202a to 202d that are fixed to the end effector 50 shown in Figure 1, first deformation portions 203 (203a to 203h) and second deformation portions 204 (204a to 204h) that elastically deform in response to an external force generated by contact between the male side connector 20 and the female side connector 30 shown in Figure 1, connection portions 205 (205a, 205b) that connect the first deformation portions 203 and the second deformation portions 204, first relay portions 206 (206a, 206b) that relay and connect the first deformation portions 203 to each other, and second relay portions 207 (207a, 207b) that relay and connect the second deformation portions 204 to each other.
[0053] 11 , when the compliance mechanism 4 is viewed in plan from the +Z-axis direction, the movable holding part 201 is disposed in the center of the compliance mechanism 4. The movable holding part 201 is a rectangular parallelepiped member, and is formed from a material and dimensions that have greater rigidity than the first deformation part 203 and the second deformation part 204, i.e., less mechanical compliance, and are not easily deformed by external forces. A holding mechanism (not shown) that holds the male connector 20 ( FIG. 1 ) is provided on the main surface of the movable holding part 201 facing the −Z-axis.
[0054] The four fixed portions 202 each have the same shape and size, and are arranged around the movable holding portion 201. Fixed portion 202a is located on the -X side and +Y side of the movable holding portion 201. Fixed portion 202b is located on the +X side and +Y side of the movable holding portion 201. Fixed portion 202c is located on the -X side and -Y side of the movable holding portion 201. Fixed portion 202d is located on the +X side and -Y side of the movable holding portion 201. In other words, assuming an imaginary rectangle whose center coincides with the center C of the movable holding portion 201 and whose sides extend along the X-axis and Y-axis, the four fixed portions 202a, 202b, 202c, and 202d are arranged at each vertex of the imaginary rectangle.
[0055] The fixed portion 202 has greater rigidity, i.e., smaller mechanical compliance, than the first deforming portion 203 and the second deforming portion 204, and is formed from a material and with dimensions that do not easily deform due to external forces. As shown in Fig. 10 , the fixed portion 202 is thicker in the Z-axis direction than the other components of the compliance mechanism 4, and protrudes in the +Z-axis direction from the compliance mechanism 4. As a result, when the surface of the fixed portion 202 facing the +Z-axis direction is attached in contact with the end effector 50 (Fig. 1), the other components of the compliance mechanism 4 are provided at a distance from the surface of the end effector 50 (Fig. 1).
[0056] The connecting portion 205 has greater rigidity than the first deforming portion 203 and the second deforming portion 204, i.e., has smaller mechanical compliance, and is formed from a material and dimensions that do not easily deform due to external forces. The two connecting portions 205a, 205b are arranged in positions that sandwich the movable holding portion 201 on a line parallel to the X-axis. The connecting portion 205a is arranged adjacent to the -X side of the movable holding portion 201. The connecting portion 205b is arranged adjacent to the +X side of the movable holding portion 201. The distances from the movable holding portion 201 to each connecting portion 205a, 205b are the same.
[0057] The first relay portion 206 has greater rigidity than the first deforming portion 203 and the second deforming portion 204, i.e., has smaller mechanical compliance, and is formed of a material and dimensions that do not easily deform due to external forces. The two first relay portions 206a, 206b are arranged in positions that sandwich the movable holding portion 201 on a line parallel to the Y axis. The first relay portion 206a is arranged on the +Y side of the movable holding portion 201 at a distance from the movable holding portion 201. One ends of the four first deforming portions 203a, 203b, 203c, and 203d are connected to the first relay portion 206a. On the other hand, the first relay portion 206b is arranged on the -Y side of the movable holding portion 201 at a distance from the movable holding portion 201. One ends of the four first deforming portions 203e, 203f, 203g, and 203h are connected to the first relay portion 206b. The distances from the movable holding part 201 to the first link parts 206a and 206b are the same.
