Floating type angle-adjusting docking device and adjusting docking method thereof

Abstract

The application relates to a floating type angle adjustment docking device and an adjusting docking method thereof, which comprises a base one, a moving seat is slidably installed on the base one, a floating inner support mechanism is installed through the moving seat from front to back, a rotating transmission mechanism is connected and installed at the rear end of the floating inner support mechanism; a floating linkage seat is slidably installed on the top of the moving seat, one end of the floating linkage seat is connected to a floating mechanism at the front part of the floating inner support mechanism, an inner support unlocking power is installed at the other end of the floating linkage seat, and the power output end of the inner support unlocking power is opposite to the rear end of a push rod located at the shaft center of the floating inner support mechanism; a round pipe is clamped and fixed by the floating inner support mechanism, the round pipe rotates to realize angle adjustment along with the working of the rotating transmission mechanism; while floating buffering is realized through the floating mechanism, the inner support unlocking power can be effectively ensured to move synchronously with the floating inner support mechanism in combination with the setting of the floating linkage seat, the smoothness and reliability of the adjusting docking are greatly improved, and the product is prevented from being damaged.

Description

Technical Field

[0001] This invention relates to the field of circular tube angle adjustment equipment technology, and in particular to a floating angle adjustment docking device and its adjustment docking method. Background Technology

[0002] For some small-sized round tubes, such as medical glass tubes, in order to facilitate the viewing and safe storage of the stored items, it is necessary to install corresponding fittings at specific locations on the tube wall, or to conduct force tests at specific locations on the tube wall to determine the qualification status, so as to ensure product quality and use.

[0003] In existing technologies, before the assembly or stress testing of the fittings, the tubes are typically loaded manually according to the preset specific positions, and then automatically or manually assembled or stress tested. The existing manual loading method is time-consuming and labor-intensive, and the loaded tubes often have angular deviations, making it difficult to guarantee the consistency of the preset specific positions, especially unsuitable for subsequent automated assembly or testing. On the other hand, existing manual or semi-automatic testing methods are difficult to apply to the automated assembly lines of glass tube production lines. Summary of the Invention

[0004] To address the aforementioned issues, this invention provides a structurally sound floating angle adjustment docking device and its adjustment docking method, thereby achieving automatic adjustment of the circular tube angle, effectively ensuring the correctness and consistency of the circular tube angle, greatly improving the smoothness and reliability of the adjustment docking, significantly facilitating automated wiring, and avoiding damage to the product.

[0005] The technical solution adopted in this invention is as follows:

[0006] A floating angle adjustment docking device includes a base, a movable seat slidably mounted on the base, a floating inner support mechanism mounted through the front and rear of the movable seat, and a rotation transmission mechanism connected to the rear end of the floating inner support mechanism; a floating linkage seat is slidably mounted on the top of the movable seat, one end of the floating linkage seat is connected to the floating mechanism at the front of the floating inner support mechanism, and the other end of the floating linkage seat is equipped with an inner support unlocking power, the power output end of the inner support unlocking power is directly opposite the rear end of the push rod located at the axis of the floating inner support mechanism.

[0007] As a further improvement to the above technical solution:

[0008] It also includes a clamping mechanism that clamps the round tube, which is located in front of the floating inner support mechanism, and the axial direction of the round tube is consistent with the axial direction of the floating inner support mechanism.

[0009] It also includes a second base, on which a laser sensor is mounted, located above the circular tube.

[0010] The base 2 is equipped with a clamping and unlocking power source. The output end of the clamping and unlocking power source is directly facing the clamping mechanism. The clamping and unlocking power source causes the clamping mechanism to unlock its grip on the round tube.

[0011] The clamping mechanism comprises a fixed base, an axial rod slidably mounted within the fixed base, one end of the axial rod extending out of the fixed base, a pin mounted at the other end of the axial rod, and an elastic element installed between the axial rod and the fixed base. The fixed base has a vertical through slot, an inner support member is fitted within the vertical through slot, the inner support member has an oblique hole for sliding fitting of the pin, the fixed base has a transverse hole for sliding fitting of the pin, and the bottom end of the inner support member extends downwards beyond the vertical through slot to form an outwardly convex arc-shaped structure.

[0012] The fixed base is provided with a stepped surface, and a through hole is opened on the fixed base at the stepped surface. A positioning sensor is installed on the base two above the through hole, and a receiver corresponding to the positioning sensor is installed below the through hole.

