An adaptive docking transmission

Abstract

The present application relates to the technical field of NC docking, and particularly relates to a self-adapting docking transmission device. The self-adapting docking transmission device comprises a bearing assembly composed of a bearing plate and a docking body, and a docking assembly composed of a dial, a guide piece and an adjusting piece. A driving motor is arranged on the bearing plate. The docking body is fixedly arranged. The dial is arranged on the docking body. The guide piece is arranged on the bearing plate. The adjusting piece is arranged on the guide piece. The dial arranged on the docking body cooperates with the guide piece, so that the docking precision range of the robot NC docking is expanded, and the error influence caused by the front end docking is eliminated. The guide piece is adjusted by the adjusting piece, so that the guide piece is reset in time after the docking is completed to perform the next docking. A second dial rod is arranged to avoid the problem that the dial rod rotates excessively to cause idling under the condition that the motor is reversed after the dial rod is lowered, so that the transmission after the docking can be fast.

Description

Technical Field

[0001] This invention relates to the field of NC docking technology, and in particular to an adaptive docking transmission device. Background Technology

[0002] As vehicle manufacturing plants demand increasing flexibility, automation, and intelligence, new requirements are being placed on stable, high-speed production. NC (Computer Numerical Control) equipment, as a highly flexible device, is remarkably effective in achieving automated switching and flexible body production. However, it is primarily used in fixed-station production, and the body positioning used on the main production line still cannot achieve full flexibility, with significant limitations on cycle time and overall line body compatibility.

[0003] Existing NC (Non-Cyclic Automated Work) equipment uses a motor-screw-guide pairing method. The entire NC device needs to move along with the motor and related accessories. A motor needs to be installed on each axis to provide power, increasing equipment cost. Furthermore, the added cost of cables and other equipment results in a large size and weight, limiting its usability. Existing robots with docking devices that connect with the NC require specialized laser measurement and vision sensors, placing high demands on the docking process. Each time the NC moves, the docking position changes, requiring the laser and vision sensors to be recalibrated repeatedly. This lack of accuracy and stability fails to meet the requirements for stable production efficiency. Summary of the Invention

[0004] In view of the problems existing in the above and / or existing NC docking, the present invention is proposed.

[0005] Therefore, the problem that this invention aims to solve is that when the NC moves, the docking position between the robot and the NC device will change. For laser measurement sensors and vision sensors, each measurement and docking position needs to be recalibrated, resulting in insufficient accuracy and stability, which cannot meet the requirements for stable production efficiency.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an adaptive docking transmission device, comprising a bearing assembly consisting of a bearing plate and a docking body, and a docking assembly consisting of a dial, a guide, and an adjusting member, wherein a drive motor is provided on the bearing plate, the docking body is fixedly disposed, the dial is disposed on the docking body, the guide is disposed on the bearing plate, and the adjusting member is disposed on the guide.

[0007] As a preferred embodiment of the adaptive docking transmission device of the present invention, the dial includes an inner ring, an outer ring, and balls. The inner ring is disposed on the docking body, the outer ring is disposed on the docking body, and the balls are disposed between the inner ring and the outer ring and cooperate with positioning grooves uniformly opened on the inner ring and the outer ring.

[0008] In a preferred embodiment of the adaptive docking transmission device of the present invention, the guide member includes a connecting shell, a follower member, a docking member, and a lever. The connecting shell is movably connected to the bearing plate. The follower member is movably connected to a central column fixedly connected to the docking member. The docking member cooperates with the connecting shell and the docking body. The first lever is movably connected to the central column and cooperates with the ball bearing.

[0009] As a preferred embodiment of the adaptive docking transmission device of the present invention, the follower is provided with a follower block and an arc-shaped support block. There are two follower blocks, which are fixedly connected to the arc-shaped support block. The interval between the follower blocks matches the push block fixedly connected to the connecting shell.

[0010] As a preferred embodiment of the adaptive docking transmission device of the present invention, the first lever is provided with a push post and an arcuate contact surface, the arcuate contact surface is located at the end of the push post away from the first lever, and the diameter of the arcuate contact surface is not greater than the diameter of the push post.

[0011] As a preferred embodiment of the adaptive docking transmission device of the present invention, a limit block is further provided at one end of the first lever that is movably connected to the central column.