[0058] The second relay portion 207 has greater rigidity than the first deforming portion 203 and the second deforming portion 204, i.e., smaller mechanical compliance, and is formed of a material and dimensions that do not easily deform due to external forces. The two second relay portions 207a, 207b are arranged in positions that sandwich the movable holding portion 201 and the connection portion 205 on a line parallel to the X-axis. The second relay portion 207a is arranged on the -X side of the movable holding portion 201 at a distance from the movable holding portion 201. One ends of the four second deforming portions 204a, 204b, 204e, and 204f are connected to the second relay portion 207a. On the other hand, the second relay portion 207b is arranged on the +X side of the movable holding portion 201 at a distance from the movable holding portion 201. One ends of the four second deforming portions 204c, 204d, 204g, and 204h are connected to the second relay portion 207b. The distances from the movable holding part 201 to the second link parts 207a and 207b are the same.
[0059] The first deformation portion 203 is a rod-shaped member having a longitudinal direction in the Y-axis direction. The first deformation portion 203 is provided on the +Y side of the movable holding portion 201 and has four first deformation portions 203a, 203b, 203c, and 203d that are arranged in parallel and spaced apart from each other in the X-axis direction, and four first deformation portions 203e, 203f, 203g, and 203h that are provided on the -Y side of the movable holding portion 201 and are arranged in parallel and spaced apart from each other in the X-axis direction.
[0060] The first deformation portion 203, which is provided on the +Y side of the movable holding portion 201, is arranged in this order from the -X side to the +X side: first deformation portion 203b, first deformation portion 203a, first deformation portion 203c, and first deformation portion 203d. Among them, the first deformation portion 203b and first deformation portion 203d arranged on the outside and the first deformation portion 203a and first deformation portion 203c arranged on the inside are arranged symmetrically with respect to a center line CL1 that passes through the center C of the compliance mechanism 4 and is parallel to the Y axis. The first deformation portion 203a and first deformation portion 203c arranged on the inside connect the +Y side surface of the movable holding portion 201 to the -Y side surface of the first relay portion 206a. Meanwhile, the first deformation portion 203b arranged on the outside of the first deformation portion 203a connects the -Y side surface of the first relay portion 206a to the +Y side surface of the connection portion 205a. Similarly, first deformation portion 203d, which is disposed outside first deformation portion 203c, connects the -Y side surface of first relay portion 206a to the +Y side surface of connecting portion 205b. As a result, first deformation portion 203a and first deformation portion 203b, which are connected via first relay portion 206a, connect movable holding portion 201 to connecting portion 205a. Similarly, first deformation portion 203c and first deformation portion 203d, which are connected via first relay portion 206a, connect movable holding portion 201 to connecting portion 205b.
[0061] The first deforming portion 203, which is located closer to the -Y side than the movable holding portion 201, also has a similar configuration, and is arranged in this order from the -X side to the +X side: first deforming portion 203f, first deforming portion 203e, first deforming portion 203g, and first deforming portion 203h. Among these, the first deforming portion 203e and first deforming portion 203g, which are arranged on the inside, connect the -Y side surface of the movable holding portion 201 to the +Y side surface of the first relay portion 206b. Meanwhile, the first deforming portion 203f, which is arranged outside the first deforming portion 203e, connects the +Y side surface of the first relay portion 206b to the -Y side surface of the connecting portion 205a. Similarly, the first deforming portion 203h, which is arranged outside the first deforming portion 203g, connects the +Y side surface of the first relay portion 206b to the -Y side surface of the connecting portion 205b. As a result, the movable holding part 201 and the connecting part 205a are connected by the first deforming part 203e and the first deforming part 203f, which are connected via the first relay part 206b. Similarly, the movable holding part 201 and the connecting part 205b are connected by the first deforming part 203g and the first deforming part 203h, which are connected via the first relay part 206b.
