GB2152473A - Improvements in compliant devices - Google Patents

Improvements in compliant devices Download PDF

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Publication number
GB2152473A
GB2152473A GB08400767A GB8400767A GB2152473A GB 2152473 A GB2152473 A GB 2152473A GB 08400767 A GB08400767 A GB 08400767A GB 8400767 A GB8400767 A GB 8400767A GB 2152473 A GB2152473 A GB 2152473A
Authority
GB
United Kingdom
Prior art keywords
device
end
centre
pairs
helicoil
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
GB08400767A
Other versions
GB2152473B (en
GB8400767D0 (en
Inventor
Duc Truong Pham
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
British Nuclear Fuels PLC
Original Assignee
British Nuclear Fuels PLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by British Nuclear Fuels PLC filed Critical British Nuclear Fuels PLC
Priority to GB08400767A priority Critical patent/GB2152473B/en
Publication of GB8400767D0 publication Critical patent/GB8400767D0/en
Publication of GB2152473A publication Critical patent/GB2152473A/en
Application granted granted Critical
Publication of GB2152473B publication Critical patent/GB2152473B/en
Application status is Expired legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • B25J17/0208Compliance devices

Abstract

A compliant device for insertion between an end of a manipulator arm and a tool, the device comprising a plurality of pairs of helicoil assemblies 21,22 secured at their opposite ends in respective rigid coupling means 1,2 attachable to the end of the manipulator arm and the tool, adjacent assemblies of neighbouring pairs being inclined such that the axes of the adjacent assemblies meet at points on a circle with the centre of the circle defining the centre of compliance of the device. <IMAGE>

Description

SPECIFICATION Improvements in compliant devices The present invention concerns compliant devices, these being devices as used in robotics for the manipulation and positioning of workpieces.

The task of inserting pegs in holes is a common occurrence in the assembly of mechanical components. It occurs, for example, when fitting pistons into cylinders, inserting shafts into bearings and locating wheels on spindles. When performing such relatively straightforward operations automatically and by remote control difficulties and problems arise if the component parts are not in accurate alignment and orientation. A compliant device included between a robot arm and a robot hand for gripping the workpiece can cater and compensate for such misalignments. The compliant device is analogous to the wrist of a human operator. For further discussion of compliant devices attention is directed to an article entitled "A compliant device for inserting a peg in a hole" appearing in "The Industrial Robot" of June 1979.

According to the present invention there is provided a compliant device for insertion between the end of a manipulator arm and a tool at said end of the arm, the device comprising a plurality of pairs of resiliently flexible members secured at their opposite ends in respective rigid coupling means attachable to the end of the manipulator and the tool, adjacent members of neighbouring pairs being inclined such that the axes of said adjacent members meet at points on a circle with the centre of said circle defining the centre of compliance of the device.

Conveniently the device comprises three pairs of resiliently flexible members with the axes of the adjacent inclined members of neighbouring pairs meeting at three separate points forming the apices of an equilateral triange with the centre of gravity of the triangle coincident with the centre of compliance of the device.

Preferably the resiliently flexible members comprise helicoil assemblies, each assembly comprising two helicoils, being a hollow cylindrical body with a continuous spiral slot therein extending over a portion of the length of the body between its ends, interconnected at their adjacent ends.

Preferably, the centre of compliance is arranged to lie at the tip of a workpiece to be carried in the tool.

The invention will be described, by way of example, with reference to the accompanying drawings; in which: Figure 1 is a general view of an embodiment of a compliant device according to the invention Figure 2 is a side view of a portion of the device in Figure 1 and partly in section.

A compliant device as illustrated comprises plates 1 and 2 interconnected by helicoil assemblies 3. For convenience and to conform with the drawings the plate 1 is termed the upper plate and the plate 2 is termed thel lower plate. These terms do not imply or suggest the relative positions of the plates in operation of the device which is capa ble of functioning in any orientation or disposi tion.

Each helicoil assembly comprises two helicoils 4 and 5 which are interconnected at their adjacent ends by a stub 6. Each helicoil is in effect a hollow cylindrical body with a continuous spiral slot extending about and through the wall thickness of the body and extending over a portion of the length of the body intermediate its ends. Each helicoil so formed functions in the manner of a spring.

