阅读说明：本技术 一种浮动装件装置及方法 (Floating fitting device and method ) 是由 马永 李晓燕 高宏伟 于 2020-05-12 设计创作，主要内容包括：一种浮动装件装置,包括固定框体、活动部、浮动功能部和复位功能部,其中,所述活动部套接在所述固定框体上,在所述复位功能部带动下沿所述固定框体上下运动；所述浮动功能部,其固定在所述固定框体上,用于承托所述活动部；所述复位功能部,固定在所述固定框体上,带动所述活动部进行复位。本发明还提供一种浮动装件方法,提供柔和的下滑动作,模拟人工装件过程,有效替代人工,降低成本。(A floating piece mounting device comprises a fixed frame body, a movable part, a floating function part and a reset function part, wherein the movable part is sleeved on the fixed frame body and moves up and down along the fixed frame body under the driving of the reset function part; the floating function part is fixed on the fixed frame body and used for supporting the movable part; the reset function part is fixed on the fixed frame body and drives the movable part to reset. The invention also provides a floating piece mounting method, which provides soft gliding action, simulates the manual piece mounting process, effectively replaces manual work, and reduces the cost.)

1. A floating fitting device is characterized by comprising a fixed frame body, a movable part, a floating function part and a reset function part, wherein,

the movable part is sleeved on the fixed frame body and moves up and down along the fixed frame body under the driving of the reset function part;

the floating function part is fixed on the fixed frame body and used for supporting the movable part;

the reset function part is fixed on the fixed frame body and drives the movable part to reset.

2. The floating attachment device of claim 1 wherein said movable portion comprises a tapered detent sleeve having a tapered surface in contact with said reset feature for receiving a reset pull and centering said movable portion.

3. The float attachment device of claim 2 wherein said movable portion further comprises an upper movable flange, a transition sleeve, and a lower movable flange, wherein,

the upper movable flange is fixedly connected with the lower movable flange, and the transition sleeve is positioned between the upper movable flange and the lower movable flange;

the upper movable flange is used for limiting the floating range of the lower movable flange of the movable part;

the transition sleeve is used for transition between the upper movable flange and connection;

and the lower movable flange is used as a front end flange for installing a robot gripper.

4. The float assembly of claim 1, wherein said reset function includes a cylinder and a tapered locating pin, wherein,

and one end of the air cylinder is fixed on the fixed frame body, and the other end of the air cylinder is connected with the conical positioning pin shaft and used for pulling the conical positioning pin shaft.

5. The float assembly of claim 4, wherein said reset function further comprises an oilless bushing secured to said stationary frame; the conical positioning pin shaft penetrates through the oilless bushing and is matched with the oilless bushing;

the oilless bush is used for offsetting lateral acting force that the reset function part can bear and provides centering and guiding effects for the conical positioning pin shaft.

6. The floating attachment device of claim 1, wherein the securing frame comprises an upper securing flange, a first connecting guide post, an intermediate securing flange, a second connecting guide post, and a lower securing flange, wherein,

the upper fixing flange is connected with the middle fixing flange through the first connecting guide pillar;

the middle fixing flange is connected with the lower fixing flange through the second connecting guide pillar.

7. The float attachment device of claim 1, wherein said float function comprises a hydraulic buffer.

8. The method of claim 1, wherein the movable portion is free of guidance restrictions and is in a six degree of freedom release position.

9. A floating assembly method is characterized by comprising the following steps:

1) when a workpiece is installed, the workpiece is clamped in a reset state, the workpiece is moved to an installation position, the reset state is released, the movable part is supported to slowly fall, and the reset state is recovered after the assembly is completed;

2) when the workpiece is disassembled, the movable part is released, the workpiece is clamped, the workpiece is placed to a specified position, and the reset state is recovered.

10. A robot, characterized in that the robot comprises a floating mount device according to any of claims 1-8.

Technical Field

The invention relates to the technical field of automation, in particular to a floating piece mounting device and a floating piece mounting method.

Background

Disclosure of Invention

In order to solve the defects in the prior art, the invention aims to provide a floating piece mounting device and a floating piece mounting method, which can provide soft gliding action, simulate the manual piece mounting process, effectively replace manual work and reduce the cost.

In order to achieve the above object, the present invention provides a floating assembly device, which comprises a fixed frame, a movable part, a floating function part and a reset function part, wherein,

the movable part is sleeved on the fixed frame body and moves up and down along the fixed frame body under the driving of the reset function part;

the floating function part is fixed on the fixed frame body and used for supporting the movable part;

the reset function part is fixed on the fixed frame body and drives the movable part to reset.

