A floating mechanism suitable for robotic gripper applications

Abstract

The utility model discloses a kind of floating mechanism suitable for robot clamp application, including robot side flange, balance module is installed on the robot side flange, balance module is installed with floating module, air cylinder is installed on the two sides of floating module, floating module is installed with gripper side flange, the utility model relates to robot clamp technical field.Response speed is extremely fast, dynamic performance is excellent, control precision is high, can realize micron level regulation, compact structure, flexible arrangement, force output linearity is good, easy to digital control.

Description

Technical Field

[0001] This utility model relates to the field of robot gripper technology, specifically a floating mechanism suitable for robot gripper applications. Background Technology

[0002] In the automotive manufacturing industry, there are demands to improve production precision, enhance flexible production capabilities, and reduce production costs.

[0003] Addressing Positioning Errors and Accuracy Challenges: In automated automotive manufacturing processes, issues such as workpiece position deviations, fixture errors, and limitations in robot repeatability are common. For example, in welding workshops, body components are large and have many curved surfaces; tooling positioning deviations or manufacturing precision issues affecting the product's outer shell dimensions can lead to poor consistency in bolt hole positions. Floating mechanisms can automatically absorb these errors and ensure assembly accuracy.

[0004] Improving the efficiency of automated assembly: In automotive assembly processes, operations such as bolt tightening often encounter problems such as difficulty in inserting bolts into the hole and inaccurate tightening data when using traditional rigid connection methods. Floating tightening technology, through a special sleeve structure design, allows the sleeve to float within a certain range, typically with an allowable deviation between 0.5 and 2.5 millimeters. This effectively solves the problem of misalignment between the bolt hole and the sleeve, improving assembly efficiency and quality.

[0005] Reducing production line costs: Automobile manufacturers employ both high-precision and low-precision production lines. Low-precision lines have lower investment costs but lower positioning accuracy, making automation difficult. Floating follow-up devices can work in conjunction with low-precision production lines to achieve high-precision, high-stability synchronous following, thereby reducing production costs while increasing production efficiency. Utility Model Content

[0006] To address the shortcomings of existing technologies, this invention provides a floating mechanism suitable for robot fixture applications, solving common problems in automated production processes in automobile manufacturing, such as workpiece position deviation, fixture errors, and limitations in robot repeatability. For example, in welding workshops, body components are large and have many curved surfaces; tooling positioning deviations or manufacturing precision issues affecting the product shell dimensions can lead to poor consistency in bolt hole positions. The floating mechanism can automatically absorb these errors and ensure assembly accuracy.

[0007] To achieve the above objectives, this utility model is implemented through the following technical solution: it includes a robot side flange, a balancing module is installed on the robot side flange, a floating module is installed on the balancing module, cylinders are installed on both sides of the floating module, and a gripper side flange is installed on the floating module.

[0008] Preferably, the balancing module is equipped with a linear guide rail on both the front and back sides, with the front side installed horizontally and the back side installed vertically.

[0009] Preferably, the floating module is equipped with a piston conical pin, a first air inlet, and a second air inlet, and the robot side flange is equipped with a conical sleeve, which can supply air to the first air inlet and the second air inlet respectively.

[0010] Preferably, the gripper-side flange is connected to the floating module by four connecting screws, and there are eight compression springs and four guide shafts between them.

[0011] Preferably, a support column is mounted on the cylinder, and a slider is mounted on the support column, the slider being connected to the balancing module.

[0012] This invention provides a floating mechanism suitable for robot gripper applications. It offers the following advantages: extremely fast response speed, excellent dynamic performance, high control precision, micron-level adjustment capability, compact structure, flexible arrangement, good linearity of force output, and ease of digital control. Attached Figure Description

[0013] Figure 1 This is a structural schematic diagram of a floating mechanism suitable for robot gripper applications according to the present invention.

[0014] Figure 2 This is a front view of a floating mechanism suitable for robot gripper applications according to the present invention.

[0015] Figure 3 This is a top view of a floating mechanism suitable for robot gripper applications according to the present invention.

[0016] Figure 4 This is a frontal view of the linear guide rail installation for a floating mechanism suitable for robot gripper applications, as described in this utility model.

[0017] Figure 5 This is a reverse position diagram of the linear guide rail installation for a floating mechanism suitable for robot gripper applications as described in this utility model.

[0018] Figure 6 This is a diagram showing the piston conical pin mounting structure of a floating mechanism suitable for robot gripper applications, as described in this utility model.

[0019] Figure 7 This is a diagram showing the guide shaft mounting structure of a floating mechanism suitable for robot gripper applications according to the present invention.

[0020] Figure 8 This is a diagram showing the conical sleeve mounting structure of a floating mechanism suitable for robot gripper applications, as described in this utility model.

