An xy theta floating head

Abstract

The application relates to the technical field of robot precision assembly, and discloses an XY theta floating head, which comprises an outer ring, a middle ring, an inner ring, a swing shaft and a rotary support, the outer rotary ring of the rotary support is connected with the inner ring through a screw, the inner rotary ring of the rotary support is connected with the swing shaft through a screw, and swinging between the swing shaft and the inner ring is realized; the outer ring is connected with a robot and is relatively fixed with the middle ring, the inner ring, the swing shaft and the rotary support. The XY theta floating head is provided with an X-direction moving floating module, a Y-direction moving floating module, a theta-direction rotating floating module, an air channel system and a flexible dustproof system, so that XY theta three-axis floating of assembly parts is realized, XY theta three-axis errors existing between a theoretical assembly position and an actual assembly position in the process of robot precision assembly are solved, assembly precision is ensured, efficiency is improved, and manufacturing precision of additional tooling is not needed.

Description

Technical Field

[0001] This invention relates to the field of precision assembly technology for robots, specifically to an XYθ floating head. Background Technology

[0002] When using industrial robots for automated assembly, there are XYθ three-axis errors between the theoretical assembly position and the actual assembly position. These errors need to be corrected during assembly.

[0003] In existing robotic precision assembly processes, methods to address the XYθ three-axis error between the theoretical and actual assembly positions either sacrifice assembly accuracy by increasing the assembly clearance or increase tooling manufacturing precision, which in turn increases tooling manufacturing costs and reduces production efficiency. The XYθ floating head solves these problems simultaneously, ensuring assembly accuracy, improving efficiency, and eliminating the need for additional tooling manufacturing precision. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this invention provides an XYθ floating head that ensures assembly accuracy, improves efficiency, and eliminates the need for additional tooling manufacturing precision.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] An XYθ floating head includes an outer ring, a middle ring, an inner ring, a swing shaft, and a rotary support. The outer rotary ring of the rotary support is connected to the inner ring by screws, and the inner rotary ring of the rotary support is connected to the swing shaft by screws, thereby realizing the swing between the swing shaft and the inner ring. The outer ring is connected to a robot and is relatively fixed to the middle ring, the inner ring, the swing shaft, and the rotary support.

[0009] It also includes an X-axis moving floating module, a Y-axis moving floating module, a θ-axis rotating floating module, as well as an air duct system and a flexible dustproof system, thereby realizing the XYθ three-axis floating of the assembled parts.

[0010] Preferably, the X-direction moving floating module consists of an outer ring, an X-direction pneumatic piston rod, an X-direction guide shaft, a middle ring, and an air passage system; the X-direction pneumatic piston rod passes through the outer ring and the middle ring, the outer ring is fixedly connected to the robot, and the middle ring moves in the X direction relative to the outer ring;

[0011] Compressed air enters the cylinder chamber of the outer ring through the air passage system, pushing the two sets of pneumatic piston rods in the X direction to the end of their stroke, so that the middle ring is always subjected to the same thrust on both sides in the X direction. Once the middle ring is free from external force, it will automatically be in the center position; if it is subjected to external force in the X direction, it will move flexibly in the X direction to the actual position required.

[0012] Preferably, the Y-direction moving floating module consists of an outer ring, a middle ring, a Y-direction pneumatic piston rod, a Y-direction guide shaft, an inner ring, and an air passage system;

[0013] The Y-direction pneumatic piston rod passes through the middle ring and the inner ring, and the inner ring moves in the Y direction relative to the middle ring.

[0014] Compressed air enters the cylinder chamber of the outer ring through the air passage system, pushing the two sets of pneumatic piston rods in the Y direction to the end of their stroke, so that the inner ring is always subjected to the same thrust in the Y direction. Once the inner ring is free from external force, it will automatically be in the center position; if it is subjected to external force in the Y direction, it will move flexibly in the Y direction to the actual position required.

[0015] Preferably, the θ-direction rotating floating module consists of an inner ring, spring plungers, and a swing shaft; the two sets of spring plungers on the left and right push the swing shaft, so that both sides of the swing shaft are always subjected to the same thrust. Once the swing shaft is free from external torque, it will automatically be in the center position; if it is subjected to torque, it will swing flexibly around the center of rotation support to the actual required position.

[0016] The extreme position of the swing shaft is mechanically limited by the double-bevel structure on the inner ring to ensure reliable limiting of the extreme position and protect the spring plunger from strong damage.

[0017] Preferably, the air passage system consists of an outer ring, a cover plate, a sealing ring, a plug, and a quick-connect connector; the cover plate is disposed on the outer ring, and a sealing ring is provided between the outer ring and the cover plate; compressed air is connected to the outer ring air passage through the quick-connect connector, and the air passage is connected to the cylinders in the X and Y directions; the entire XYθ floating head has only one external quick-connect connector.

[0018] Preferably, the flexible dustproof system consists of an outer ring, a swing shaft, a dustproof seat, and a flexible dustproof rubber protective ring;

[0019] The dustproof seat is fixed to the outer ring with screws. One end of the flexible dustproof rubber protective ring is fitted onto the dustproof seat through a fastening groove, and the other end is fitted onto the swing shaft through a fastening groove, forming a flexible dustproof system that simultaneously meets the dustproof requirements of floating in the X direction, floating in the Y direction, and floating in the θ direction.

