Floating joint and product assembling device

Abstract

The invention belongs to the technical field of automatic assembling, and discloses a floating connector and a product assembling device.The floating connector is used for connecting a driving module and an operation module and comprises a first connecting block, a second connecting block and a centering structure, and a cavity is formed in the first connecting block; the second connecting block is movably installed in the cavity in the first direction and the second direction, the first direction is perpendicular to the second direction, the second connecting block extends out of the first connecting block, the operation module is connected to the first connecting block, and the driving module is connected to the extending portion of the second connecting block. And the centering structure is configured to drive the second connecting block to reset to the center of the cavity. In the invention, the floating joint corrects the position deviation of the operation module, so that the follow-up sleeve can be accurately sleeved on the periphery of the shaft lever. Namely, the requirement for the repeated positioning precision of the driving module can be lowered, so that the debugging time consumption of the driving module is reduced, and the requirement for the technical level of debugging personnel is lowered.

Description

Technical Field

[0001] The present invention relates to the technical field of automated assembly, and particularly to a floating joint and a product assembly device. Background Art

[0002] In the prior art, the automated assembly operation of the sleeve is generally completed by an assembly device. The assembly device includes a driving module and an operating module. Among them, the operating module can pick up the sleeve from the loading station, and the driving module can drive the operating module to move between the loading station and the assembly station, so that the operating module carrying the sleeve can be transferred to the assembly station, and then the sleeve can be sleeved on the outside of the shaft rod subsequently.

[0003] From the above, in order to ensure that the sleeve can be accurately sleeved on the outside of the shaft rod during each assembly operation, the driving module needs to have a high repeat positioning accuracy to ensure that the position accuracy of the operating module transferred to the assembly station during each assembly operation is relatively high, so as to ensure that the sleeve carried by the operating module each time can be accurately aligned with the shaft rod placed at the assembly station.

[0004] Currently, in the prior art, the driving module generally has a high repeat positioning accuracy through manual debugging. However, manual debugging takes a long time, and moreover, it requires a high technical level of the debugging personnel. Summary of the Invention

[0005] The purpose of the present invention is to provide a floating joint and a product assembly device, so as to reduce the requirement for the repeat positioning accuracy of the driving module, thereby reducing the debugging time of the driving module and reducing the requirement for the technical level of the debugging personnel.

[0006] To achieve this purpose, the present invention adopts the following technical solutions:

[0007] On the one hand, the present invention provides a floating joint for connecting a driving module and an operating module. The driving module is configured to drive the operating module to move. The floating joint includes:

[0008] A first connection block and a second connection block. A cavity is provided inside the first connection block. The second connection block is movably installed in the cavity along a first direction and a second direction. The first direction is perpendicular to the second direction. The second connection block extends out of the first connection block. One of the driving module and the operating module is connected to the first connection block, and the other of the driving module and the operating module is connected to the extending part of the second connection block;

[0009] A centering structure configured to drive the second connection block to reset to the center of the cavity.

[0010] Preferably, the first connecting block is provided with a perforation which communicates with the cavity. The second connecting block includes a first block body and a second block body. The first block body is installed in the cavity. The second block body passes through the perforation and extends out of the first connecting block. The perforation surrounds the outer periphery of the second block body, and there is a gap between the hole wall of the perforation and the second block body. There are gaps between the side walls on both sides of the first block body along the first direction and the cavity wall, and there are gaps between the side walls on both sides of the first block body along the second direction and the cavity wall.

[0011] Preferably, the centering structure includes a first elastic member and a second elastic member. Both the first elastic member and the second elastic member are installed between the first block body and the first connecting block. The first elastic member can center the second connecting block in the first direction, and the second elastic member can center the second connecting block in the second direction.

[0012] Preferably, a plurality of balls are arranged on both sides of the first block body along the third direction. The balls are installed between the first connecting block and the first block body, and the third direction is perpendicular to both the first direction and the second direction.