[0021] In the diagram: 1-Robot side flange; 2-Balance module; 3-Floating module; 4-Gripper side flange; 5-Cylinder; 6-Piston conical pin; 7-First air inlet; 8-Second air inlet; 9-Conical sleeve; 10-Screw; 11-Compression spring; 12-Guide shaft; 13-Linear guide rail; 14-Support column; 15-Slider. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] Please see Figure 1-3 This utility model provides a technical solution: a floating mechanism suitable for robot gripper applications, including a robot side flange 1, a balancing module 2 installed on the robot side flange 1, a floating module 3 installed on the balancing module 2, cylinders 5 installed on both sides of the floating module 3, and a gripper side flange 4 installed on the floating module 3.

[0024] As a preferred technical solution, the balance module 2 is further equipped with four linear guide rails 13 on its front and back sides respectively. The front side is installed horizontally and the back side is installed vertically. The balance module 2 is equipped with four linear guide rails 13 on its front and back sides respectively. The front side is installed horizontally in the X direction and the back side is installed vertically in the Z direction. When the floating mechanism is in the unlocked state, the floating mechanism can achieve free floating along the X and Z directions.

[0025] As a preferred technical solution, the floating module 3 is further equipped with a piston conical pin 6, a first air inlet 7 and a second air inlet 8, and the robot side flange 1 is equipped with a conical sleeve 9, which can supply air to the first air inlet 7 and the second air inlet 8 respectively.

[0026] The floating module 3 is equipped with a piston conical pin 6, a first air inlet 7, and a second air inlet 8. A conical sleeve 9 is installed on the robot side flange. By supplying air to the first air inlet 7 and the second air inlet 8 respectively, the piston conical pin can be driven to extend and retract, causing the piston conical pin 6 to contact and separate from the conical sleeve 9. This achieves the locking and unlocking function of the floating mechanism.

[0027] As a preferred technical solution, the gripper-side flange 4 is further connected to the floating module 3 by four connecting screws 10, and there are eight compression springs 11 and four guide shafts 12 between them;

[0028] The gripper-side flange 4 is connected to the floating module 3 by four connecting screws 10, and there are eight compression springs 11 and four guide shafts 12 between them. When the load exceeds the spring force during the use of the floating mechanism, the gripper-side flange 4 can float in the Y direction, thereby protecting the floating module 3 from damage.

[0029] As a preferred technical solution, a support column 14 is installed on the cylinder 5, and a slider 15 is installed on the support column 14. The slider 15 is connected to the balance module 2.

[0030] It should be noted that: Robot side flange 1: connects to the robot connection flange, and different sizes of floating mechanism flanges are used according to different robot models.

[0031] Balance Module 2: Includes a locking piston, balance module, guide shaft, and compression springs. During the robot gripper's movement, Floating Module 3 needs to be locked to ensure gripper installation stability and safety. The locking and unlocking function of the floating mechanism is achieved through the contact and separation of the tapered pin at the piston's front end and the tapered sleeve on the gripper flange side. Y-axis floating is achieved through eight compression springs.

[0032] Floating Module 3: Includes X and Z linear guides and a floating module. When the floating mechanism is working, the piston plate is in the unlocked state, and the floating module will realize the X and Z floating function according to the force applied during production and installation.

[0033] Gripper side flange 4: Connects to the gripper connecting flange. Different sizes of floating mechanism flanges are used depending on the robot model.

[0034] Z-axis of balancing module 2: When the floating mechanism is working, the piston plate is in the unlocked state. By adjusting the precision pressure regulating valve, the resultant force output by the cylinders on both sides in the Z-axis direction is the same as the gravity on the gripper, thereby achieving the balancing function.

[0035] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, the phrase "comprising an element defined as..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0036] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A floating mechanism suitable for robot gripper applications, comprising a robot side flange (1), characterized in that, A balancing module (2) is installed on the robot side flange (1), a floating module (3) is installed on the balancing module (2), cylinders (5) are installed on both sides of the floating module (3), and a gripper side flange (4) is installed on the floating module (3).

2. The floating mechanism suitable for robot gripper applications according to claim 1, characterized in that, The balancing module (2) is equipped with four linear guides (13) on its front and back sides respectively. The front side is installed horizontally and the back side is installed vertically.

3. The floating mechanism suitable for robot gripper applications according to claim 1, characterized in that, The floating module (3) is equipped with a piston conical pin (6), a first air inlet (7) and a second air inlet (8), and the robot side flange (1) is equipped with a conical sleeve (9), which can supply air to the first air inlet (7) and the second air inlet (8) respectively.

4. The floating mechanism suitable for robot gripper applications according to claim 1, characterized in that, The gripper-side flange (4) is connected to the floating module (3) by four connecting screws (10), and there are eight compression springs (11) and four guide shafts (12) between them.

5. The floating mechanism suitable for robot gripper applications according to claim 1, characterized in that, A support column (14) is installed on the cylinder (5), and a slider (15) is installed on the support column (14). The slider (15) is connected to the balance module (2).

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