[0062] The second deformation portion 204 is a rod-shaped member having a longitudinal direction in the X-axis direction. The second deformation portion 204 has four second deformation portions 204a, 204b, 204e, and 204f that are provided on the −X side of the movable holding portion 201 and aligned in parallel with a gap between them in the Y-axis direction, and four second deformation portions 204c, 204d, 204g, and 204h that are provided on the +X side of the movable holding portion 201 and aligned in parallel with a gap between them in the Y-axis direction.
[0063] The second deformation portion 204, which is provided on the -X side of the movable holding portion 201, is arranged in this order from the +Y side to the -Y side: second deformation portion 204b, second deformation portion 204a, second deformation portion 204e, and second deformation portion 204f. Among them, the second deformation portion 204b and second deformation portion 204f arranged on the outside and the second deformation portion 204a and second deformation portion 204e arranged on the inside are arranged symmetrically with respect to a center line CL2 that passes through the center C of the compliance mechanism 4 and is parallel to the X axis. The second deformation portion 204a and second deformation portion 204e arranged on the inside connect the -X side side of the connection portion 205a and the +X side side of the second relay portion 207a. Meanwhile, the second deformation portion 204b arranged on the outside of the second deformation portion 204a connects the +X side side of the second relay portion 207a and the -X side side of the fixed portion 202a. Similarly, second deforming portion 204f, which is disposed outside second deforming portion 204e, connects the +X side surface of second relay portion 207a to the -X side surface of fixed portion 202c. As a result, connecting portion 205a and fixed portion 202a are connected by second deforming portion 204a and second deforming portion 204b, which are connected via second relay portion 207a. Similarly, connecting portion 205a and fixed portion 202c are connected by second deforming portion 204e and second deforming portion 204f, which are connected via second relay portion 207a.
[0064] The second deforming portion 204, which is located closer to the +X side than the movable holding portion 201, also has a similar configuration, and is arranged in this order from the +Y side to the -Y side: second deforming portion 204d, second deforming portion 204c, second deforming portion 204g, and second deforming portion 204h. The inner second deforming portions 204c and 204g connect the +X side surface of the connecting portion 205b and the -X side surface of the second relay portion 207b. Meanwhile, the second deforming portion 204d, which is located outside the second deforming portion 204c, connects the -X side surface of the second relay portion 207b and the +X side surface of the fixed portion 202b. Similarly, the second deforming portion 204h, which is located outside the second deforming portion 204g, connects the -X side surface of the second relay portion 207b and the +X side surface of the fixed portion 202d. As a result, connecting portion 205b and fixing portion 202b are connected by second deforming portion 204c and second deforming portion 204d, which are connected via second relay portion 207b. Similarly, connecting portion 205b and fixing portion 202d are connected by second deforming portion 204g and second deforming portion 204h, which are connected via second relay portion 207b.
[0065] In this way, the first deformation portions 203a, 203b and the second deformation portions 204a, 204b connect the movable holding portion 201 and the fixed portion 202a via the first relay portion 206a, the connecting portion 205a, and the second relay portion 207a.
[0066] Similarly, the first deformation portions 203c and 203d and the second deformation portions 204c and 204d connect the movable holding portion 201 and the fixed portion 202b via the first relay portion 206a, the connecting portion 205b, and the second relay portion 207b.
[0067] Similarly, the first deformation portions 203e and 203f and the second deformation portions 204e and 204f connect the movable holding portion 201 and the fixed portion 202c via the first relay portion 206b, the connecting portion 205a, and the second relay portion 207a.
[0068] Similarly, the first deformation portions 203g and 203h and the second deformation portions 204g and 204h connect the movable holding portion 201 and the fixed portion 202d via the first relay portion 206b, the connecting portion 205b, and the second relay portion 207b.