[0013] The movable seat is equipped with a support on its side. The floating linkage seat has the following structure: it includes a U-shaped component with the opening facing downwards. The U-shaped component spans across the movable seat and the support. A sliding component is installed between the bottom surface of the U-shaped component and the top surface of the support. Linkage wheels are symmetrically installed at the bottom of the front vertical arm of the U-shaped component. The floating mechanism has an circumferential groove, and the linkage wheels are fitted into the circumferential groove. An internal support unlocking power is installed on the rear vertical arm of the U-shaped component.

[0014] The movable seat is equipped with a support on its side. The floating inner support mechanism has the following structure: it includes a rotating shaft cylinder that is rotatably mounted on the movable seat and the support, and a push rod that is axially mounted on the rotating shaft cylinder; it also includes a floating shaft cylinder located axially in front of the rotating shaft cylinder, the floating shaft cylinder and the rotating shaft cylinder being connected via a floating mechanism, and a floating shaft rod that is axially mounted on the floating shaft cylinder, the floating shaft rod being located axially in front of the push rod; an inner support spring is installed between the floating shaft rod and the floating shaft cylinder; an expansion sleeve is fitted on the floating shaft rod located in front of the floating shaft cylinder, and an end cap is fitted on the floating shaft cylinder at the rear end of the expansion sleeve; the front end of the floating shaft rod and the expansion sleeve are fitted with a conical surface.

[0015] The floating mechanism has the following structure: it includes a floating sleeve that is simultaneously fitted on the outside of the front end of the rotating shaft cylinder and the outside of the rear end of the floating shaft cylinder. The inner wall of the floating sleeve extends backward in the circumferential direction to form an inner convex ring. The inner convex ring is fitted with the convex edge of the push rod end. A floating spring is installed between the inner convex ring and the rotating shaft cylinder. An insert block is inserted from the outside to the inside through the floating sleeve toward the floating shaft cylinder.

[0016] A method for adjusting and docking the floating angle adjustment docking device, wherein the clamping mechanism is mounted on an external transfer mechanism, includes the following steps:

[0017] The clamping mechanism holding the round tube is transferred to a preset position, and the axial direction of the round tube is aligned with the axial direction of the floating inner support mechanism;

[0018] The movable seat moves forward relative to the base, and the front end of the floating inner support mechanism extends into the circular tube;

[0019] The clamping mechanism releases its grip on the round tube;

[0020] The floating internal support mechanism clamps the internal support of the circular tube;

[0021] The rotating transmission mechanism operates, and the floating inner support mechanism drives the round tube to rotate around the axial center. The laser sensor monitors and provides feedback on the features of the round tube wall until the round tube rotates to the preset state.

[0022] The movable seat continues to move forward relative to the base, fitting the round tube into the preset position of the clamping mechanism;

[0023] The floating internal support mechanism releases its internal support clamp on the circular tube;

[0024] The clamping mechanism clamps and fixes the round tube;

[0025] Complete the angle adjustment and connection of the round tube.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] This invention features a compact and reasonable structure, and is easy to operate. The floating inner support mechanism clamps and fixes the circular tube. As the rotation transmission mechanism works, the circular tube rotates to achieve automatic angle adjustment, effectively ensuring the correctness and consistency of the circular tube angle and greatly facilitating automated wiring. While achieving floating buffer through the floating mechanism, the combination of the floating linkage seat effectively ensures that the unlocking power of the inner support can move synchronously with the floating inner support mechanism, greatly improving the smoothness and reliability of adjustment and docking, and avoiding damage to the product.

[0028] The present invention also includes the following advantages:

[0029] During the adjustment and docking process, the round tube, which is fixed by the clamping mechanism, is first fixed by the floating inner support mechanism. Then, the round tube rotates with the floating inner support mechanism to adjust the angle. After that, the round tube is fixed by the clamping mechanism again and enters the next process with the clamping mechanism. After the angle is adjusted, the position of the round tube in the axial direction relative to the clamping mechanism can be adjusted by moving the moving seat. Combined with the floating linkage seat, the requirement for the round tube to be clamped and fixed by the clamping mechanism before the adjustment and docking is greatly reduced, and the clamping and fixing requirements of the round tube in the subsequent process after the adjustment and docking can also be reliably met. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of the present invention.