[0012] In a preferred embodiment of the adaptive docking transmission device of the present invention, the adjusting member includes a fixed arc block and a spring plate. The fixed arc block is fixedly connected to the docking member and cooperates with the follower and the first lever. The spring plate is fixedly connected to the fixed arc block and the arc-shaped support block and cooperates with the first lever.

[0013] As a preferred embodiment of the adaptive docking transmission device of the present invention, the positioning grooves are evenly distributed on the inner ring and the outer ring, and the distance between the center points of the positioning grooves is slightly greater than the sum of the diameter of the ball and the diameter of the push column.

[0014] As a preferred embodiment of the adaptive docking transmission device of the present invention, the fixed angle formed by the central column, the end of the fixed arc block without the spring plate, and the side of the arc support block without the spring plate is slightly greater than the movable angle of the first lever moving from the groove formed by the two balls to the adjacent groove.

[0015] As a preferred embodiment of the adaptive docking transmission device of the present invention, a second lever is further sleeved on the central column, the second lever being at a certain angle to the first lever, and the arc-shaped support block deforms accordingly.

[0016] The beneficial effects of this invention are as follows: By cooperating with the dial and guide on the docking body, this invention expands the docking accuracy range of robot NC docking and eliminates the influence of errors caused by front-end docking. By adjusting the guide with the adjustment component, the guide is reset in time after docking to proceed to the next docking step. Furthermore, a second lever is provided to avoid the problem of excessive rotation angle causing idle rotation when the motor reverses after the lever descends. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0018] Figure 1 This is a schematic diagram of the overall structure of the adaptive docking transmission device.

[0019] Figure 2 This is a schematic diagram of the upper structure of the supporting component.

[0020] Figure 3 This is an exploded view of the docking component structure.

[0021] Figure 4 This is a magnified schematic diagram of a portion of the docking components.

[0022] Figure 5 This is a planar schematic diagram showing the movement angle of the lever and the limit block.

[0023] Figure 6 A schematic diagram of the planar structure of the docking assembly after adding a second lever.

[0024] Figure 7 This is a schematic diagram showing the disassembly of the two layers of levers after the addition of a second lever.

[0025] Figure 8 This is a schematic diagram illustrating the state changes during the lever connection process.

[0026] Figure 9 This is a schematic diagram illustrating the state changes during the second lever's engagement process. Detailed Implementation

[0027] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0028] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0029] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0030] Example 1

[0031] Reference Figures 1-3 This is the first embodiment of the present invention, which provides an adaptive docking transmission device, including a carrier plate 101 and a docking body 102 of a carrier assembly 100, and a dial 201 and a guide member 202 of a docking assembly 200.

[0032] Specifically, a drive motor 103 is provided on the support plate 101, a docking body 102 is fixedly provided on the component to be transmitted, a dial 201 is fixedly connected to the docking body 102, a guide 202 is provided on the support plate 101, and an adjusting member 203 is provided on the guide 202.

[0033] Furthermore, the dial 201 includes an inner ring 201a, an outer ring 201b, and ball bearings 201c. The inner ring 201a is disposed on the mating body 102, the outer ring 201b is disposed on the mating body 102, and the ball bearings 201c are disposed between the inner ring 201a and the outer ring 201b and cooperate with the positioning grooves 201d evenly opened on the inner ring 201a and the outer ring 201b. There are gaps between the ball bearings 201c, and the ball bearings 201c can rotate freely in the positioning grooves 201d without causing planar movement.

[0034] Furthermore, the guide member 202 includes a connecting shell 202a, a follower member 202b, a docking member 202c, and a first lever 202d. The connecting shell 202a is movably connected to the support plate 101 and can be driven by the drive motor 103 to rotate. The follower member 202b is movably connected to the central column 202c-1 fixedly connected to the docking member 202c. The follower member 202b can rotate around the central column 202c-1, and the docking member 202c can rotate with the connecting shell 202a. The docking member 202c cooperates with the docking body 102. The docking between the docking member 202c and the docking body 102 is a rough docking, which can complete the initial docking without being too precise. The first lever 202d is movably connected to the central column 202c-1 and cooperates with the ball bearing 201c.

[0035] Furthermore, the follower 202b is provided with a follower block 202b-1 and an arc-shaped support block 202b-2. There are two follower blocks 202b-1, which form an included angle between them, so that the push block 202a-1 on the connecting shell 202a can be inserted between the follower blocks 202b-1. The follower blocks 202b-1 and the arc-shaped support block 202b-2 are fixedly connected, so that the arc-shaped support block 202b-2 can rotate with the connecting shell 202a.