Further stubs 7 and 8 are secured in and extend from the opposite ends of the helicoils 4 and 5 respectively. The stub 7 is journalled in a deep groove bearing 10 which comprises first and second portions 11 and 12 respectively, which are respectively located, fitted and positioned in corresponding matching recesses in the opposite surfaces of the upper plate 1. The end of the stub 7 protruding beyond the bearing 10 is secured by a locknut 13. The stub 8 at the opposite end of the helicoil assembly 5 is secured in the lower plate 2 by a locknut 14.

A tool in the form of a gripper 15 is mounted on the upper plate 1. The tool can comprise a pneumatic or hydraulic cylinder 16 which is located in an opening or aperture in the plate 1 and carries a transverse beam on its end above the plate. Two gripper arms 17 are pivotally connected at their ends to the transverse beam. A piston (not shown) within the cylinder has a piston rod or plunger 18 which is pivotally connected by a transverse end piece 19 to positions substantially midway between the ends of the gripper arms. Reciprocating motion of the piston rod or plunger effects opening and closing of the jaws of the gripper. Fluid inlet and outlet connections 20 are provided at opposite ends of the oylinder.

The helicoil assemblies are arranged in symmetrical, equi-angularly spaced pairs. The illustrated embodiment comprises three pairs, only two of which indicated by reference numerals 21 and 22 are clearly visible in Figure 1. The ends of the helicoils in each pair are closer together at the lower plate 2 than at the upper plate I with the result that they diverge. Consequently, the adjacent helicoil assemblies of neighbouring pairs are inclined towards each other and when the device is in its natural undeformed state the axes of the inclined assemblies meet in pairs at three separate points forming the apices of an equilateral triangle the centre of gravity of which is the centre of compliance of the device.

The lower plate 2 is provided with means for securing it to the end of an arm of a robot, such as a manipulator as used behind shielding walls in the nuclear industry. The compliant device is analogous to a wrist between the end of the arm and the hand as represented by the gripper.

1. A compliant device for insertion between the end of a manipulator arm and a tool at the end of the arm, the device comprising a plurality of pairs

**WARNING** end of DESC field may overlap start of CLMS **.

Claims (4)