[0013] On the other hand, the present invention also provides a product assembly device. The product assembly device includes a driving module, an operating module and the floating joint as described above. The floating joint connects the driving module and the operating module. The driving module is configured to drive the operating module to move to the assembly station. The operating module is configured to assemble a first part to a second part placed at the assembly station along the third direction, and the third direction is perpendicular to both the first direction and the second direction.

[0014] Preferably, the product assembly device further includes a mounting plate and a guiding structure. The operating module is installed on the mounting plate. The mounting plate is connected to the floating joint. The guiding structure includes:

[0015] At least two guiding rods, installed on the mounting plate and all extending along the third direction;

[0016] At least two guiding holes, arranged at the assembly station and all extending along the third direction. At least two of the guiding holes correspond to at least two of the guiding rods one by one.

[0017] Preferably, one end of the guiding rod for inserting into the guiding hole is chamfered.

[0018] Preferably, the operating module includes:

[0019] A pressing rod, extending along the third direction, capable of pressing the second part along the third direction;

[0020] A first sleeve, sleeved on the outer periphery of the pressing rod;

[0021] A second sleeve, sleeved on the outer periphery of the first sleeve. The first sleeve, the second sleeve and the pressing rod enclose a receiving cavity, and the receiving cavity is configured to receive the first part sleeved on the outer periphery of the pressing rod;

[0022] A driving member, configured to drive the first sleeve to move along the third direction, so that the first sleeve pushes the first part out of an opening formed between the second sleeve and the pressing rod.

[0023] Preferably, an enlarged hole is provided at one end of the second sleeve close to the opening, and the diameter of the enlarged hole gradually decreases from the opening to the side away from the opening. A frustum is provided at one end of the pressing rod close to the opening, and the diameter of the frustum gradually increases from the opening to the side away from the opening.

[0024] Preferably, the product assembly device further includes a detection structure, and the detection structure is configured to detect whether the first part is received in the receiving cavity.

[0025] Advantages of the present invention:

[0026] In the present invention, the driving module and the operating module are connected by a floating joint, so that when the driving module drives the operating module to move to the assembly station, the operating module can have a position deviation. Subsequently, during the assembly process, the floating joint is used to correct the position deviation of the operating module, so that the subsequent sleeve can be accurately sleeved on the outer periphery of the shaft rod. That is, the present invention can reduce the requirement for the repeated positioning accuracy of the driving module, thereby reducing the debugging time of the driving module and reducing the technical level requirement for the debugging personnel. Description of the drawings

[0027] Figure 1 is a schematic structural diagram of the product assembly device in the embodiment of the present invention;

[0028] Figure 2 is a schematic structural diagram of the floating joint in the embodiment of the present invention;

[0029] Figure 3 is a top view of the floating joint in the embodiment of the present invention;

[0030] Figure 4 is along Figure 3 the sectional view taken along line A-A in

[0031] Figure 5 isFigure 4 Partial enlarged view at B in the figure;

[0032] Figure 6 It is along Figure 3 Cross-sectional view along line C-C in the figure;

[0033] Figure 7 One of the exploded views of the floating joint in the embodiment of the present invention;

[0034] Figure 8 Another exploded view of the floating joint in the embodiment of the present invention;

[0035] Figure 9 Top view of the first connection block in the embodiment of the present invention;

[0036] Figure 10 It is along Figure 9 Cross-sectional view along line D-D in the figure;

[0037] Figure 11 Schematic structural view of the pressure rod, the first sleeve and the second sleeve accommodating the sleeve in the embodiment of the present invention;

[0038] Figure 12 Exploded view of the pressure rod, the first sleeve and the second sleeve in the embodiment of the present invention;

[0039] Figure 13 Cross-sectional view of the pressure rod, the first sleeve and the second sleeve without accommodating the sleeve along the longitudinal section of the pressure rod in the embodiment of the present invention;

[0040] Figure 14 Cross-sectional view of the pressure rod, the first sleeve and the second sleeve accommodating the sleeve along the longitudinal section of the pressure rod in the embodiment of the present invention.