[0036] Furthermore, the first lever 202d is provided with a push post 202d-1 and an arc-shaped contact surface 202d-2. The arc-shaped contact surface 202d-2 is located at the end of the push post 202d-1 away from the first lever 202d. During the docking process, the arc-shaped contact surface 202d-2 first contacts the ball 201c. It should be noted that the diameter of the arc-shaped contact surface 202d-2 is not greater than the diameter of the push post 202d-1. This can prevent the push post 202d-1 from not creating a gap between itself and the ball 201c after the arc-shaped contact surface 202d-2 enters the gap between the ball 201c, thus avoiding a reduction in the pushing effect of the push post 202d-1 on the ball.

[0037] Preferably, the positioning grooves 201d are evenly distributed on the inner ring 201a and the outer ring 201b. The distance between the center points of the positioning grooves 201d is slightly greater than the sum of the diameters of the balls 201c and the push rod 202d-1, which ensures that the push rod 202d-1 on the first lever 202d can fully enter the gap between the balls 201c, thereby pushing the dial 201.

[0038] In use, first install the drive motor 103 and guide 202. Then, the robotic arm grabs the support plate 101 and drives the guide 202 on the support plate 101 to initially dock with the dial 201 on the docking body 102. At this time, there are two situations. The first situation is that the arc contact surface 202d-2 directly enters the gap between the balls 201c. The second situation is that the arc contact surface 202d-2 on the first lever 202d contacts the balls 201c on the dial 201 first. Because the arc surface structure of the arc contact surface 202d-2 contacts the spherical surface structure of the balls 201c, the arc contact surface 202d-2 will drive the push column 202d-1 to slide into the gap between the balls 201c. This process greatly increases the docking range and reduces the sensor accuracy requirements of the mechanical docking transmission.

[0039] Example 2

[0040] Reference Figures 1-5 This is the second embodiment of the present invention. Unlike the first embodiment, this embodiment provides an adaptive docking transmission device that also includes an adjusting member 203 composed of a fixed arc block 203a and a spring plate 203b.

[0041] Specifically, a limit block 202d-3 is provided at one end of the first lever 202d that is movably connected to the central column 202c-1. The fixed arc block 203a is fixedly connected to the docking part 202c and cooperates with the follower 202b and the first lever 202d. The spring plate 203b is fixedly connected to the fixed arc block 203a and the arc-shaped support block 202b-2 and fits against the first lever 202d, which can reset the first lever 202d.

[0042] Preferably, the fixed angle A formed by the central column 202c-1, the end of the fixed arc block 203a without the spring plate 203b, and the side of the arc support block 202b-2 without the spring plate 203b is slightly larger than the movable angle B of the first lever 202d moving from the groove 201c-1 formed by the two balls 201c to the adjacent groove 201c-1. This design will not affect the push column 202d-1 entering the gap between the balls 201c, and at the same time, it can ensure that when the connecting shell 202a drives the arc support block 202b-2 and the fixed arc block 203a to rotate, it can quickly contact the limiting block 202d-3 at the tail end of the first lever 202d, and push the limiting block 202d-3 to rotate, thereby driving the first lever 202d to rotate and thus driving the balls 201c and the dial 201 to rotate.

[0043] In use, after the push column 202d-1 slides into the gap between the balls 201c, the first lever 202d rotates, causing the spring plate 203b to retract and drive the limit block 202d-3 to rotate. When the drive motor 103 drives the connecting shell 202a to rotate, it in turn drives the arc-shaped support block 202b-2 to rotate. At this time, the arc-shaped support block 202b-2 or the fixed arc block 203a will contact the limit block 202d-3 after a slight rotation, thereby driving the limit block 202d-3 and the first lever 202d sleeved on the central column 202c-1 to rotate, which in turn drives the dial 201 to rotate, thus completing the rapid docking transmission.

[0044] Furthermore, after the docking component 200 is removed, the spring plate 203b resets, which in turn resets the first lever 202d, allowing the docking component 200 to proceed to the next docking task without requiring adjustments.

[0045] Example 3

[0046] Reference Figures 1-9 This is the third embodiment of the present invention. Unlike the previous two embodiments, this embodiment provides an adaptive docking transmission device including the addition of a second lever 202e.