**WARNING** start of CLMS field may overlap end of DESC **. SPECIFICATION Improvements in compliant devices The present invention concerns compliant devices, these being devices as used in robotics for the manipulation and positioning of workpieces. The task of inserting pegs in holes is a common occurrence in the assembly of mechanical components. It occurs, for example, when fitting pistons into cylinders, inserting shafts into bearings and locating wheels on spindles. When performing such relatively straightforward operations automatically and by remote control difficulties and problems arise if the component parts are not in accurate alignment and orientation. A compliant device included between a robot arm and a robot hand for gripping the workpiece can cater and compensate for such misalignments. The compliant device is analogous to the wrist of a human operator. For further discussion of compliant devices attention is directed to an article entitled "A compliant device for inserting a peg in a hole" appearing in "The Industrial Robot" of June 1979. According to the present invention there is provided a compliant device for insertion between the end of a manipulator arm and a tool at said end of the arm, the device comprising a plurality of pairs of resiliently flexible members secured at their opposite ends in respective rigid coupling means attachable to the end of the manipulator and the tool, adjacent members of neighbouring pairs being inclined such that the axes of said adjacent members meet at points on a circle with the centre of said circle defining the centre of compliance of the device. Conveniently the device comprises three pairs of resiliently flexible members with the axes of the adjacent inclined members of neighbouring pairs meeting at three separate points forming the apices of an equilateral triange with the centre of gravity of the triangle coincident with the centre of compliance of the device. Preferably the resiliently flexible members comprise helicoil assemblies, each assembly comprising two helicoils, being a hollow cylindrical body with a continuous spiral slot therein extending over a portion of the length of the body between its ends, interconnected at their adjacent ends. Preferably, the centre of compliance is arranged to lie at the tip of a workpiece to be carried in the tool. The invention will be described, by way of example, with reference to the accompanying drawings; in which: Figure 1 is a general view of an embodiment of a compliant device according to the invention Figure 2 is a side view of a portion of the device in Figure 1 and partly in section. A compliant device as illustrated comprises plates 1 and 2 interconnected by helicoil assemblies 3. For convenience and to conform with the drawings the plate 1 is termed the upper plate and the plate 2 is termed thel lower plate. These terms do not imply or suggest the relative positions of the plates in operation of the device which is capa ble of functioning in any orientation or disposi tion. Each helicoil assembly comprises two helicoils 4 and 5 which are interconnected at their adjacent ends by a stub 6. Each helicoil is in effect a hollow cylindrical body with a continuous spiral slot extending about and through the wall thickness of the body and extending over a portion of the length of the body intermediate its ends. Each helicoil so formed functions in the manner of a spring. Further stubs 7 and 8 are secured in and extend from the opposite ends of the helicoils 4 and 5 respectively. The stub 7 is journalled in a deep groove bearing 10 which comprises first and second portions 11 and 12 respectively, which are respectively located, fitted and positioned in corresponding matching recesses in the opposite surfaces of the upper plate 1. The end of the stub 7 protruding beyond the bearing 10 is secured by a locknut 13. The stub 8 at the opposite end of the helicoil assembly 5 is secured in the lower plate 2 by a locknut 14. A tool in the form of a gripper 15 is mounted on the upper plate 1. The tool can comprise a pneumatic or hydraulic cylinder 16 which is located in an opening or aperture in the plate 1 and carries a transverse beam on its end above the plate. Two gripper arms 17 are pivotally connected at their ends to the transverse beam. A piston (not shown) within the cylinder has a piston rod or plunger 18 which is pivotally connected by a transverse end piece 19 to positions substantially midway between the ends of the gripper arms. Reciprocating motion of the piston rod or plunger effects opening and closing of the jaws of the gripper. Fluid inlet and outlet connections 20 are provided at opposite ends of the oylinder. The helicoil assemblies are arranged in symmetrical, equi-angularly spaced pairs. The illustrated embodiment comprises three pairs, only two of which indicated by reference numerals 21 and 22 are clearly visible in Figure 1. The ends of the helicoils in each pair are closer together at the lower plate 2 than at the upper plate I with the result that they diverge. Consequently, the adjacent helicoil assemblies of neighbouring pairs are inclined towards each other and when the device is in its natural undeformed state the axes of the inclined assemblies meet in pairs at three separate points forming the apices of an equilateral triangle the centre of gravity of which is the centre of compliance of the device. The lower plate 2 is provided with means for securing it to the end of an arm of a robot, such as a manipulator as used behind shielding walls in the nuclear industry. The compliant device is analogous to a wrist between the end of the arm and the hand as represented by the gripper. CLAIMS
1. A compliant device for insertion between the end of a manipulator arm and a tool at the end of the arm, the device comprising a plurality of pairs of resiliently flexible members secured at their opposite ends in respective rigid coupling means attachable to the end of the manipulator and the tool, adjacent members of neighbouring pairs being inclined such that the axes of said adjacent members meet at points on a circle with the centre of said circle defining the centre of compliance of the device.
2. A compliant device as claimed in claim 1 comprising three pairs of resiliently flexible members with the axes of inclined members of neighbouring pairs meeting at three separate points forming the apices of an equilateral triangle with the centre of gravity of the triangle coincident with the centre of compliance of the device.
3. A compliant device as claimed in claim 1 or 2 in which the resiliently flexible members comprise helicoil assemblies, each assembly comprising two helicoils, being a hollow cylindrical body with a continuous spiral slot therein extending over a portion of the length of the body between its ends, interconnected at their adjacent ends.
4. A compliant device substantiall,y as herein described with reference to and as illustrated in the accompanying drawings.
GB08400767A 1984-01-12 1984-01-12 Improvements in compliant devices Expired GB2152473B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB08400767A GB2152473B (en) 1984-01-12 1984-01-12 Improvements in compliant devices