[0031] Figure 2 This is a schematic diagram of the sensor layout on the base two of the present invention.

[0032] Figure 3 This is an exploded view of the clamping mechanism of the present invention.

[0033] Figure 4 This is a schematic diagram of the floating linkage seat on the movable seat of the present invention.

[0034] Figure 5 This is a cross-sectional view of the floating internal support mechanism of the present invention.

[0035] Figure 6 for Figure 5 A magnified view of a portion of point A in the middle.

[0036] Figure 7 This is an exploded view of the floating internal support mechanism of the present invention.

[0037] Among them: 1. Base 1; 11. Base 2; 2. Movable seat; 3. Floating mechanism; 4. Clamping mechanism; 5. Position sensor; 6. Laser sensor; 7. Floating linkage seat; 8. Rotary transmission mechanism; 9. Floating internal support mechanism; 10. Circular tube;

[0038] 20. Sliding assembly 1; 21. Support; 22. Support assembly;

[0039] 30. Circumferential groove; 31. Floating sleeve; 32. Floating spring; 33. Insert block; 311. Inner convex ring; 312. Elongated hole;

[0040] 40. Clamping and unlocking power; 41. Fixing seat; 42. Axial rod; 43. Inner support; 44. Elastic element; 45. Pin; 411. Horizontal hole; 412. Vertical through groove; 413. Stepped surface; 414. Through hole; 421. Groove; 431. Angled hole; 432. Outwardly convex arc structure;

[0041] 51. Receiving item; 52. Support bracket;

[0042] 71. Sliding component two; 72. U-shaped component; 73. Linkage wheel;

[0043] 90. Internal support unlocking power; 91. End block; 92. Push rod; 93. Rotating shaft cylinder; 94. Floating shaft cylinder; 95. Internal support spring; 96. Floating shaft rod; 97. End cover; 98. Expansion sleeve; 99. Locking sleeve; 921. Protruding edge. Detailed Implementation

[0044] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0045] like Figure 1As shown, a floating angle adjustment docking device of this embodiment includes a base 1, a movable seat 2 slidably mounted on the base 1, a floating inner support mechanism 9 installed through the front and rear of the movable seat 2, and a rotation transmission mechanism 8 connected to the rear end of the floating inner support mechanism 9; a floating linkage seat 7 slidably mounted on the top of the movable seat 2, one end of the floating linkage seat 7 is connected to the floating mechanism 3 at the front of the floating inner support mechanism 9, and the other end of the floating linkage seat 7 is equipped with an inner support unlocking power 90. The power output end of the inner support unlocking power 90 is directly facing the rear end of the push rod 92 located at the axis of the floating inner support mechanism 9. Through the operation of the inner support unlocking power 90, force is applied to the push rod 92 to unlock the inner support action of the floating inner support mechanism 9.

[0046] In this embodiment, the floating inner support mechanism 9 clamps and fixes the round tube 10. As the rotation transmission mechanism 8 works, the round tube 10 rotates to achieve automatic angle adjustment. While the floating mechanism 3 achieves floating buffering when clamping and fixing the round tube 10, the floating linkage seat 7 is combined to effectively ensure that the inner support unlocking power 90 can move synchronously with the floating inner support mechanism 9, effectively ensuring the reliability and stability of the action and force application of the inner support unlocking power 90.

[0047] It also includes a clamping mechanism 4, which clamps the round tube 10. The round tube 10 is located in front of the floating inner support mechanism 9, and the axial direction of the round tube 10 is consistent with the axial direction of the floating inner support mechanism 9.

[0048] In the adjustment and docking process of this embodiment, the round tube 10, which is fixed by the clamping mechanism 4, is first fixed by the floating inner support mechanism 9. Then, the round tube 10 rotates with the floating inner support mechanism 9 to adjust the angle. After that, the round tube 10 is fixed by the clamping mechanism 4 again and enters the next process with the clamping mechanism 4. After the angle is adjusted, the position of the round tube 10 relative to the clamping mechanism 4 in the axial direction can be adjusted by moving the moving seat 2. Combined with the floating linkage seat 7, the requirement for the round tube 10 to be clamped and fixed by the clamping mechanism 4 before the adjustment and docking is greatly reduced, and the clamping and fixing requirements of the round tube 10 in the subsequent process after the adjustment and docking can also be reliably met.