[0047] Specifically, a second lever 202e is also fitted on the central column 202c-1. The second lever 202e is at a certain angle to the first lever 202d, and the arc-shaped support block 202b-2 deforms accordingly.

[0048] Specifically, Figure 7 (I) is the assembly state of a docking transmission device after the second lever 202e is added and docking is completed; (II) is the state of the second lever 202e in the device and its state with other components after docking is completed; (III) is the state of the first lever 202d in the device and its state with other components after docking is completed.

[0049] Preferably, the angle between the N balls 201c is set as angle C, and the angle between the center of the ball 201c and the adjacent gap is set as angle D. Therefore, when not in contact, the initial angle between the second lever 202e and the first lever 202d should be slightly less than angle C minus angle D. With this setting, when the second lever 202e and the first lever 202d are initially in contact, the arc contact surface 202d-2 of the second lever 202e and the first lever 202d can slide into the gap after contacting the balls 201c, and at this time the second lever 202e and the first lever 202d will be relatively close after movement. Once inside the interval, the second limiting block 202e-1 of the second lever 202e and the limiting block 202d-3 of the first lever 202d will move away from each other and approach the fixed arc block 203a and the arc support block 202b-2 respectively. This allows the motor to quickly contact the second limiting block 202e-1 of the second lever 202e or the limiting block 202d-3 of the first lever 202d, regardless of whether the motor is rotating in reverse or forward. This prevents the motor from idling at an excessive angle, thereby enhancing the effect of the docking transmission and achieving rapid transmission during forward and reverse switching on the same working platform.

[0050] Similarly, the initial angle between the second lever 202e and the first lever 202d when not yet engaged can be set to be slightly greater than angle C minus angle D. With this setting, when the second lever 202e and the first lever 202d are initially engaged, the arc-shaped contact surface 202d-2 of the second lever 202e and the first lever 202d contacts the ball bearing 201c and can slide into the gap. At this time, the second lever 202e and the first lever 202d will move relatively away from each other before entering the gap. At this point, the second lever 202e's second... The limiting block 202e-1 and the limiting block 202d-3 of the first lever 202d will move in close proximity and approach the arc-shaped support block 202b-2 and the fixed arc block 203a respectively. This allows the motor to quickly contact the second limiting block 202e-1 of the second lever 202e or the limiting block 202d-3 of the first lever 202d, regardless of whether the motor is rotating in reverse or forward. This prevents the motor from idling at an excessive angle, thereby enhancing the effect of the transmission and achieving rapid transmission during forward and reverse switching on the same working platform.

[0051] In summary, firstly, the drive motor 103 and guide 202 are installed. Then, the robotic arm grasps the support plate 101 and drives the guide 202 on the support plate 101 to initially dock with the dial 201 on the docking body 102. At this time, there are two situations. The first situation is that the arc contact surface 202d-2 directly enters the gap between the balls 201c. The second situation is that the arc contact surface 202d-2 on the first lever 202d contacts the balls 201c on the dial 201 first. Because the arc surface structure of the arc contact surface 202d-2 contacts the spherical surface structure of the balls 201c, the arc contact surface 202d-2 will drive the push column 202d-1 to slide into the gap between the balls 201c. This process greatly increases the docking range and reduces the sensor accuracy requirements of the mechanical docking transmission.

[0052] After the push column 202d-1 slides into the gap between the balls 201c, the first lever 202d rotates, causing the spring plate 203b to retract and drive the limit block 202d-3 to rotate. When the drive motor 103 drives the connecting shell 202a to rotate, it in turn drives the arc support block 202b-2 to rotate. At this time, the arc support block 202b-2 or the fixed arc block 203a will contact the limit block 202d-3 after a slight rotation, thereby driving the limit block 202d-3 and the first lever 202d sleeved on the central column 202c-1 to rotate, which in turn drives the dial 201 to rotate, thus completing the rapid docking transmission. After the docking assembly 200 is removed, the spring plate 203b resets, driving the first lever 202d to reset. The docking assembly 200 can then proceed to the next docking item without adjustment.