[0069] In this way, by connecting the movable holding unit 201 and the fixed unit 202 via the first relay unit 206, the connection unit 205, and the second relay unit 207, the first deformation unit 203 and the second deformation unit 204 can be elastically deformed more flexibly than in the compliance mechanism 1. Therefore, even when the same external force is applied, the movable holding unit 201 can be displaced more greatly than in the case of the compliance mechanism 1. This improves the efficiency with which positional and angular misalignment between the male connector 20 and the female connector 30 is absorbed. It is also possible to prevent damage to both the male connector 20 and the female connector 30 caused by contact between them.
[0070] Furthermore, when configured with the same compliance constant, the dimensions of the first deformation portion and the second deformation portion can be made smaller. In particular, since the lengths of the first deformation portion and the second deformation portion can be shortened, the compliance mechanism can be made more compact.
[0071] The present disclosure is not limited to the above-described embodiments, and various modifications and applications are possible without departing from the gist of the present disclosure.
[0072] In the above-described embodiments, the compliance mechanisms 1, 3, and 4 are attached to the inserting object side. However, in order to eliminate misalignment between the inserting object and the inserted object, the compliance mechanisms 1, 3, and 4 may also be attached to the inserted object side. In this way, the inserted object side can be moved in a direction that eliminates the misalignment between the inserting object and the inserted object.
[0073] In the above embodiments, the compliance mechanisms 1, 3, and 4 are described as being attached to a robot for inserting an inserting object into a receiving object. However, the compliance mechanisms 1, 3, and 4 can be applied to devices that operate in the Z-axis direction and can be attached to various manual or automatic devices. The compliance mechanisms 1, 3, and 4 of the above embodiments can be applied to devices that perform product assembly processes, for example, where the work is completed with an insertion operation. Furthermore, the compliance mechanisms 1, 3, and 4 of the above embodiments can be applied to devices that perform electrical testing of connectors, for example, where the inserting side and the receiving side are switched periodically or at regular intervals to repeat insertion and removal operations.
[0074] Furthermore, in the above embodiment, the constituent parts of the compliance mechanisms 1, 3, and 4 and the compliance mechanism assembly 2 are formed separately and then connected to manufacture the compliance mechanism 1. However, the method for manufacturing the compliance mechanism 1 is not limited to this, and the compliance mechanism may also be manufactured, for example, by cutting out the entire mechanism from a member that has both the required elasticity and rigidity.
[0075] In the above embodiment, the extending direction of the first deformation portion and the extending direction of the second deformation portion are perpendicular to each other. However, the angle between the two may be any angle as long as the movable holder can be flexibly displaced.
[0076] Furthermore, the number of first deformation portions and second deformation portions provided is not limited to the above. By providing a larger number of first deformation portions and second deformation portions, it becomes easier to displace the movable holder, and by providing a smaller number of first deformation portions and second deformation portions, it becomes harder to displace the movable holder. In other words, the number of portions provided can be determined appropriately depending on the function required of the compliance mechanism.
[0077] In the above embodiment, the case where the first relay unit 206 and the second relay unit 207 are installed has been described, but it is also possible to install only one of the relay units. Furthermore, the number of first relay units 206 and second relay units 207 to be installed is not particularly limited, and the number to be installed can be determined appropriately depending on the function required of the compliance mechanism.
[0078] This application is based on Japanese Patent Application No. 2023-081116, filed on May 16, 2023. The entire specification, claims, and drawings of Japanese Patent Application No. 2023-081116 are incorporated herein by reference.
[0079] Various aspects of the present disclosure are summarized below as appendices.
[0080] (Appendix 1) A compliance mechanism for eliminating any misalignment that occurs between an insert and an object to be inserted when an insert is inserted into an object to be inserted, comprising: a movable holding part that holds the insert or the object to be inserted; a fixed part that is fixed to a support body to which the compliance mechanism is attached; a first deformation part and a second deformation part that are interposed between the movable holding part and the fixed part and extend in different directions from each other; and a connection part that connects the first deformation part and the second deformation part, wherein the first deformation part and the second deformation part have a structure of a beam with fixed ends that deforms due to an external force acting on the movable holding part, thereby displacing the movable holding part.