[0049] In practical use, the clamping mechanism 4 can sequentially transport the clamping part of the tooling between workstations along the flow direction to clamp the round tube 10 and carry it through the flow between various workstations, thereby realizing automated wire connection operation.

[0050] like Figure 2 As shown, it also includes a base 2 11, on which a laser sensor 6 is installed. The laser sensor 6 is located above the circular tube 10.

[0051] In this embodiment, as the circular tube 10 rotates with the floating inner support mechanism 9, the laser sensor 6 monitors specific structures on the circular tube 10, such as protrusions, depressions, and openings. Based on actual needs, the rotation of the circular tube 10 can be stopped immediately after a specific structure is detected, or the rotation can be stopped after continuing to rotate a preset angle, thereby adjusting the circular tube 10 to a preset angle position.

[0052] A clamping and unlocking power 40 is installed on the base 2 11. The output end of the clamping and unlocking power 40 is directly facing the clamping mechanism 4. The clamping and unlocking power 40 causes the clamping mechanism 4 to unlock its clamping of the round tube 10.

[0053] In this embodiment, the clamping mechanism 4 is mounted on the tooling that is connected to the wire, and the clamping and unlocking power 40 is mounted on the corresponding workstation via the base 2 11. When the clamping mechanism 4 moves to the preset position of the workstation, the clamping and unlocking power 40 can be used to operate the clamping mechanism 4.

[0054] Of course, depending on the actual equipment layout and requirements, the clamping mechanism 4 and the clamping unlocking power 40 can be set to a relatively fixed structure, and the clamping mechanism 4 can still be moved by the operation of the clamping unlocking power 40.

[0055] like Figure 3 As shown, the clamping mechanism 4 has the following structure: it includes a fixed base 41, an axial rod 42 is slidably installed inside the fixed base 41, one end of the axial rod 42 extends out of the fixed base 41 and faces the power output end of the clamping and unlocking power 40, and a pin 45 is installed at the other end of the axial rod 42. An elastic element 44 is installed between the axial rod 42 and the fixed base 41; a vertical through groove 412 is provided on the fixed base 41, an inner support member 43 is installed in the vertical through groove 412, and a feeding pin is provided on the inner support member 43. The inclined hole 431 for sliding fit of shaft 45, the transverse hole 411 for sliding fit of pin shaft 45 is provided on fixed seat 41, the bottom end of inner support member 43 extends downward to form an outward convex arc structure 432 after extending vertical through groove 412, and the axial rod 42 is also provided with groove 421 for inner support member 43 to pass through vertically; the outward convex arc surface of outward arc structure 432 is preferably similar to or the same as the inner wall surface of round tube 10, so as to effectively ensure the inner support clamping effect of round tube 10.

[0056] In this embodiment, the elastic force of the elastic member 44 drives the axial rod 42 and the fixed seat 41 to maintain a preset relative position. At this time, the pin 45 is located at the upper part of the oblique hole 431, and the inner support member 43 is in an inner support state relative to the fixed seat 41 and the axial rod 42. After the end of the axial rod 42 is pushed by the clamping unlocking force 40, the pin 45 translates along the transverse hole 411 and causes the inner support member 43 to move upward relative to the fixed seat 41 and the axial rod 42 through the oblique hole 431 to unlock the inner support state.

[0057] The fixed base 41 is provided with a stepped surface 413. The fixed base 41 at the stepped surface 413 has a through hole 414 that runs vertically through it. The positioning sensor 5 is installed on the base 2 11 above the through hole 414. The receiver 51 corresponding to the positioning sensor 5 is installed below the through hole 414. The positioning sensor 5 and the receiver 51 are a pair of transmitting and receiving components.

[0058] In this embodiment, on the one hand, when the clamping mechanism 4 is transferred to the corresponding workstation, the positioning sensor 5 and the receiver 51 can detect and provide feedback on the positioning status of the clamping mechanism 4 through the through hole 414. On the other hand, after the round tube 10 adjusts its angle with the floating inner support mechanism 9, the moving seat 2 can push the round tube 10 to the preset position of the clamping mechanism 4 through the floating inner support mechanism 9. For example, the round tube 10 can be pushed to the level of the step surface 413. At this time, the edge of the round tube 10 just blocks the through hole 414, so that the positioning sensor 5 and the receiver 51 can detect the positioning status of the round tube 10.

