Adjustable link-type insertion compliance device

Abstract

A link-type insertion compliance device is provided to accommodate misalignment between mating parts to be assembled in which a series of aligning links attached to pivot means are concentrically disposed within an envelope mounted to a machine operable to vertically translate one mating part into engagement with another in an assembly operation. Adjustment means is provided in at least one of the pivot means to permit adjustment of the center of compliance of the device to a point at or near the insertion end of a part to be assembled. Parts of varying lengths may thus be accommodated by the subject insertion compliance device with minimal wedging and jamming during the insertion operation.

What is claimed is: 
     
       1. In an assembly machine operable to move a first mating part into engagement with a second mating part for assembly thereof, the improvement comprising an insertion compliance device for accommodating misalignment between said mating parts including: a first pivot means mounted to said assembly machine;   a second pivot means mounted to said assembly machine at a spaced interval from said first pivot means;   compliance means disposed between said first pivot means and said second pivot means;   a first link element pivotally attached to said first pivot means adjacent one end, and fixed to said compliance means at the other end;   a second link element pivotally attached to said second pivot means adjacent one end, and fixed to said compliance means at the other end;   third pivot means mounted along said first link element between said first pivot means and said compliance means;   fourth pivot means mounted along said second link element between said second pivot means and said compliance means;   a third link element pivotally mounted to said third pivot means and said fourth pivot means, said third link element including holding means operable to hold said first mating part during said assembly operation;   at least one of said pivot means including adjustment means, said adjustment means being operable to translate said at least one of said pivot means relative to the other pivot means for varying the location of the center of compliance of said insertion compliance device, whereby first mating parts of various lengths may be inserted within corresponding second mating parts with minimal wedging, jamming and reduced insertion loads.   
     
     
       2. The insertion compliance device of claim 1 wherein said compliance means is a plurality of alternating layers of elastomeric material and rigid material bonded together. 
     
     
       3. The insertion compliance device of claim 1 wherein each of said pivot means is a spherical bearing. 
     
     
       4. The insertion compliance device of claim 3 wherein said spherical bearing includes .[.a collar,.]. bearing seats and a bearing ball. 
     
     
       5. The insertion compliance device of claim 3 wherein said spherical bearing includes a layer of elastomeric material disposed between and attaching to an inner member and an outer member. 
     
     
       6. The insertion compliance device of claim 1 wherein said adjustment means includes extension means connected to said third pivot means, said extension means being disposed concentric with and extending along the outer surface of said first link element, said extension means having an inner threaded portion engageable with an outer threaded portion formed along said first link element, said third pivot means being moveable with said extension means along said first link element upon rotation of said extension means thereby varying the distance between said first pivot means and said third pivot means, said variation in distance between said first and third pivot means resulting in a corresponding variation in the location of the center of compliance of said insertion compliance device for accommodating first mating parts of differing lengths. 
     
     
       7. The insertion compliance device of claim 1 wherein said adjustment means includes extension means connected to said third pivot means, said extension means being disposed concentric with and extending along the outer surface of said first link element, said extension means having an inner threaded portion engageable with an outer threaded portion formed along said first link element, said third pivot means being moveable with said extension means along said first link element upon rotation of said extension means thereby varying the distance between said first pivot means and said third pivot means, the distance of said center of compliance relative to said insertion compliance device being increased by increasing the distance between said first and third pivot means, and the distance of said center of compliance relative to said insertion compliance device being reduced by reducing the distance between said first and third pivot means where said first and second link elements are equal in length. .[.8. In an assembly machine operable to move a first mating part into engagement with a second mating part for assembly thereof, the improvement comprising an insertion compliance device for accommodating misalignment between said mating parts including: a first spherical pivot means mounted to said assembly machine;   a second spherical pivot means mounted to said assembly machine at a spaced interval from said first pivot means;   compliance means disposed between said first spherical pivot means and said second spherical pivot means;   a first link element pivotaly attached to said first spherical pivot means adjacent one end, and fixed to said compliance means at the other end;   a second link element pivotally attached to said second spherical pivot means adjacent one end, and fixed to said compliance means at the other end;   third spherical pivot means mounted along said first link element between said first spherical pivot means and said compliance means;   fourth spherical pivot means mounted along said second link element between said second spherical pivot means and said compliance means;   a third link element pivotally mounted to said third spherical pivot means and said fourth spherical pivot means, said third link element including holding means operable to hold said first mating part during said assembly operation;   at least one of said spherical pivot means including adjustment means, said adjustment means being operable to translate said at least one of said spherical pivot means relative to the other spherical pivot means for varying the location of the center of compliance of said insertion compliance device to a point near the insertion end of said first mating part, whereby first mating parts of various lengths may be inserted within corresponding second mating parts by operation of said adjustment means   
     