Furthermore, the movable part comprises a conical positioning sleeve, and a conical surface in the conical positioning sleeve is in contact with the reset function part and is used for bearing reset tension and centering the movable part.

Further, the movable part also comprises an upper movable flange, a transition sleeve and a lower movable flange, wherein,

the upper movable flange is fixedly connected with the lower movable flange, and the transition sleeve is positioned between the upper movable flange and the lower movable flange;

the upper movable flange is used for limiting the floating range of the lower movable flange of the movable part;

the transition sleeve is used for transition between the upper movable flange and connection;

and the lower movable flange is used as a front end flange for installing a robot gripper.

Further, the reset function part comprises an air cylinder and a conical positioning pin shaft, wherein,

and one end of the air cylinder is fixed on the fixed frame body, and the other end of the air cylinder is connected with the conical positioning pin shaft and used for pulling the conical positioning pin shaft.

Further, the reset function portion further includes an oilless bushing.

Further, the fixing frame body comprises an upper fixing flange, a first connecting guide pillar, a middle fixing flange, a second connecting guide pillar and a lower fixing flange, wherein,

the upper fixing flange is connected with the middle fixing flange through the first connecting guide pillar;

the middle fixing flange is connected with the lower fixing flange through the second connecting guide pillar.

Further, the floating function portion includes a hydraulic buffer.

Furthermore, the movable part has no guiding limitation and is in a six-degree-of-freedom release state.

In order to achieve the above object, the present invention further provides a floating assembly method, including the following steps:

1) when a workpiece is installed, the workpiece is clamped in a reset state, the workpiece is moved to an installation position, the reset state is released, the movable part is supported to slowly fall, and the reset state is recovered after the assembly is completed;

2) when the workpiece is disassembled, the movable part is released, the workpiece is clamped, the workpiece is placed to a specified position, and the reset state is recovered.

In order to achieve the above object, the present invention further provides a robot, which includes the floating installation device.

The floating piece mounting device and the method have the following beneficial effects:

1) the soft gliding action is provided, the manual loading process is simulated, the manual work is effectively replaced, and the shortage of the enterprise personnel is relieved.

2) The gripper can be used as a standard device and can be arranged before the robot and the gripper at random, and the gripper of the robot is only replaced to adapt to flexible production of various products.

3) The robot can be made of aluminum materials, the self weight is greatly reduced, and the load utilization rate of the robot is improved.

4) The consistency of the parts is better, the stability of the processing quality is improved, and the structure is simple and easy to maintain.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic perspective view of a floating mount device according to the present invention;

fig. 2 is a schematic cross-sectional view of a float assembly according to the present invention;

fig. 3 is a schematic diagram of a floating assembly device in a reset state and a floating state according to the present invention.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.

Interpretation of related terms

The robot gripper: an actuating mechanism which is arranged at the front end of a multi-joint robot or a rectangular coordinate robot and plays a role in grabbing workpieces.

A hydraulic buffer: a safety buffer device for preventing hard collision by using hydraulic damping to decelerate the object acted on it until it stops.

The centering function is as follows: more than two rotating bodies are connected and the axial leads of the rotating bodies are on the same line.

A reset function: after the position and the posture of one or more objects are changed, the one or more objects are restored to the original position and posture.

Fig. 1 is a schematic perspective view of a floating assembly device according to the present invention, fig. 2 is a schematic cross-sectional view of the floating assembly device according to the present invention, as shown in fig. 1 and 2, the floating assembly device of the present invention comprises a fixed frame, a movable portion, a floating functional portion, and a restoring functional portion, and specifically comprises an upper fixed flange 1, a connecting guide post 2, a middle fixed flange 3, a connecting guide post 4, a lower fixed flange 5, an upper movable flange 6, a tapered positioning sleeve 7, a transition sleeve 8, a lower movable flange 9, a tapered positioning pin 10, a hydraulic buffer 11, a cylinder 12, and an oilless bushing 13, wherein,

wherein the fixed frame body comprises an upper fixed flange 1, a first connecting guide post 2, a middle fixed flange 3, a second connecting guide post 4 and a lower fixed flange 5,

the upper fixing flange 1 is fixedly connected with the middle fixing flange 3 through a first connecting guide pillar 2, and the middle fixing flange 3 is fixedly connected with the lower fixing flange 5 through a second connecting guide pillar 4; the fixed frame body is connected with the robot through the upper fixing flange 1, provides installation positions for other components, and performs limiting action on the movable part.