[0041] In the figure:

[0042] 1. Operation module; 11. Pressure rod; 111. Frustum; 12. First sleeve; 13. Second sleeve; 131. Reamed hole; 14. Accommodating cavity; 15. Driving member; 16. Opening; 2. Floating joint; 21. First connection block; 211. Cavity; 212. Through hole; 22. Second connection block; 221. First block; 222. Second block; 23. Centering structure; 231. First elastic member; 232. Second elastic member; 24. Clamping plate; 241. Ball; 3. Mounting plate; 41. Guide rod; 42. Guide hole; 5. Detection structure; 51. Photoelectric sensor; 52. First detection hole; 53. Second detection hole; 54. Third detection hole; 6. Mounting block; 7. Carrying seat;

[0043] 81. Sleeve; 82. Shaft rod. Detailed implementation manners

[0044] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only for explaining the present invention, rather than limiting the present invention. In addition, it should be noted that for the convenience of description, only the parts related to the present invention rather than all the structures are shown in the drawings.

[0045] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0046] In the present invention, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features between them. Moreover, the first feature being "above", "above", and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "below", and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0047] In the description of this embodiment, the orientation or positional relationships such as "above", "below", "right", and "left" are based on the orientation or positional relationships shown in the drawings. It is only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention. In addition, the terms "first" and "second" are only used for distinction in description and have no special meanings.

[0048] Please refer to Figures 1 to 14 , this embodiment provides a product assembly device. The product assembly device includes a driving module (not shown in the figure) and an operation module 1. The driving module is configured to drive the operation module 1 to move to the assembly station, and the operation module 1 is configured to assemble a set of parts onto the second part placed at the assembly station.

[0049] In this embodiment, the first component is the sleeve 81 mentioned above, and the second component is the shaft rod 82 mentioned above. In each assembly operation, the operation module 1 picks up the sleeve 81 from the loading station, and the driving module drives the operation module 1 to transfer from the loading station to the assembly station, so that the operation module 1 can assemble the sleeve 81 onto the shaft rod 82 placed at the assembly station to produce the required product. It can be understood that after the sleeve 81 is assembled onto the shaft rod 82 placed at the assembly station, the driving module drives the operation module 1 back to the loading station for the next assembly operation.

[0050] As described above, in the prior art, to ensure that the sleeve can be accurately assembled onto the shaft rod during each assembly operation, the prior art generally requires manual debugging of the driving module before the product assembly device works to ensure that the driving module has high repeat positioning accuracy. Thus, each time the driving module drives the operation module to move to the assembly station, the sleeve carried by the operation module can be accurately aligned with the shaft rod placed at the assembly station. Exemplarily, taking the driving module as an industrial robot, the prior art generally requires manual debugging of the industrial robot before the product assembly device works, so that the repeat positioning accuracy of the industrial robot reaches ±0.03 mm, and further ensures that each time the industrial robot drives the operation module to transfer to the assembly station, the position accuracy of the operation module can meet the requirements.

[0051] However, since the sleeve assembly operation has high requirements for the repeat positioning accuracy of the driving module, the debugging personnel need to spend a lot of time on debugging, and moreover, the debugging personnel need a high technical level.

[0052] To solve the above problems, this embodiment further provides a floating joint 2. The floating joint 2 is used on the product assembly device. Specifically, the floating joint 2 is used to connect the driving module and the operation module 1. That is, in this embodiment, in addition to the driving module and the operation module 1, the product assembly device further includes the floating joint 2. The floating joint 2 includes a first connection block 21 and a second connection block 22. Among them, a cavity 211 is provided inside the first connection block 21, and the second connection block 22 is movably installed in the cavity 211 along a first direction and a second direction. The first direction is perpendicular to the second direction. The second connection block 22 extends out of the first connection block 21. The operation module 1 is connected to the first connection block 21, and the driving module is connected to the extending part of the second connection block 22. That is, in this embodiment, the first connection block 21 is connected to the operation module 1, and the extending part of the second connection block 22 is connected to the driving module.