[0081] (Appendix 2) The compliance mechanism described in Appendix 1, wherein the first deformation portion and the second deformation portion extend in a plane perpendicular to the insertion direction of the insert, and the direction in which the first deformation portion extends and the direction in which the second deformation portion extends are perpendicular to each other.
[0082] (Supplementary Note 3) The compliance mechanism according to Supplementary Note 1 or 2, wherein the first deformation portion connects the movable holding portion and the connection portion, and the second deformation portion connects the connection portion and the fixed portion.
[0083] (Supplementary Note 4) The compliance mechanism described in any one of Supplementary Notes 1 to 3, wherein the first deformation portions extend in pairs from side surfaces of the movable holding portion and are connected to the connection portion, and the second deformation portions extend in directions 180° different from each other from opposing side surfaces of the connection portion and are each connected to a different fixed portion.
[0084] (Appendix 5) A compliance mechanism according to Appendix 3, comprising at least one of a first relay portion provided between the movable holding portion and the connecting portion and a second relay portion provided between the connecting portion and the fixed portion, wherein the first relay portion connects one of the first deforming portions extending from the movable holding portion to the other of the first deforming portions extending from the connecting portion, thereby connecting the movable holding portion and the connecting portion at the first deforming portion, and the second relay portion connects one of the second deforming portions extending from the connecting portion to the other of the second deforming portions extending from the fixed portion, thereby connecting the connecting portion and the fixed portion at the second deforming portion.
[0085] (Supplementary Note 6) The compliance mechanism according to any one of Supplementary Notes 1 to 5, further comprising a stopper that limits displacement of the movable holding portion.
[0086] (Supplementary Note 7) The compliance mechanism according to Supplementary Note 6, wherein the stopper limits displacement of the movable holding part in three directions perpendicular to one another.
[0087] (Supplementary Note 8) A compliance mechanism assembly comprising a plurality of compliance mechanisms according to any one of Supplementary Notes 1 to 7 arranged on the same plane.
[0088] (Supplementary Note 9) The compliance mechanism assembly according to Supplementary Note 8, wherein the fixed portions of the plurality of compliance mechanisms are connected to one another.
[0089] 1... compliance mechanism, 2... compliance mechanism assembly, 3, 4... compliance mechanism, 10... automatic assembly device, 20... male connector, 20a... chamfered portion, 30... female connector, 30a... chamfered portion, 31... assembly target, 32... hanging stand, 40... robot, 41... robot arm, 50... end effector, 60... reference body, 70... first stopper, 70a... recess, 70b... notch portion, 80... second stopper, 101... movable holding portion, 102, 102a to 102d... fixed portion, 10 3, 103a to 103d...first deformation portion, 104, 104a to 104d...second deformation portion, 105, 105a, 105b...connection portion, 110...connecting material, 201...movable holding portion, 202, 202a to 202d...fixed portion, 203, 203a to 203h...first deformation portion, 204, 204a to 204h...second deformation portion, 205, 205a, 205b...connection portion, 206, 206a, 206b...first relay portion, 207, 207a, 207b...second relay portion, C...center, S1 to S6...gap, CL, CL1, CL2...center line.
Claims
1. A compliance mechanism for eliminating a misalignment that occurs between an insert and an inserted object when the insert is inserted into the inserted object, a movable holding part that holds the inserting object or the inserted object; a fixed portion fixed to a support body to which the compliance mechanism is attached; a first deformation portion and a second deformation portion interposed between the movable holding portion and the fixed portion and extending in different directions from each other; a connecting portion that connects the first deformation portion and the second deformation portion, the first deformation portion has a structure of a beam with both ends fixed by including an elastic member that connects the movable holding portion and the connection portion and has a cross section smaller than cross sections of the movable holding portion and the connection portion; the second deformation portion has a structure of a beam with both ends fixed by including an elastic member that connects the connection portion and the fixed portion and has a cross section smaller than cross sections of the connection portion and the fixed portion; an external force acting on the movable holding part causes the first deformation part and the second deformation part to elastically deform, thereby displacing the movable holding part; Compliance mechanism.
