Ball Lock Compensator for Robotic Tool Compliance
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Solution Overview
Problem
Industrial robots face challenges in accommodating varying forces and obstacles during operations, requiring compliance in multiple directions and automatic return to a safe home position without human intervention.
Innovation Solution
A compensation device positioned between a robot and a robotic tool, featuring a first section mounted to the robot and a second section connected to the tool, with a piston and ball members that provide rotational compliance along multiple axes and automatic resetting capabilities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the robotic tool is made rigid to maintain precision, then manufacturing precision is improved, but the tool cannot accommodate obstacles or varying forces, reducing adaptability
Solution Approach 1:
The robotic tool is divided into multiple sections: a first section mounted to the robot, a second section connected to the tool, and intermediate compliance mechanisms including ball members, seats, and springs. This segmentation allows different parts to have different functions - the first and second sections maintain precision while the intermediate mechanisms provide compliance and adaptability.
Solution Approach 2:
The compliance mechanism uses a composite structure combining rigid elements (ball members, seats, elongated member) with elastic elements (springs). This composite approach allows the system to maintain structural integrity and precision while incorporating flexibility and compliance to accommodate obstacles and varying forces.
2Adaptability or versatility
If the robotic tool is designed with compliance to accommodate obstacles, then adaptability is improved, but the tool may deviate from its home position, requiring manual resetting
Solution Approach 1:
The compliance mechanism is designed with springs that automatically bias the ball members toward their neutral positions. When an obstacle force is removed, the springs self-generate the restoring force to return the tool to its home position without requiring manual intervention,实现ing automatic resetting.
Solution Approach 2:
The springs act as counterbalancing elements that oppose the external forces applied to the robotic tool. When the tool encounters an obstacle, the springs compress to absorb the force; when the obstacle is removed, the springs expand to push the tool back to its original position, effectively counteracting the displacement.
3Adaptability or versatility
If multiple ball members are used to provide compliance in multiple directions, then adaptability is improved, but the device complexity increases
Solution Approach 1:
The ball members serve multiple functions simultaneously: they act as pivot points for rotational compliance, as bearing surfaces for the springs, and as positioning elements for the second section. This multi-functionality reduces the need for separate components for each function, thereby reducing overall device complexity while maintaining multi-directional compliance.
Solution Approach 2:
The compliance mechanism merges several functions into a single integrated structure: the seats are formed as integral parts of the first section, the ball members serve both as pivots and as the interface for spring force application, and the elongated member combines structural support with compliance functionality. This merging reduces the total number of discrete components.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables the robotic tool to comply rotationally about multiple axes, accommodating various forces and automatically returning to a home position, enhancing operational safety and efficiency.
Implementation Method 1
The piston is biased away from the bottom wall and towards the tool plate to contact the ball members and apply a radial force around the elongated member to bias the elongated member to be aligned along the first axis.
Implementation Method 2
one of the ball members positioned in each of the seats. The device is configured such that the piston is biased away from the bottom wall and towards the tool plate to contact the ball members
Implementation Method 3
The device may also include springs positioned between the first section and the piston to bias the piston away from the bottom wall and towards the tool plate.
Data Source
AI summary
A compensation device that is positioned between a robot and a robotic tool. The device 10 generally includes a first section that connects to the robot and a second section that connects to the tool. The second section is movable relative to the first section for the tool to comply to accommodate variations in its positioning. The second section 12 may comply rotationally about x, y, and z orthogonal axes relative to the first section.