[0059] In this embodiment, the receiver 51 can be mounted by the bracket 52 and fixed relative to the position sensor 5 above.

[0060] like Figure 4 As shown, a support 21 is installed on the side of the movable seat 2. The structure of the floating linkage seat 7 is as follows: it includes a U-shaped component 72 with the opening facing downward. The U-shaped component 72 spans across the movable seat 2 and the support 21. A sliding component 71 is installed between the bottom surface of the U-shaped component 72 and the top surface of the support 21. A linkage wheel 73 is symmetrically installed at the bottom end of the vertical arm in front of the U-shaped component 72. An annular groove 30 is opened on the floating mechanism 3, and the linkage wheel 73 is fitted into the annular groove 30. An inner support unlocking power 90 is installed on the vertical arm behind the U-shaped component 72. Through the fitting of the linkage wheel 73 with the annular groove 30, when the floating mechanism 3 floats and moves, it can reliably drive the floating linkage seat 7 to move synchronously, thereby stably maintaining the synchronous movement of the inner support unlocking power 90 and effectively ensuring the reliability of the action of the inner support unlocking power 90.

[0061] In this embodiment, the sliding component 2 71 can be a commercially available guide rail slider component.

[0062] like Figure 5 and Figure 7As shown, a support 21 is installed on the side of the movable seat 2. The floating inner support mechanism 9 has the following structure: it includes a rotating shaft cylinder 93 that is rotatably mounted on the movable seat 2 and the support 21, and a push rod 92 that is axially mounted on the rotating shaft cylinder 93; it also includes a floating shaft cylinder 94 located axially in front of the rotating shaft cylinder 93, which is connected to the rotating shaft cylinder 93 via a floating mechanism 3, and a floating shaft rod 96 that is axially mounted on the floating shaft cylinder 94, which is located axially in front of the push rod 92; an inner support spring 95 is installed between the floating shaft rod 96 and the floating shaft cylinder 94; an expansion sleeve 98 is fitted on the floating shaft rod 96 located in front of the floating shaft cylinder 94, and an end cap 97 is fitted on the floating shaft cylinder 94 at the rear end of the expansion sleeve 98, which enables the installation of the expansion sleeve 98; the front end of the floating shaft rod 96 and the expansion sleeve 98 are matched with a conical surface, and the expansion sleeve 98 expands or contracts outwards by relative movement at the conical surface, thereby changing the outer diameter.

[0063] The rear end of the push rod 92 extends out of the rotating shaft cylinder 93. The rear end of the push rod 92 is fitted with an end block 91, which corresponds to the power output end of the inner support unlocking power 90. The rotating shaft cylinder 93 is rotatably mounted with the movable seat 2 and the support 21 via bearings.

[0064] In this embodiment, a support 21 is installed on the side of the movable seat 2 as the structural basis for installing the floating inner support mechanism 9 and the floating linkage seat 7, effectively ensuring their installation stability on the movable seat 2. In actual use, a support component 22 can also be set between the support 21 and the movable seat 2 to ensure the structural reliability of the support 21 installed on the movable seat 2.

[0065] In this embodiment, the elastic force of the inner support spring 95 drives the floating shaft 96 and the floating shaft cylinder 94 to maintain a preset relative position. At this time, the expansion sleeve 98, which matches the conical surface of the floating shaft 96, is circumferentially outward and in an inward support state. When the inner support unlocking power 90 pushes the floating shaft 96 through the push rod 92, the floating shaft 96 moves axially forward relative to the expansion sleeve 98, and the expansion sleeve 98 retracts circumferentially under its own elastic force and is in an inward support unlocking state.

[0066] In this embodiment, the inner support unlocking power 90 is arranged at intervals behind the floating inner support mechanism 9. In the floating inner support mechanism 9, the expansion sleeve 98 is kept in an outward expansion and inward support state under the elastic force of the inner support spring 95. When the inner support unlocking power 90 is working, it unlocks the inner support state, thereby effectively separating the inner support unlocking power 90 from the rotation transmission mechanism 8. When the inner support unlocking power 90 is not working and is disengaged from the floating inner support mechanism 9, the rotation transmission mechanism 8 drives the floating inner support mechanism 9 to rotate.