[0020] (III) Beneficial Effects

[0021] Compared with the prior art, the present invention provides an XYθ floating head, which has the following beneficial effects:

[0022] 1. This XYθ floating head, by setting up X-direction moving floating module, Y-direction moving floating module, θ-direction rotating floating module, as well as air duct system and flexible dustproof system, realizes the XYθ three-axis floating of assembled parts, which solves the XYθ three-axis error between the theoretical assembly position and the actual assembly position in the precision assembly process of the robot. It not only ensures the assembly accuracy and improves efficiency, but also eliminates the need to increase the precision of tooling manufacturing. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the present invention;

[0024] Figure 2 for Figure 1 A cross-sectional view along the AA direction;

[0025] Figure 3 for Figure 2 A cross-sectional view along the BB direction;

[0026] Figure 4 for Figure 3 Cross-sectional view along the EE direction;

[0027] Figure 5 for Figure 2 A sectional view along the CC direction;

[0028] Figure 6 for Figure 2 A cross-sectional view along the DD direction.

[0029] In the diagram: 1. Outer ring; 2. Middle ring; 3. Y-direction pneumatic piston rod; 4. Inner ring; 5. Swing shaft; 6. Rotary support; 7. Cover plate; 8. Sealing ring; 9. Plug; 10. X-direction pneumatic piston rod II; 11. Quick-connect coupling; 12. Y-direction guide shaft; 13. X-direction guide shaft; 14. Spring plunger; 15. Dustproof seat; 16. Flexible dustproof rubber protective ring. Detailed Implementation

[0030] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0031] Please see Figure 1-6 An XYθ floating head includes an outer ring 1, a middle ring 2, an inner ring 4, a swing shaft 5, and a rotary support 6. The outer rotary ring of the rotary support 6 is connected to the inner ring 4 by screws, and the inner rotary ring of the rotary support 6 is connected to the swing shaft 5 by screws, thereby realizing the swing between the swing shaft 5 and the inner ring 4. The outer ring 1 is connected to the robot and is relatively fixed relative to the middle ring 2, the inner ring 4, the swing shaft 5, and the rotary support 6.

[0032] It also includes an X-axis moving floating module, a Y-axis moving floating module, a θ-axis rotating floating module, as well as an air duct system and a flexible dustproof system, thereby realizing the XYθ three-axis floating of the assembled parts.

[0033] See Figure 3 , 6 The X-direction moving floating module consists of an outer ring 1, an X-direction pneumatic piston rod 10, an X-direction guide shaft 13, a middle ring 2, and an air passage system; the X-direction pneumatic piston rod 10 passes through the outer ring 1 and the middle ring 2, the outer ring 1 is connected and fixed to the robot, and the middle ring 2 moves in the X direction relative to the outer ring 1.

[0034] Compressed air enters the cylinder chamber of the outer ring 1 through the air passage system, pushing the two sets of pneumatic piston rods 10 in the X direction to the end of their stroke, so that the middle ring 2 is always subjected to the same thrust on both sides in the X direction. Once the middle ring 2 is free from external force, it will automatically be in the center position; if it is subjected to external force in the X direction, it will move flexibly in the X direction to the actual required position.

[0035] See Figure 1 , 2 4. The Y-direction moving floating module consists of an outer ring 1, a middle ring 2, a Y-direction pneumatic piston rod 3, a Y-direction guide shaft 12, an inner ring 4, and an air passage system.

[0036] The pneumatic piston rod 3 in the Y direction passes through the middle ring 2 and the inner ring 4, and the inner ring 4 moves in the Y direction relative to the middle ring 2.

[0037] Compressed air enters the cylinder chamber of the outer ring 1 through the air passage system, pushing the two sets of pneumatic piston rods 3 in the Y direction to the end of their stroke, so that the inner ring 4 is always subjected to the same thrust in the Y direction. Once the inner ring 4 is free from external force, it will automatically be in the center position; if it is subjected to external force in the Y direction, it will move flexibly in the Y direction to the actual required position.

[0038] See Figure 5 The θ-direction rotating floating module consists of an inner ring 4, a spring plunger 14, and a swing shaft 5. The two sets of spring plungers 14 push the swing shaft 5, so that both sides of the swing shaft 5 are always subjected to the same thrust. Once the swing shaft 5 is free from external torque, it will automatically be in the center position. If it is subjected to torque, it will swing flexibly around the center of the rotary support 6 to the actual required position.

[0039] The extreme position of the swing shaft 5 is mechanically limited by the double-sloping structure on the inner ring 4 to ensure reliable limiting of the extreme position and protect the spring plunger 14 from strong damage.

[0040] See Figure 1 , 23. The air passage system consists of an outer ring 1, a cover plate 7, a sealing ring 8, a plug 9, and a quick-connect connector 11. The cover plate 7 is set on the outer ring 1, and a sealing ring 8 is provided between the outer ring 1 and the cover plate 7. Compressed air is connected to the air passage of the outer ring 1 through the quick-connect connector 11, and the air passage is connected to the cylinders in the X and Y directions. The entire XYθ floating head has only one external quick-connect connector 11.

