Ball-Retainer Compliance Unit for Tilt and Assembly Error Absorption
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Solution Overview
Problem
Conventional compliance units used in automatic assembly by robot hands cannot absorb errors related to inclination due to their inability to pivot about the X-axis and Y-axis, limiting their flexibility in handling workpieces.
Innovation Solution
A compliance unit design featuring a table portion that is tiltable with respect to a slide portion, allowing movement in the XY plane and tilting, with a configuration of first and second balls arranged around the Z-axis to absorb inclination errors, enabling compact and effective error absorption.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple balls are arranged around the Z-axis to enable tilting, then inclination errors can be absorbed, but the device complexity increases
Solution Approach 1:
The compliant element system is segmented into two distinct groups: first balls arranged around the Z-axis (at radial distances from the axis) and a second ball positioned on the Z-axis. This segmentation allows each group to perform specific functions - the first balls facilitate tilting and rotational compliance while the second ball provides axial compliance, together enabling full six-degree-of-freedom error absorption with a relatively simple configuration.
Solution Approach 2:
The spherical balls act as intermediary elements between the slide portion and the table portion. Rather than creating direct mechanical constraints, these ball intermediaries transmit forces and movements while allowing compliance in multiple directions. The first balls and second ball collectively mediate the interaction between the fixed slide portion and the movable table portion, enabling complex motion patterns through simple spherical contact interfaces.
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
The compliance unit effectively absorbs errors in inclination, movement in the XY plane, and Z-direction, providing enhanced flexibility and stability during automatic assembly by allowing the table to pivot and move relative to the slide portion, thereby improving handling precision.
Implementation Method 1
a retainer that holds a plurality of first balls is arranged between the slide body constituting the slide portion and a base plate constituting the table portion, and the plurality of first balls are arranged around an axis of the slide portion that coincides with the Z axis. A single second ball is arranged on the axis line of the slide portion between a ball receiving plate constituting the slide portion and a ball receiving plate constituting the table portion.
Data Source
AI summary
A retainer that holds a plurality of first balls is arranged between a slide body constituting a slide portion and a base plate constituting a table portion, the plurality of first balls are arranged around an axis of the slide portion that coincides with the Z-axis, and a single second ball is arranged on the axis of the slide portion between a ball receiving plate constituting the slide portion and a ball receiving plate constituting the table portion.