[0067] To facilitate actual processing and assembly, a locking sleeve 99 can be installed at the rear end of the floating shaft 96, and the inner support spring 95 can be installed by the locking sleeve 99.

[0068] like Figure 7 As shown, the expansion sleeve 98 has a multi-lobed structure. When subjected to external support force, the interval between the lobes increases, the diameter of the expansion sleeve 98 increases and it expands outward in the circumferential direction. After the external support force is removed, the expansion sleeve 98 retracts inward under its own performance.

[0069] In this embodiment, the floating shaft cylinder 94 is provided with a floating buffer distance in the axial direction relative to the rotating shaft cylinder 93 along with the floating mechanism 3.

[0070] The floating mechanism 3 has the following structure: it includes a floating sleeve 31 that is simultaneously fitted onto the outside of the front end of the rotating shaft cylinder 93 and the outside of the rear end of the floating shaft cylinder 94, as shown below. Figure 6 As shown, the inner wall of the floating sleeve 31 extends backward in the circumferential direction to form an inner convex ring 311. The inner convex ring 311 is fitted with the convex edge 921 at the end of the push rod 92. A floating spring 32 is installed between the inner convex ring 311 and the rotating shaft cylinder 93. An insert block 33 is inserted from the outside to the inside through the floating sleeve 31 toward the floating shaft cylinder 94.

[0071] In this embodiment, the elastic force of the floating spring 32 drives the inner convex ring 311 away from the rotating shaft cylinder 93. At this time, the axial floating gap between the floating sleeve 31 and the rotating shaft cylinder 93 is at its maximum. When the front end of the floating sleeve 31 is subjected to external forces such as touching, the floating sleeve 31 moves axially backward toward the rotating shaft cylinder 93, and the floating spring 32 is compressed to achieve floating buffer. Figure 6 The axial floating clearance between the floating sleeve 31 and the rotating shaft cylinder 93 is at its minimum.

[0072] In this embodiment, as Figure 7 As shown, fasteners can be locked from the outside to the inside through the wall of the floating sleeve 31 to the rotating shaft cylinder 93. An axially arranged elongated hole 312 is provided on the floating sleeve 31 for the fastener to pass through and move, so that the floating sleeve 31 can rotate with the rotating shaft cylinder 93 and has a floating buffer in the axial direction.

[0073] The sliding installation of the movable seat 2 relative to the base 1 can be achieved via the sliding assembly 20. The movable seat 2 is installed on the base 1 via the sliding assembly 20 and combined with an external power mechanism, such as a motor driving the movable seat 2 to move relative to the base 1 with the sliding assembly 20 as the guide. Alternatively, a linear drive component such as an electric cylinder can drive the movable seat 2 to move relative to the base 1 with the sliding assembly 20 as the guide. The sliding assembly 20 can be a general-purpose guide rail slider assembly.

[0074] The adjustment and docking method of the floating angle adjustment docking device in this embodiment involves the clamping mechanism 4 being mounted on an external transfer mechanism. For example, the clamping mechanism 4 is mounted on a tooling for wire transfer. The adjustment and docking method includes the following steps:

[0075] Step 1: The clamping mechanism 4 holding the round tube 10 is transferred to the preset position, and the axial direction of the round tube 10 is aligned with the axial direction of the floating inner support mechanism 9.

[0076] Step 2: The movable seat 2 moves forward relative to the base 1, and the front end of the floating inner support mechanism 9 extends into the round tube 10.

[0077] During the process of the floating inner support mechanism 9 extending into the round tube 10, the inner support unlocking power 90 is activated, which pushes the floating shaft 96 forward via the push rod 92, so that the expansion sleeve 98 that matches the inclined surface of the floating shaft 96 is in an inward state, and its diameter is smaller than the inner diameter of the round tube 10, so as to ensure that the front end of the floating inner support mechanism 9 can extend into the round tube 10.

[0078] Step 3: The clamping mechanism 4 releases its grip on the round tube 10, and the floating inner support mechanism 9 clamps the round tube 10 inward.

[0079] When the clamping and unlocking power 40 is activated, it pushes the axial rod 42 to move axially. The relative movement of the pivot 45 and the oblique hole 431 causes the inner support 43 to move upward relative to the fixed seat 41, and the outwardly convex arc structure 432 to disengage from the inner wall of the round tube 10. The clamping mechanism 4 then releases its grip on the round tube 10.