[0053] Exemplarily, in this embodiment, an installation block 6 is fixedly connected to the extending part of the second connection block 22, and the driving module is fixedly connected to the installation block 6, thereby connecting the driving module to the extending part of the second connection block 22.

[0054] Based on the above, the floating joint 2 can be connected between the driving module and the working module 1 in a position where both the first direction and the second direction are perpendicular to the assembly direction of the sleeve 81. Under the action of the floating joint 2, the working module 1 can float relative to the driving module in the first direction and / or the second direction, thereby reducing the requirements for the repeatability of the driving module.

[0055] Specifically, it is worth mentioning that the product assembly device also includes a mounting plate 3 and a guide structure, wherein the operating module 1 is installed on the mounting plate 3, the mounting plate 3 is connected to the floating joint 2, and the guide structure includes two guide rods 41 and two guide holes 42, the two guide rods 41 are installed on the mounting plate 3, and both extend along a third direction, the third direction is perpendicular to the first direction and the second direction, the two guide holes 42 are arranged at the assembly station, and both extend along the third direction, the two guide holes 42 correspond one by one to the two guide rods 41, when the driving module drives the operating module 1 to move to the assembly station, during the assembly process, the two guide rods 41 can be inserted one by one into the two guide holes 42, so that in the subsequent process of the operating module 1 putting the sleeve 81 on the outer periphery of the shaft rod 82, the movement of the sleeve 81 is guided to prevent the sleeve 81 and / or the shaft rod 82 from being damaged when the sleeve 81 is directly put on.

[0056] It can be understood that the assembly direction of the sleeve 81 is the third direction.

[0057] Of course, in other optional embodiments, the guide structure may also include three or more guide rods 41 and three or more guide holes 42, and this embodiment does not impose any specific limitation on this.

[0058] It is understandable that the assembly station is provided with a loading seat 7 , the loading seat 7 is used to load the second component, and the guide hole 42 is provided on the loading seat 7 .

[0059] Based on the above, the present embodiment can allow the repeatability of the driving module to have a low positioning accuracy, that is, the present embodiment can allow the guide rod 41 and the working module 1 to move to the assembly station when the driving module drives the guide rod 41 and the working module 1 to have position deviations in the first direction and / or the second direction. During the assembly process, the present embodiment can use the floating joint 2 to correct the position deviations of the guide rod 41 and the working module 1 in the first direction and / or the second direction, so that the subsequent guide rod 41 can be accurately inserted into the guide hole 42, and the sleeve 81 can be accurately aligned with the shaft rod 82, so that the subsequent sleeve 81 can be accurately mounted on the outer periphery of the shaft rod 82.

[0060] Specifically, in this embodiment, when the driving module drives the working module 1 to move to the assembly station, it is only necessary that the guide rod 41 can be generally inserted into the guide hole 42. When the guide rod 41 continues to be inserted into the guide hole 42, since the first connecting block 21 can float relative to the second connecting block 22 in the first direction and / or the second direction perpendicular to the assembly direction of the sleeve 81, that is, the guide rod 41 and the working module 1 can float relative to the driving module in the first direction and / or the second direction perpendicular to the third direction. Therefore, the guide rod 41 and the working module 1 can adaptively adjust their positions relative to the driving module, thereby correcting the position deviation of the guide rod 41 and the working module 1, so that the sleeve 81 can be accurately aligned with the shaft rod 82, and further enabling the subsequent sleeve 81 to be accurately sleeved on the outer periphery of the shaft rod 82.