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB08400767A GB2152473B (en) 1984-01-12 1984-01-12 Improvements in compliant devices

Publications (3)

Publication Number Publication Date
GB8400767D0 GB8400767D0 (en) 1984-02-15
GB2152473A true GB2152473A (en) 1985-08-07
GB2152473B GB2152473B (en) 1987-01-21

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Family Applications (1)

Application Number Title Priority Date Filing Date
GB08400767A Expired GB2152473B (en) 1984-01-12 1984-01-12 Improvements in compliant devices

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2191467A (en) * 1986-06-09 1987-12-16 Teradyne Inc Compliant link
GB2193290A (en) * 1986-07-29 1988-02-03 Ford Motor Co Tubular spacer
US4790584A (en) * 1986-06-09 1988-12-13 Teradyne, Inc. Compliant link
US4800802A (en) * 1987-08-11 1989-01-31 Lord Corporation Hydraulic remote center compliance device
EP0304370A2 (en) * 1987-08-17 1989-02-22 SGS-THOMSON MICROELECTRONICS, INC. (a Delaware corp.) Robotic hand for transporting semiconductor wafer carriers
EP0544932A1 (en) * 1991-11-29 1993-06-09 Yamaha Motor Co., Ltd. Robot hand
US6473985B2 (en) * 2000-03-03 2002-11-05 Pohang University Of Science And Technology Foundation Remote center compliance system having variable center
CN102463574A (en) * 2010-11-12 2012-05-23 财团法人工业技术研究院 Adaptability position correction device
US8443526B2 (en) 2008-11-05 2013-05-21 Nexen Group, Inc. Robot compliance device
CN105034018A (en) * 2015-09-09 2015-11-11 刘阳 Flexible unit and flexible wrist for industrial robot precision assembly
CN106003140A (en) * 2016-07-29 2016-10-12 深圳果力智能科技有限公司 Flexible unit and flexible wrist

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104647027B (en) * 2014-12-19 2017-02-22 上海交通大学 Vertical intelligent high-pressure rotor assembly device with elastic structure

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2191467A (en) * 1986-06-09 1987-12-16 Teradyne Inc Compliant link
US4790584A (en) * 1986-06-09 1988-12-13 Teradyne, Inc. Compliant link
GB2191467B (en) * 1986-06-09 1989-12-20 Teradyne Inc Compliant link
GB2193290A (en) * 1986-07-29 1988-02-03 Ford Motor Co Tubular spacer
US4800802A (en) * 1987-08-11 1989-01-31 Lord Corporation Hydraulic remote center compliance device
EP0304370A3 (en) * 1987-08-17 1991-11-27 SGS-THOMSON MICROELECTRONICS, INC. (a Delaware corp.) Robotic hand for transporting semiconductor wafer carriers
EP0304370A2 (en) * 1987-08-17 1989-02-22 SGS-THOMSON MICROELECTRONICS, INC. (a Delaware corp.) Robotic hand for transporting semiconductor wafer carriers
US5265928A (en) * 1991-11-29 1993-11-30 Yamaha Motor Co., Ltd. Robot hand
EP0544932A1 (en) * 1991-11-29 1993-06-09 Yamaha Motor Co., Ltd. Robot hand
US6473985B2 (en) * 2000-03-03 2002-11-05 Pohang University Of Science And Technology Foundation Remote center compliance system having variable center
US8443526B2 (en) 2008-11-05 2013-05-21 Nexen Group, Inc. Robot compliance device
CN102463574A (en) * 2010-11-12 2012-05-23 财团法人工业技术研究院 Adaptability position correction device
CN105034018A (en) * 2015-09-09 2015-11-11 刘阳 Flexible unit and flexible wrist for industrial robot precision assembly
CN106003140A (en) * 2016-07-29 2016-10-12 深圳果力智能科技有限公司 Flexible unit and flexible wrist

Also Published As

Publication number Publication date
GB2152473B (en) 1987-01-21
GB8400767D0 (en) 1984-02-15

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PCNP Patent ceased through non-payment of renewal fee

Effective date: 19970112