[0080] After the floating inner support mechanism 9 extends into the circular tube 10, the inner support unlocking power 90 works in the opposite direction, and the expansion sleeve 98 in the floating inner support mechanism 9 resets and expands outward to clamp the inner support of the circular tube 10.

[0081] Step 4: The circular tube 10 is fixed by the floating inner support mechanism 9. The rotation transmission mechanism 8 works, and the floating inner support mechanism 9 drives the circular tube 10 to rotate around the axial center. The laser sensor 6 monitors and provides feedback on the wall features of the circular tube 10 until the circular tube 10 rotates to the preset angle.

[0082] In practical use, the wall features of the circular tube 10 usually have certain dimensions. For example, if the wall features are grooves or notches, the laser sensor 6 will detect and provide feedback on the opposite sides of the groove or notch during the rotation of the circular tube 10 to obtain the angle between the opposite sides. Then, it can be rotated back by half the angle to obtain the center of the groove or notch. Of course, the circular tube 10 can also be rotated according to actual needs. For example, after the laser sensor 6 detects one side of the groove or notch, it can be rotated by a preset angle to achieve the preset state of the circular tube 10.

[0083] Step 5: The moving seat 2 continues to move forward relative to the base 1, and puts the round tube 10 into the preset position of the clamping mechanism 4. During this process, the floating mechanism 3 plays a buffering role, which not only ensures that the round tube 10 is put into the preset position of the clamping mechanism 4, but also effectively avoids damage to the round tube 10 due to contact or collision.

[0084] Step 6: The floating inner support mechanism 9 releases its inner support clamp on the round tube 10, and the clamping mechanism 4 clamps and fixes the round tube 10, completing the angle adjustment and docking of the round tube 10.

[0085] In actual operation, the actions of the clamping mechanism 4 and the floating inner support mechanism 9, which clamp the round tube 10, can be set to be simultaneous with almost no time difference, or they can be set to a short time difference depending on the actual operation.

[0086] In this embodiment, after the round tube 10 is fitted into the preset position of the clamping mechanism 4, the inner support unlocking power 90 is activated, driving the floating inner support mechanism 9 to release the inner support clamping of the round tube 10; during the movement of the moving seat 2, the floating mechanism 3 drives the inner support unlocking power 90 to float and move synchronously via the floating linkage seat 7, thereby effectively maintaining the relative distance between the inner support unlocking power 90 and the floating shaft 96 in the floating inner support mechanism 9, ensuring the stability and reliability of the inner support unlocking power 90.

[0087] This invention enables automatic adjustment of the tube angle, effectively ensuring the correctness and consistency of the tube angle, greatly facilitating automated wiring; and significantly improving the smoothness and reliability of adjustment and connection, while avoiding damage to the product.