The movable part comprises an upper movable flange 6, a conical positioning sleeve 7, a transition sleeve 8 and a lower movable flange 9, wherein the upper movable flange 6 is fixedly connected with the lower movable flange 9, the upper movable flange 6 is used for limiting the floating range, the conical positioning sleeve 7 is used for bearing resetting tension and has a centering effect, the transition sleeve 8 is used for connecting transition, and the lower movable flange 9 is used for installing a robot gripper as a front end flange. The movable part is sleeved on the fixed frame body through the transition sleeve 8 and moves up and down along the fixed frame body under the driving of the reset function part.

The floating function portion is composed of 4 hydraulic buffers 11, and the hydraulic buffers 11 are fixed to the lower fixing flange 5 and used for supporting the movable portion to slowly fall downwards. In this configuration, the number of the hydraulic shock absorbers 13 can be increased or decreased according to actual requirements.

The functional portion that resets, including cylinder 12, oilless bush 13 and toper positioning pin axle 10 constitution, the one end and the upper portion mounting flange 1 fixed connection of cylinder 12, the other end and toper positioning pin axle 10 fixed connection drive toper positioning pin axle 10 through cylinder 12 during the state of floating upwards stimulates, and toper positioning pin axle 10 can make the movable part reset with the laminating of the internal and external conical surface of the toper position sleeve 7 of movable part. A conical positioning pin shaft 10 is used for tensioning the floating part to form a rigid body; when the conical positioning pin shaft 10 is loosened, a floating body with full freedom degree can be formed.

And the oilless bush 13 is fixed on the fixed frame, and the conical positioning pin shaft 10 penetrates through the oilless bush 13 and is matched with the oilless bush 13. Oilless bushings are used to counteract the lateral forces that the reset feature may be subjected to and provide centering and guiding action for the tapered locating pin 10.

Fig. 3 is a schematic diagram of a floating mount device according to the present invention in a reset state and a floating state, as shown in fig. 3, in which the upper movable flange 6 of the movable portion is attached to the middle fixed flange 3 of the fixed frame; in the floating state, a certain space (floating space) is formed between the upper movable flange 6 of the movable portion and the intermediate fixed flange 3 of the fixed frame.

The following will describe the working process of installing the workpiece by the floating fitting device of the present invention, taking the workpiece tail cone into the taper sleeve as an example:

preparation for machining, workpiece installation: in a reset state, a robot provided with the floating piece mounting device grabs a workpiece from a material frame; the robot moves the workpiece to be right above a taper sleeve of a machine tool spindle, and the taper sleeve is in a state of being vertical to the ground; the robot drives the workpiece to slowly move downwards to the depth of the workpiece tail cone installed in the taper sleeve 1/2, interference usually occurs at the depth of 2/3, and the depth can be adjusted according to actual conditions; the cylinder extends out, the floating function is started, and the reset state is released; the movable part, the hand grip and the workpiece can fall downwards under the action of integral gravity, and the hydraulic buffer plays a role at the moment to support the movable part and the workpiece to slowly fall into the spindle taper sleeve; the movable part can move along the directions of three coordinate axes of x, y and z and rotate around the three coordinate axes of x, y and z within the action range limited by the fixed frame body along with the stress condition of the contact position of the workpiece and the spindle taper sleeve; at the moment, the robot slowly moves downwards, the workpiece slowly descends under the support of the hydraulic buffer until automatically slides into the bottom of the taper sleeve, and the workpiece loading is completed. The gripper loosens the workpiece, the robot moves out of the mounting position, and the cylinder retracts to reset the movable part; the robot moves to the upper part of the material frame and waits for an instruction;

and (3) finishing processing, disassembling the workpiece: the robot moves to a grabbing position above the main shaft, the floating device is in a reset state at the moment, and the main shaft taper sleeve is in a state of being vertical to the ground; the cylinder extends out, the floating function is started, and the reset state is released; the gripper clamps the workpiece, the robot moves upwards, and the workpiece is pulled out of the taper sleeve; the robot moves to the position of the blanking frame and places the workpiece; the cylinder retracts, the floating function is released, and the reset state is recovered.

According to the floating assembly device and the method, the hydraulic buffer is used for providing stable floating force, and the cylinder drives the conical pin to be locked with the conical sleeve to provide a centering reset function. The use of a hydraulic buffer instead of a conventional spring provides the buffering and floating functions; when the workpiece falls suddenly, the hydraulic buffer can obviously reduce the initial speed, and the phenomenon that the workpiece collides with the taper sleeve cannot occur; the centering function and the resetting function can ensure the coaxiality and the verticality of the initial position of workpiece installation and the taper sleeve, and improve the success rate of installation; the bearing type floating mechanism can be assembled and disassembled in a floating mode. The floating piece mounting device is matched with a robot gripper, and can drive a workpiece to automatically mount a blank piece on a main shaft of a machine tool.

Those of ordinary skill in the art will understand that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.