[0061] Of course, in other alternative embodiments, it may also be: after the driving module drives the working module 1 to move to the assembly station, the working module 1 directly drives the sleeve 81 to be sleeved on the outer periphery of the shaft rod 82. Since the working module 1 can float relative to the driving module in the first direction and / or the second direction, and the first direction and the second direction are perpendicular to the assembly direction of the sleeve 81, therefore, during the process of the working module 1 driving the sleeve 81 to be sleeved on the outer periphery of the shaft rod 82, the working module 1 can adaptively adjust its position relative to the driving module, thereby correcting the position deviation of the working module 1, so that the sleeve 81 can be accurately sleeved on the outer periphery of the shaft rod 82.

[0062] Specifically, if the assembly process is that after the driving module drives the working module 1 to move to the assembly station, the working module 1 directly drives the sleeve 81 to be sleeved on the outer periphery of the shaft rod 82, then similarly, the driving module only needs to drive the working module 1 to move so that the sleeve 81 carried by it can be generally sleeved on the outer periphery of the shaft rod 82. When the working module 1 moves the sleeve 81 carried by it toward the side close to the shaft rod 82 to make the sleeve 81 generally sleeved on the outer periphery of the shaft rod 82, and then when the working module 1 continues to move the sleeve 81, since the working module 1 can float relative to the driving module in the first direction and / or the second direction perpendicular to the assembly direction of the sleeve 81, therefore, under the action of the shaft rod 82, the sleeve 81 can drive the working module 1 to adaptively adjust its position relative to the driving module, thereby correcting the position deviation of the working module 1, and further enabling the sleeve 81 to be accurately sleeved on the outer periphery of the shaft rod 82.

[0063] As described above, in this embodiment, the position deviation of the working module 1 is adjusted by the guide rod 41 and the guide hole 42. In other alternative embodiments, the position deviation of the working module 1 can also be adjusted by the part one and the part two that need to be assembled together. This embodiment does not make specific limitations on this.

[0064] In addition, in addition to the first connection block 21 and the second connection block 22, the floating joint 2 further includes a centering structure 23, and the centering structure 23 is configured to drive the second connection block 22 to reset to the center of the cavity 211. That is, the centering structure 23 is configured to drive the second connection block 22 to center relative to the cavity 211 in the first direction and the second direction, so that after each assembly operation is completed, the first connection block 21 is reset relative to the second connection block 22. Thus, after each assembly operation is completed, the second connection block 22 can return to the middle part of the cavity 211 again, so that during the next assembly operation, the guide rod 41 and the working module 1 can still float relative to the driving module in the first direction and / or the second direction, and further, during each assembly operation process, the floating joint 2 can correct the position deviation of the guide rod 41 and the working module 1.

[0065] That is, in this embodiment, the driving module and the working module 1 are connected by the floating joint 2, so that when the driving module drives the working module 1 to move to the assembly station, the working module 1 can have a position deviation. Subsequently, during the assembly process, the floating joint 2 is used to correct the position deviation of the working module 1, so that the subsequent sleeve 81 can be accurately sleeved on the outer periphery of the shaft rod 82. That is, this embodiment can reduce the requirement for the repeated positioning accuracy of the driving module, thereby reducing the debugging time of the driving module and reducing the technical level requirement for the debugging personnel.

[0066] Exemplarily, in this embodiment, the assembly direction of the sleeve 81 is taken as the vertical direction. That is, in this embodiment, the shaft rod 82 placed at the assembly station extends in the vertical direction. Correspondingly, in this embodiment, the first direction and the second direction are the horizontal directions.

[0067] After the driving module drives the guide rod 41 and the working module 1 to move to the assembly station, this embodiment allows the positions of the guide rod 41 and the working module 1 in the horizontal direction to have deviations. Subsequently, during the process of inserting the guide rod 41 into the guide hole 42, under the action of the floating joint 2, the guide rod 41 and the working module 1 can float relative to the driving module in the horizontal direction, so that the position deviation of the sleeve 81 relative to the shaft rod 82 can be corrected, so that the sleeve 81 can be accurately sleeved on the outer periphery of the shaft rod 82.