     
        with minimal wedging, jamming and reduced insertion loads..]. .[.9.  The insertion compliance device of claim 8 wherein said compliance means is a plurality of alternating layers of elastomeric material and rigid material bonded together..]. .Iadd..[.10. The insertion compliance device of claim 8 wherein said spherical bearing includes a collar, bearing seats and a bearing ball..]..Iaddend. .[.11. The insertion compliance device of claim 8 wherein said spherical bearing includes a layer of elastomeric material disposed between and attaching to an inner member and an outer member..]. .[.12. The insertion compliance device of claim 8 wherein said adjustment means includes extension means connected to said third spherical pivot means, said extension means being disposed concentric with and extending along the outer surface of said first link element, said extension means having an inner threaded portion engageable with an outer threaded portion formed along said first link element, said third spherical pivot means being moveable with said extension means along said first link element upon rotation of said extension means thereby varying the distance between said first spherical pivot means and said third spherical pivot means, said variation in distance between said first and third spherical pivot means resulting in a corresponding variation in the location of the center of compliance of said insertion compliance device for accommodating first mating parts of differing lengths..]. .[.13. The insertion compliance device of claim 8 wherein said adjustment means includes extension means connected to said third spherical pivot means, said extension means being disposed concentric with and extending along the outer surface of said first link element, said extension means having an inner threaded portion engageable with an outer threaded portion formed along said first link element, said third spherical pivot means being moveable with said extension means along said first link element upon rotation of said extension means thereby varying the distance between said first spherical pivot means and said third spherical pivot means, the distance of said center of compliance relative to said insertion compliance device being increased by increasing the distance between said first and third spherical pivot means, and the distance of said center of compliance relative to said insertion compliance device being reduced by reducing the distance between said first and third spherical means where said first and 
     
     
        second link elements are equal in length..]. 14. In an assembly machine operable to move a first mating part into engagement with a second mating part for assembly thereof, the improvement comprising an insertion compliance device for accommodating misalignment between said mating parts including: a first pivot means mounted to said assembly machine;   a second pivot means mounted to said assembly machine at a spaced interval from said first pivot means;   a first link element pivotally mounted adjacent one end to said first pivot means, said first link element being formed with at least two bearing surfaces at the other end thereof, said bearing surfaces having a layer of elastomeric material attaching thereto;   a second link element pivotally mounted adjacent one end to said second pivot means, said second link element being formed with at least two bearing surfaces at said one end thereof corresponding to and aligning with said at least two bearing surfaces of said first link element, said bearing surfaces having a layer of elastomeric material attaching thereto;   a third pivot means mounted adjacent said bearing surfaces at said one end of said first link element;   a fourth pivot means mounted adjacent the other end of said second link element;   a third link element pivotally mounted to said third pivot means and said fourth pivot means, said third link element including holding means operable to hold said first mating part during said assembly operation;   at least two push rod means extending between respective ones of said bearing surfaces of said first and second link elements, said at least two push rod means attaching to said elastomer layer of each of said at least two bearing surfaces and being moveable therewith, said at least two push rod means acting to couple said first link element to said second link element for transmitting motion therebetween;   at least one of said pivot means having adjustment means, said adjustment means being operable to translate said at least one of said pivot means relative to the other pivot means for varying the location of the center of compliance of said insertion compliance device to a point at or near the insertion end of said first mating part, whereby first mating parts of various lengths may be inserted within corresponding second mating parts by operation of said adjustment means with minimal wedging, jamming and   
     