[0088] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0089] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. A floating angle adjustment docking device, characterized in that: Includes a base (1), on which a movable seat (2) is slidably mounted, and a floating inner support mechanism (9) is installed through the front and rear of the movable seat (2). A rotation transmission mechanism (8) is connected to the rear end of the floating inner support mechanism (9). A floating linkage seat (7) is slidably mounted on the top of the movable seat (2). One end of the floating linkage seat (7) is connected to the floating mechanism (3) at the front of the floating inner support mechanism (9). The other end of the floating linkage seat (7) is equipped with an inner support unlocking power (90). The power output end of the inner support unlocking power (90) is directly opposite the rear end of the push rod (92) located at the axis of the floating inner support mechanism (9). It also includes a clamping mechanism (4), which clamps a round tube (10). The round tube (10) is located in front of the floating inner support mechanism (9), and the axial direction of the round tube (10) is consistent with the axial direction of the floating inner support mechanism (9). It also includes a base two (11), on which a laser sensor (6) is installed, and the laser sensor (6) is located above the circular tube (10); The base two (11) is equipped with a clamping and unlocking power (40), the output end of the clamping and unlocking power (40) is directly facing the clamping mechanism (4), and the clamping and unlocking power (40) causes the clamping mechanism (4) to unlock the clamping of the round tube (10); The movable seat (2) is equipped with a support (21) on its side. The floating linkage seat (7) has the following structure: it includes a U-shaped component (72) with the opening facing downward. The U-shaped component (72) spans across the movable seat (2) and the support (21) from front to back. A sliding component (71) is installed between the bottom surface of the U-shaped component (72) and the top surface of the support (21). A linkage wheel (73) is symmetrically installed at the bottom end of the vertical arm in front of the U-shaped component (72). An annular groove (30) is opened on the floating mechanism (3). The linkage wheel (73) is fitted into the annular groove (30). An internal support unlocking power (90) is installed on the vertical arm behind the U-shaped component (72). The movable seat (2) is equipped with a support (21) on its side. The floating inner support mechanism (9) has the following structure: it includes a rotating shaft cylinder (93) that is rotatably mounted on the movable seat (2) and the support (21), and a push rod (92) that is axially mounted on the rotating shaft cylinder (93); it also includes a floating shaft cylinder (94) located in front of the rotating shaft cylinder (93), the floating shaft cylinder (94) and the rotating shaft cylinder (93) are connected by a floating mechanism (3), and a floating shaft rod (96) is axially mounted on the floating shaft cylinder (94), the floating shaft rod (96) is located in front of the push rod (92); an inner support spring (95) is installed between the floating shaft rod (96) and the floating shaft cylinder (94); an expansion sleeve (98) is fitted on the floating shaft rod (96) located in front of the floating shaft cylinder (94), and an end cap (97) is fitted on the floating shaft cylinder (94) at the rear end of the expansion sleeve (98); the front end of the floating shaft rod (96) and the expansion sleeve (98) are matched with a conical surface; The structure of the floating mechanism (3) is as follows: it includes a floating sleeve (31) that is simultaneously fitted on the front end of the rotating shaft cylinder (93) and the rear end of the floating shaft cylinder (94). The inner wall of the floating sleeve (31) extends backward in the circumferential direction to form an inner convex ring (311). The inner convex ring (311) is fitted with the convex edge (921) at the end of the push rod (92). A floating spring (32) is installed between the inner convex ring (311) and the rotating shaft cylinder (93). A plug (33) is inserted from the outside to the inside through the floating sleeve (31) toward the floating shaft cylinder (94).

2. The floating angle adjustment docking device as described in claim 1, characterized in that: The clamping mechanism (4) has the following structure: it includes a fixed seat (41), an axial rod (42) is slidably installed in the fixed seat (41), one end of the axial rod (42) extends out of the fixed seat (41), and a pin (45) is installed at the other end of the axial rod (42). An elastic element (44) is installed between the axial rod (42) and the fixed seat (41); a vertical through groove (412) is provided on the fixed seat (41), an inner support (43) is installed in the vertical through groove (412), an oblique hole (431) for the pin (45) to be slidably installed is provided on the inner support (43), a transverse hole (411) for the pin (45) to be slidably installed is provided on the fixed seat (41), and the bottom end of the inner support (43) extends downward out of the vertical through groove (412) and then extends to form an outwardly convex arc-shaped structure (432).

3. The floating angle adjustment docking device as described in claim 2, characterized in that: The fixed base (41) is provided with a stepped surface (413), and a through hole (414) is provided on the fixed base (41) at the stepped surface (413). A position sensor (5) is installed on the base two (11) above the through hole (414), and a receiver (51) corresponding to the position sensor (5) is installed below the through hole (414).

4. A method for adjusting and docking based on the floating angle adjustment docking device according to claim 1, characterized in that: The clamping mechanism (4) is mounted on the external transfer mechanism, and the adjustment and docking method includes the following steps: The clamping mechanism (4) holding the round tube (10) is transferred to a preset position, and the axial direction of the round tube (10) is aligned with the axial direction of the floating inner support mechanism (9); The movable seat (2) moves forward relative to the base (1), and the front end of the floating inner support mechanism (9) extends into the round tube (10). The clamping mechanism (4) releases its grip on the round tube (10); The floating inner support mechanism (9) clamps the inner support of the circular tube (10); The rotating transmission mechanism (8) works, and the floating inner support mechanism (9) drives the round tube (10) to rotate around the axial center. The laser sensor (6) monitors and provides feedback on the wall features of the round tube (10) until the round tube (10) rotates to the preset state. The movable seat (2) continues to move forward relative to the base (1) and fits the round tube (10) into the preset position of the clamping mechanism (4); The floating inner support mechanism (9) releases its inner support clamp on the circular tube (10); The clamping mechanism (4) clamps and fixes the round tube (10); Complete the angle adjustment and docking of the round tube (10).

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