[0068] It is also worth noting that in other alternative embodiments, the working module 1 can also be connected to the protruding part of the second connection block 22. Correspondingly, the driving module is connected to the first connection block 21. That is, in other alternative embodiments, the protruding part of the second connection block 22 can also be connected to the working module 1, and the first connection block 21 is connected to the driving module. This embodiment does not make specific limitations on this.

[0069] Based on the above-mentioned content, in this embodiment, for the product assembly device, the operation module 1 is configured to assemble the first part onto the second part placed at the assembly station along the third direction, and the third direction is perpendicular to both the first direction and the second direction. Thus, in this embodiment, when the driving module drives the guide rod 41 and the operation module 1 to move to the assembly station, the position of the operation module 1 in the first direction and / or the second direction can have a deviation. That is, this embodiment can reduce the requirement for the repeated positioning accuracy of the driving module, thereby reducing the debugging time-consuming of the driving module and reducing the technical level requirement for the debugging personnel.

[0070] Further, it is worth noting that one end of the guide rod 41 for inserting into the guide hole 42 is chamfered, so as to increase the allowable position deviation of the guide rod 41 and the operation module 1 in the horizontal direction when the driving module drives the guide rod 41 and the operation module 1 to move to the assembly station. With such a setting, the guide rod 41 can still be roughly inserted into the guide hole 42, and subsequently, the floating joint 2 can still correct the position deviation of the guide rod 41 and the operation module 1 in the horizontal direction.

[0071] Based on the content mentioned above, in this embodiment, the first connection block 21 is provided with a through hole 212, and the through hole 212 communicates with the cavity 211. The second connection block 22 includes a first block 221 and a second block 222. The first block 221 is installed in the cavity 211, and the second block 222 passes through the through hole 212 and extends out of the first connection block 21. The through hole 212 surrounds the outer periphery of the second block 222, and there is a gap between the hole wall of the through hole 212 and the second block 222. It can be understood that to prevent the second connection block 22 from detaching from the first connection block 21, the cavity 211 is larger than the through hole 212, and the second block 222 is smaller than the first block 221.

[0072] In addition, there are gaps between the side walls on both sides of the first block 221 along the first direction and the cavity wall of the cavity 211, and there are gaps between the side walls on both sides of the first block 221 along the second direction and the cavity wall of the cavity 211. That is, in this embodiment, the first connection block 21 surrounds the outer periphery of the first block 221, and there are gaps between the outer sides of the first block 221 in each direction perpendicular to the third direction and the cavity wall of the cavity 211, so that the second connection block 22 is movably installed in the cavity 211 along the first direction and the second direction.

[0073] From the above, during the process of the driving module driving the guide rod 41 to insert into the guide hole 42, the first connection block 21 can move relative to the second connection block 22 along the first direction and / or the second direction, so as to adaptively adjust the positions of the guide rod 41 and the operation module 1 relative to the driving module, and further correct the position deviation of the guide rod 41 and the operation module 1 in the first direction and / or the second direction, so that the subsequent sleeve 81 can be accurately sleeved on the outer periphery of the shaft rod 82.

[0074] It should be noted that the guide rod 41 and the working module 1 can also rotate relative to the driving module about an axis extending in the third direction, so that the guide rod 41 and the working module 1 can also be floating in the circumferential direction around the axis extending in the third direction, and thus it is more convenient to correct the position deviation of the guide rod 41 and the working module 1 during the assembly process.

[0075] In addition, the centering structure 23 includes a first elastic member 231 and a second elastic member 232. Exemplarily, both the first elastic member 231 and the second elastic member 232 are springs. The first elastic member 231 and the second elastic member 232 are both installed between the first block 221 and the first connecting block 21. Among them, the first elastic member 231 extends in the first direction, and the second elastic member 232 extends in the second direction. The first elastic member 231 can center the second connecting block 22 in the first direction, and the second elastic member 232 can center the second connecting block 22 in the second direction.