[0041] See Figure 2 The flexible dustproof system consists of an outer ring 1, a swing shaft 5, a dustproof seat 15, and a flexible dustproof rubber protective ring 16.

[0042] The dustproof seat 15 is fixed to the outer ring 1 with screws. One end of the flexible dustproof rubber protective ring 16 is fitted onto the dustproof seat 15 through a fastening groove, and the other end is fitted onto the swing shaft 5 through a fastening groove, forming a flexible dustproof system that simultaneously meets the dustproof requirements of floating in the X direction, floating in the Y direction, and floating in the θ direction.

[0043] This XYθ floating head, by setting up X-direction moving floating modules, Y-direction moving floating modules, θ-direction rotating floating modules, as well as an air duct system and a flexible dustproof system, enables the assembly parts to float in three axes of XYθ. This solves the problem of XYθ three-axis error between the theoretical assembly position and the actual assembly position in the precision assembly process of the robot, which not only ensures assembly accuracy and improves efficiency, but also eliminates the need to increase the precision of tooling manufacturing.

Claims

1. An XYθ floating head, comprising an outer ring (1), a middle ring (2), an inner ring (4), a swing shaft (5), and a slewing support (6), characterized in that: The outer slewing ring and inner ring (4) of the slewing support (6) are connected by screws, and the inner slewing ring of the slewing support (6) is connected to the swing shaft (5) by screws to realize the swing between the swing shaft (5) and the inner ring (4); the outer ring (1) is connected to the robot and is relatively fixed with respect to the middle ring (2), the inner ring (4), the swing shaft (5) and the slewing support (6); It also includes an X-axis moving floating module, a Y-axis moving floating module, a θ-axis rotating floating module, as well as an air duct system and a flexible dustproof system, thereby realizing the XYθ three-axis floating of the assembled parts; The X-direction moving floating module consists of an outer ring (1), an X-direction pneumatic piston rod (10), an X-direction guide shaft (13), a middle ring (2), and an air passage system; the X-direction pneumatic piston rod (10) passes through the outer ring (1) and the middle ring (2), the outer ring (1) is fixedly connected to the robot, and the middle ring (2) moves in the X direction relative to the outer ring (1); Compressed air enters the cylinder chamber of the outer ring (1) through the air passage system, pushing the two sets of X-direction pneumatic piston rods (10) to the end of their stroke, so that the middle ring (2) is always subjected to the same thrust on both sides of the X direction. Once the middle ring (2) is free from external force, it will automatically be in the center position; if it is subjected to external force in the X direction, it will move flexibly in the X direction to the actual required position. The Y-direction moving floating module consists of an outer ring (1), a middle ring (2), a Y-direction pneumatic piston rod (3), a Y-direction guide shaft (12), an inner ring (4), and an air passage system; The Y-direction pneumatic piston rod (3) passes through the middle ring (2) and the inner ring (4), and the inner ring (4) moves in the Y direction relative to the middle ring (2); Compressed air enters the cylinder chamber of the outer ring (1) through the air passage system, pushing the two sets of Y-direction pneumatic piston rods (3) to the end of their stroke, so that the inner ring (4) is always subjected to the same thrust in the Y direction. Once the inner ring (4) is free from external force, it will automatically be in the center position; if it is subjected to external force in the Y direction, it will move flexibly in the Y direction to the actual required position. The θ-direction rotating floating module consists of an inner ring (4), a spring plunger (14), and a swing shaft (5). The two sets of spring plungers (14) push the swing shaft (5) so that both sides of the swing shaft (5) are always subjected to the same thrust. Once the swing shaft (5) is free from external torque, it will automatically be in the center position. If it is subjected to torque, it will swing flexibly around the center of the rotary support (6) to the actual required position. The extreme position of the swing shaft (5) is mechanically limited by the double inclined surface structure on the inner ring (4) to ensure reliable limit of the extreme position and protect the spring plunger (14) from strong damage; The air passage system consists of an outer ring (1), a cover plate (7), a sealing ring (8), a plug (9), and a quick-connect connector (11); the cover plate (7) is set on the outer ring (1), and a sealing ring (8) is provided between the outer ring (1) and the cover plate (7); compressed air is connected to the air passage of the outer ring (1) through the quick-connect connector (11), and the air passage is connected to the cylinders in the X and Y directions; the entire XYθ floating head has only one external quick-connect connector (11). The flexible dustproof system consists of an outer ring (1), a swing shaft (5), a dustproof seat (15), and a flexible dustproof rubber protective ring (16); The dustproof seat (15) is fixed to the outer ring (1) by screws. One end of the flexible dustproof rubber protective ring (16) is fitted onto the dustproof seat (15) through a fastening groove, and the other end is fitted onto the swing shaft (5) through a fastening groove, forming a flexible dustproof system that simultaneously meets the dustproof requirements of floating in the X direction, floating in the Y direction, and floating in the θ direction.

Images