[0053] Preferably, a second lever 202e is also fitted onto the central column 202c-1. The second lever 202e is at a certain angle to the first lever 202d, and the arc-shaped support block 202b-2 deforms accordingly, so that when not aligned, the angle between the second lever 202e and the first lever 202d is slightly less than the angle C between N balls 201c minus the angle D between the center of the ball 201c and the adjacent interval, or when not aligned, the angle between the second lever 202e and the first lever 202d is slightly less than the angle C between N balls 201c minus the angle D between the center of the ball 201c and the adjacent interval. The angle C between N balls 201c is greater than the angle D between the center of the ball 201c and the adjacent interval, so that the second lever 202e and the first lever 202d rotate in opposite directions during the docking process. This allows the drive motor 103 to quickly contact the second limit block 202e-1 of the second lever 202e or the limit block 202d-3 of the first lever 202d, regardless of whether it rotates in reverse or forward, thus satisfying the purpose of rapid transmission when forward and reverse rotation is required on the same working platform.

[0054] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An adaptive docking transmission, characterized by: include, The support assembly (100) includes a support plate (101) and a docking body (102). A drive motor (103) is provided on the support plate (101), and the docking body (102) is fixedly installed. The docking assembly (200) includes a dial (201), a guide (202), and an adjusting member (203). The dial (201) is disposed on the docking body (102), the guide (202) is disposed on the support plate (101), and the adjusting member (203) is disposed on the guide (202). The dial (201) includes an inner ring (201a), an outer ring (201b), and a ball bearing (201c). The inner ring (201a) is disposed on the docking body (102), the outer ring (201b) is disposed on the docking body (102), and the ball bearing (201c) is disposed between the inner ring (201a) and the outer ring (201b) and cooperates with positioning grooves (201d) evenly opened on the inner ring (201a) and the outer ring (201b). The guide (202) includes a connecting shell (202a), a follower (202b), a docking member (202c), and a first lever (202d). The connecting shell (202a) is movably connected to the bearing plate (101). The follower (202b) is movably connected to a central column (202c-1) fixedly connected to the docking member (202c). The docking member (202c) cooperates with the connecting shell (202a) and with the docking body (102). The first lever (202d) is movably connected to the central column (202c-1) and cooperates with the ball (201c).

2. The self-adapting docking transmission of claim 1, wherein: The follower (202b) is provided with a follower block (202b-1) and an arc-shaped support block (202b-2). There are two follower blocks (202b-1), which are fixedly connected to the arc-shaped support block (202b-2). The spacing between the follower blocks (202b-1) matches the push block (202a-1) fixedly connected to the connecting shell (202a).

3. The self-adapting docking transmission of claim 2, wherein: The first lever (202d) is provided with a push post (202d-1) and an arc-shaped contact surface (202d-2). The arc-shaped contact surface (202d-2) is located at the end of the push post (202d-1) away from the first lever (202d). The diameter of the arc-shaped contact surface (202d-2) is not greater than the diameter of the push post (202d-1).

4. The self-adapting docking transmission of claim 3, wherein: A limit block (202d-3) is also provided at one end of the first lever (202d) that is movably connected to the central column (202c-1).

5. The adaptive docking transmission device as described in claim 4, characterized in that: The adjusting component (203) includes a fixed arc block (203a) and a spring plate (203b). The fixed arc block (203a) is fixedly connected to the docking component (202c) and cooperates with the follower component (202b) and the first lever (202d). The spring plate (203b) is fixedly connected to the fixed arc block (203a) and the arc-shaped support block (202b-2) and cooperates with the first lever (202d).

6. The adaptive docking transmission device as described in claim 5, characterized in that: The positioning grooves (201d) are evenly distributed on the inner ring (201a) and the outer ring (201b). The distance between the center points of the positioning grooves (201d) is slightly greater than the sum of the diameter of the ball (201c) and the diameter of the push column (202d-1).

7. The adaptive docking transmission device as described in claim 6, characterized in that: The fixed angle A formed by the central column (202c-1), the end of the fixed arc block (203a) without the spring plate (203b), and the side of the arc support block (202b-2) without the spring plate (203b) is slightly greater than the movable angle B of the first lever (202d) moving from the groove (201c-1) formed by the two balls (201c) to the adjacent groove (201c-1).

8. The adaptive docking transmission device as described in claim 7, characterized in that: A second lever (202e) is also fitted on the central column (202c-1). The second lever (202e) is at a certain angle to the first lever (202d). The arc-shaped support block (202b-2) is deformed accordingly. A second limiting block (202e-1) is also provided at one end of the second lever (202e) that is movably connected to the central column (202c-1).

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