[0076] Specifically, when the first connecting block 21 moves relative to the second connecting block 22 in the first direction, the first elastic member 231 undergoes elastic deformation and can recover the deformation after the assembly operation is completed, so that the second connecting block 22 returns to the middle part of the cavity 211 relative to the first connecting block 21 in the first direction, so as to center relative to the cavity 211 in the first direction. Correspondingly, when the first connecting block 21 moves relative to the second connecting block 22 in the second direction, the second elastic member 232 undergoes elastic deformation and can recover the deformation after the assembly operation is completed, so that the second connecting block 22 returns to the middle part of the cavity 211 relative to the first connecting block 21 in the second direction, so as to center relative to the cavity 211.

[0077] Similarly, after the first connecting block 21 rotates relative to the second connecting block 22 about an axis extending in the third direction, both the first elastic member 231 and the second elastic member 232 undergo elastic deformation and can recover the deformation after the assembly operation is completed, so that the second connecting block 22 returns to the middle part of the cavity 211 relative to the first connecting block 21 about the axis extending in the third direction, so as to center relative to the cavity 211.

[0078] In addition, it should be noted that based on the above, during the process of the driving module driving the working module 1 to move from the loading station to the assembling station, if an abnormal collision occurs between the driving module and / or the working module 1 and / or the guide rod 41, under the action of the floating joint 2, the guide rod 41 and the working module 1 can float relative to the driving module in the first direction and / or the second direction perpendicular to the assembling direction of the sleeve 81. At the same time, the first elastic member 231 and / or the second elastic member 232 undergo elastic deformation, so as to be able to absorb the collision force generated on the driving module, thereby avoiding affecting the repeat positioning accuracy of the driving module due to the collision. That is, in this embodiment, after each abnormal collision occurs, there is no need to stop the product assembling device to re-debug the driving module. In other words, in this embodiment, after each abnormal collision occurs, the product assembling device does not need to stop, thereby saving time and further improving the product production efficiency.

[0079] That is, this embodiment can absorb the collision force generated on the driving module by means of the floating joint 2 during an abnormal collision, so as to avoid affecting the repeat positioning accuracy of the driving module due to the collision, and further avoid the need to re-debug the driving module every time an abnormal collision occurs, thereby improving the product production efficiency.

[0080] It can be understood that after the collision ends, the first elastic member 231 and / or the second elastic member 232 recover from deformation, so that the second connecting block 22 returns to the center.

[0081] Furthermore, a plurality of balls 241 are arranged on both sides of the first block 221 along the third direction. The balls 241 are installed between the first connecting block 21 and the first block 221, so as to facilitate the relative movement of the first connecting block 21 relative to the second connecting block 22 in the first direction and / or the second direction, or to rotate relative to the second connecting block 22 around the axis extending in the third direction.

[0082] It should be noted that in this embodiment, clamping plates 24 are arranged on both sides of the first block 221 along the third direction. A plurality of balls 241 on one side along the third direction are installed on the clamping plate 24 on this side. Correspondingly, a plurality of balls 241 on the other side along the third direction are installed on the clamping plate 24 on this side. Specifically, for the clamping plate 24 and the plurality of balls 241 arranged on the same side, the clamping plate 24 is sleeved on the outer periphery of the plurality of balls 241, and the clamping plate 24 can prevent the balls 241 from rolling randomly, so as to ensure that the balls 241 always remain on the outer side of the first block 221 along the third direction.

[0083] In addition, it should be noted that, in this embodiment, the perforation 212 is provided above the cavity 211, and the second connecting block 22 extends vertically beyond the first connecting block 21, that is, the second connecting block 22 extends beyond the first connecting block 21 in the third direction. Correspondingly, for the clamping plate 24 provided above the first block 221, the clamping plate 24 is sleeved on the outer periphery of the second block 222. It can be understood that there is also a gap between the clamping plate 24 and the second block 222.

