| 摘要 |
A compliance device for robot assemblies is provided which permits the automation of tooling operations that generate significant reaction loads, such as automatic riveting and the like. The compliance device includes a compliance control assembly and a tool isolation assembly. The compliance control assembly is an air cylinder having a tubular piston rod. An elongated shaft extends through the tubular piston rod and an axial bore in the piston of the air cylinder. The shaft is affixed to an end plate of the cylinder and includes a position locator cone affixed to its free end. The position locator cone is housed in the tool isolation assembly which is a cylindrical housing having a tool support end and a position locator end. Equally spaced-apart, radially-oriented rollers are affixed to an inside surface of the locator end of the tool isolation assembly. The rollers cooperate with detent grooves formed in a top surface of the position locator cone to locate the tool isolation assembly in a predetermined home position when air pressure is injected into the compliance control assembly and the tubular piston rod is extended to force the rollers into the detent grooves. Air is exhausted from the compliance control assembly during tool operations so that the tool isolation assembly is free to move in response to reaction loads created by the tool operation. The advantage of the compliance device is that it provides a robust compliance device that reliably returns to a precise predefined home position and permits the automation of heavy tool operations such as riveting.
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