Ball Lock Compensator for Robotic Tool Compliance

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Solution Overview

Problem

Robotic tools in industrial settings face challenges with compliance in multiple directions and automatic resetting to original position without human intervention, especially when encountering obstacles that exert varying forces.

Innovation Solution

A compensation device is interposed between a robot and a robotic tool, featuring a piston and ball members that allow for radial movement and secure positioning, enabling compliance in multiple directions and automatic resetting by using a combination of pistons and ball members to lock the second section relative to the first section, allowing for rotational and lateral movement.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Manufacturing precision

If the robotic tool is designed to be rigid for precise positioning, then positioning precision is improved, but the tool cannot accommodate obstacles or exert torque flexibly

Engineering Contradiction:

Improvepositioning precisionVSAvoidcompliance

Core Design Contradiction:

Manufacturing precisionVSAdaptability or versatility

Solution Approach 1:

The robotic tool is divided into multiple sections (first section, second section, third section) that can move relative to each other. The compensation device is inserted between sections to provide compliance while maintaining overall positioning precision. Each section can independently accommodate forces while the system as a whole maintains precision.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The compensation device acts as an intermediary element between rigid robotic tool sections. It includes a piston and ball members that mediate between the rigid sections, allowing relative movement and compliance while maintaining connection. The piston with angled contact surface and ball members provides the intermediate compliant mechanism.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Adaptability or versatility

If the robotic tool provides compliance in multiple directions to accommodate obstacles, then adaptability is improved, but the device complexity increases

Engineering Contradiction:

Improvemulti-directional complianceVSAvoidcompensation device structure

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The compensation device uses dynamic elements including a movable piston that can shift position and ball members that can move radially. These dynamic components allow the device to adapt to forces from multiple directions while maintaining a relatively simple overall structure. The angled contact surface on the piston dynamically redirects forces.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The device changes physical parameters during operation - the piston position changes in response to applied forces, and the ball members move radially to accommodate different force directions. This parameter variability enables multi-directional compliance without requiring a complex multi-axis mechanism.

Inventive Principle:

Principle #35Parameter changes

3Productivity

If the robotic tool automatically resets to its original position after encountering an obstacle, then operational continuity is improved, but the mechanism complexity increases

Engineering Contradiction:

Improveoperational continuityVSAvoidresetting mechanism

Core Design Contradiction:

ProductivityVSDevice complexity

Solution Approach 1:

The compensation device is self-resetting through its mechanical design. When the obstacle force is removed, the piston and ball members automatically return to their original positions through the spring mechanism and geometric constraints, without requiring external control or human intervention. The angled contact surface geometry enables automatic resetting.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The resetting mechanism operates in periodic cycles - during obstacle contact, the piston moves to accommodate the force; when contact ends, the spring returns the piston to its original position. This periodic motion enables continuous operation without manual resetting.

Inventive Principle:

Principle #19Periodic action

4Stability of the object's composition

If the piston forces ball members radially outward to secure positioning, then positioning stability is improved, but the force required increases

Engineering Contradiction:

Improvepositioning stabilityVSAvoidradial force on ball members

Core Design Contradiction:

Stability of the object's compositionVSForce

Solution Approach 1:

The ball members have spherical geometry that interacts with the angled contact surface of the piston. This curvature allows the ball members to roll and redistribute forces more efficiently, reducing the peak radial force required to achieve secure positioning compared to flat-contact mechanisms.

Inventive Principle:

Principle #14Spheroidality (Curvature)

Data Source

PatentUS9151343B2Ball lock compensator for use with a robotic device

Publication Date: 2015.10.06 ATI IND AUTOMATION INC

AI summary

A compensation device configured to be positioned between a robotic arm and a robotic tool. The device may be configured to directly attach to the tool, or may be configured to be positioned away from the tool. The device generally includes a first section that connects to the robotic arm and a second section that connects to the tool. The second section is movable relative to the first section to provide for the tool to be positioned at various orientations. The second section may comply rotationally about a first axis. The second section may be movable in a second plane. In one embodiment, the second plane is perpendicular to the first axis.