2. the first deformation portion and the second deformation portion extend in a plane perpendicular to an insertion direction of the insert, a direction in which the first deformation portion extends and a direction in which the second deformation portion extends are perpendicular to each other; The compliance mechanism of claim 1 .
3. A compliance mechanism for eliminating a misalignment that occurs between an insert and an object to be inserted when the insert is inserted into the object to be inserted, a movable holding part that holds the inserting object or the inserted object; a fixed portion fixed to a support body to which the compliance mechanism is attached; a first deformation portion and a second deformation portion interposed between the movable holding portion and the fixed portion and extending in different directions from each other; a connecting portion that connects the first deformation portion and the second deformation portion, the first deformation portion and the second deformation portion have a structure of a beam with fixed ends that is deformed by an external force acting on the movable holding portion, thereby displacing the movable holding portion; the first deformation portions extend in pairs from the side surfaces of the movable holding portion and are connected to the connection portions, The second deformation portions extend in directions different by 180° from each other from opposite side surfaces of the connection portion, and are connected to different fixing portions, respectively. Compliance mechanism.
4. A compliance mechanism for eliminating a misalignment that occurs between an insert and an object to be inserted when the insert is inserted into the object to be inserted, a movable holding part that holds the inserting object or the inserted object; a fixed portion fixed to a support body to which the compliance mechanism is attached; a first deformation portion and a second deformation portion interposed between the movable holding portion and the fixed portion and extending in different directions from each other; a connecting portion that connects the first deformation portion and the second deformation portion, The first deformation portion and the second deformation portion have a structure of a beam with fixed ends that is deformed by an external force acting on the movable holding portion, thereby displacing the movable holding portion. the first deformation portion connects the movable holding portion and the connection portion, the second deformation portion connects the connection portion and the fixing portion, at least one of a first relay portion provided between the movable holding portion and the connecting portion and a second relay portion provided between the connecting portion and the fixed portion, the first relay portion connects one of the first deformation portions extending from the movable holding portion to the other of the first deformation portions extending from the connecting portion, thereby connecting the movable holding portion and the connecting portion at the first deformation portion; the second relay portion connects one of the second deformation portions extending from the connection portion to the other of the second deformation portions extending from the fixing portion, thereby connecting the connection portion and the fixing portion at the second deformation portion; Compliance mechanism.
5. Further provided is a stopper for limiting displacement of the movable holding part. The compliance mechanism of claim 1 .
6. the stopper limits the displacement of the movable holding part in three directions perpendicular to each other. The compliance mechanism of claim 5 .
7. A compliance mechanism for eliminating a misalignment that occurs between an insert and an object to be inserted when the insert is inserted into the object to be inserted, a movable holding part that holds the inserting object or the inserted object; a fixed portion fixed to a support body to which the compliance mechanism is attached; a first deformation portion and a second deformation portion interposed between the movable holding portion and the fixed portion and extending in different directions from each other; a connecting portion that connects the first deformation portion and the second deformation portion, the first deformation portion and the second deformation portion have a structure of a beam with fixed ends that is deformed by an external force acting on the movable holding portion, thereby displacing the movable holding portion; The second deformation portions extend in different directions from the side surfaces of the connection portion and are connected to different fixing portions, Compliance mechanism.
8. a plurality of compliance mechanisms according to any one of claims 1 to 7 arranged on the same plane; Compliance mechanism aggregate.
9. the fixed portions of the plurality of compliance mechanisms are connected to each other; The compliance mechanism assembly of claim 8 .
10. A method for manufacturing a device comprising the steps of inserting an insert object into an insert object of an assembly using the compliance mechanism according to any one of claims 1 to 7. How the product is manufactured.