IBM Technical Disclosure Bulletin (TDB 12-85 p.2961-2962)
English (United States)
2 pages / 31.7 KB
Compliance Device for "Z" Axis on Robots
A mechanical device for a single-arm robot utilizes a composite assembly with a spring to prevent overdriving on a Z axis when placing parts. The device consists of cylindrically shaped mating parts, a top 1 and bottom 2. The top 1 has a coupler 3 which attaches to the Z axis of a one-armed robot (not shown). The bottom 2 has a drilled hole 4 which houses a spring 5. When the top 1 and bottom 2 are mated, the spring 5forces the bottom into the extended position where it is restrained from separating from the top 1 by keys 6 which are inserted into slots 7 and secured by panhead screws 8. The key 7 restrains bottom 2 when bottom slot 9 is engaged by key 7. Inserted into bottom 2 are two rubber stops 11, which keys 6 rest against in the extended position. Rubber stops 11 also eliminate metal to metal contact between top 1 and bottom 2. The bottom 2 is attached to a gripping device 10 of choice. When the robot arm (not shown) descends on an X-axis to pick up or place a part, the bottom 2 is forced into the tip housing 1 which compresses the spring 5 to relieve the stress.