     
        reduced insertion loads. 15. The insertion compliance device of claim 14 wherein at least one of said pivot means is an elastomeric tube form including an annular layer of elastomeric material disposed between and attaching to an inner sleeve and an outer sleeve, and the remaining pivot 
     
     
        means are spherical elastomeric bearings. 16. The insertion compliance device of claim 14 wherein said adjustment means is formed as a portion of said first pivot means, said first pivot means including an annular layer of elastomeric material disposed between and attaching to an inner sleeve and an outer sleeve, said inner sleeve having a threaded portion forming said adjustment means, said threaded portion of said inner sleeve being engageable with a correspondingly threaded portion formed along said first link element, said first pivot means being moveable along said threaded portion of said first link element by rotation thereof, said rotation of said first pivot means varying the distance between said first and third pivot means resulting in a corresponding variation in the location of the center of compliance of said insertion compliance device for accommodating 
     
     
        first mating parts of different lengths. .Iadd.17.  A remote center compliance device for use with an assembly machine or the like, comprising: a linkage assembly including a plurality of innerconnected and relatively movable link elements each normally extending in substantially parallel relationship to an elongate axis of the device;   first and second ones of said link elements being pivotally connected to said machine and pivotally mounting a third one of said link elements for rotation about a remote center of compliance disposed at a location adjacent an end of said third link and adjacent said axis;   and compliant means for permitting lateral translation of at least said end of said third link element relative to said axis in response to a lateral force directed adjacent said center of compliance. .Iaddend. .Iadd.18. A device as in claim 17, and further including adjustment means for adjustably varying the location of said center in the length direction of said axis. .Iaddend. .Iadd.19. A device as in claim 17, wherein said first and second link elements mount said third link element for said rotation thereof in any of a plurality of planes containing said axis. .Iaddend. .Iadd.20. A device as in claim 17, wherein at least two of said link elements are normally in substantially concentric relationship with each   
     
     
        other along at least part of the lengths thereof. .Iaddend. .Iadd.21.  A device as in claim 17, wherein each of said links is normally in substantially concentric relationship with another of said links along at least part of the lengths thereof. .Iaddend. .Iadd.22. A device as in claim 17, wherein said compliant means innerconnects said first and second ones of said link elements. .Iaddend. .Iadd.23. A device as in claim 17, and further including a plurality of pivot means for pivotally connecting said first and second ones of said link elements to said machine and for pivotally mounting said third one of said link elements, and adjustable means for adjustably varying the location of at least one of said pivot means. .Iaddend. .Iadd.24. A device as in claim 17, and further including a plurality of pivot means for pivotally connecting said first and second ones of said link elements to said machine and for pivotally mounting said third one of said link elements, and adjustable means for adjustably varying the distance between at least one of said pivot means and said compliant means. .Iaddend. .Iadd.25. A remote center compliance device for use with a supported object and a foundation member comprising: linkage means innerconnecting said object and said foundation member and mounting said object for rotational and translational movement about a remote center of compliance spaced from said device, said linkage means including a plurality of pivotally innerconnected link elements each normally extending in substantially parallel relationship to each other;   and adjustable means operatively associated with said linkage means for adjustably varying the location of said remote center of compliance   
     
     
        relative to said device. .Iaddend. .Iadd.26.  A device as in claim 25, wherein said adjustable means includes a rotatable member effective upon rotation thereof in a first direction to increase the spacing between said remote center of compliance and said device, and effective upon rotation thereof in a second direction to decrease the spacing between said remote center of compliance and said device. .Iaddend. .Iadd.27. A device as in claim 26, wherein said one of elements is movable by said adjustable means to any selected one of said positions thereof. .Iaddend. .Iadd.28. A remote center compliance device for use with a supported object and a foundation member comprising: linkage means innerconnecting said object and said foundation member and mounting said object for rotational and translational movement about a remote center of compliance spaced from said device, said linkage means including a plurality of innerconnected link elements and pivot elements, at least one of said elements being adjustably movable to any selected one of a plurality of positions relative to another of said elements;   adjustable means operatively associated with said linkage means for adjustably varying the location of said remote center of compliance relative to said device;   said one of said elements being releasably maintained by said adjustable means in a selected one of said positions thereof during use of said device. .Iaddend.