[0084] Moreover, it is worth noting that, for the several balls 241 provided above the first block 221, there is a gap between the balls 241 and the top cavity wall of the cavity 211. It can be understood that this gap is smaller than the radius of the balls 241 to prevent the balls 241 from detaching from the clamping block. Thus, in this embodiment, the first connecting block 21 and the second connecting block 22 can also relatively float in the vertical direction. Further, during the process of inserting the guide rod 41 into the guide hole 42, it is more convenient to adaptively adjust the positions of the guide rod 41 and the working module 1 relative to the driving module, and thus it is more convenient to correct the position deviation of the guide rod 41 and the working module 1.

[0085] Moreover, during an abnormal collision, the floating joint 2 can fully absorb the collision force on the driving module.

[0086] It can be understood that after the first connecting block 21 and the second connecting block 22 relatively float in the vertical direction, both the first elastic member 231 and the second elastic member 232 undergo elastic deformation and can recover the deformation after the assembly operation is completed. Moreover, subsequently, under the combined action of gravity, the first elastic member 231 and the second elastic member 232, the first connecting block 21 directly resets relative to the second connecting block 22.

[0087] Based on the foregoing, in this embodiment, the working module 1 includes a pressing rod 11, a first sleeve 12, and a second sleeve 13. Among them, the pressing rod 11 extends in the third direction, and the pressing rod 11 can press the second part in the third direction, that is, the pressing rod 11 can press the shaft rod 82 in the third direction. In addition, the first sleeve 12 is sleeved on the outer periphery of the pressing rod 11, and the second sleeve 13 is sleeved on the outer periphery of the first sleeve 12. The first sleeve 12, the second sleeve 13, and the pressing rod 11 enclose a receiving cavity 14, and the receiving cavity 14 is configured to receive the first part sleeved on the outer periphery of the pressing rod 11, that is, the receiving cavity 14 is configured to receive the sleeve 81 sleeved on the outer periphery of the pressing rod 11, and the driving member 15 is configured to drive the first sleeve 12 to move in the third direction so that the first sleeve 12 pushes the first part out of the opening 16 formed between the second sleeve 13 and the pressing rod 11, that is, the driving member 15 can drive the first sleeve 12 to push the sleeve 81 out of the opening 16 formed between the second sleeve 13 and the pressing rod 11.

[0088] Based on the above, in this embodiment, the sleeve 81 can be moved from the opening 16 into the accommodating cavity 14, and thus be accommodated between the pressing rod 11 and the second sleeve 13. It can be understood that the sleeve 81 moved into the accommodating cavity 14 is in an interference fit with the pressing rod 11 and the second sleeve 13. When the driving module drives the operation module 1 to move, the operation module 1 can carry the sleeve 81 to move together. After the guide rod 41 is inserted into the guide hole 42, the pressing rod 11 presses the shaft rod 82, and the driving member 15 drives the first sleeve 12 to move from the first working position to the second working position to push against the sleeve 81, so that the sleeve 81 moves out from between the pressing rod 11 and the second sleeve 13 and is sleeved on the outer periphery of the shaft rod 82.

[0089] In addition, an enlarged hole 131 is provided at one end of the second sleeve 13 close to the opening 16. The diameter of the enlarged hole 131 gradually decreases from the opening 16 to the side away from the opening 16. A frustum 111 is provided at one end of the pressing rod 11 close to the opening 16. The diameter of the frustum 111 gradually increases from the opening 16 to the side away from the opening 16, so as to facilitate the sleeve 81 to move from the opening 16 between the pressing rod 11 and the second sleeve 13.

[0090] Furthermore, the product assembly device further includes a detection structure 5. The detection structure 5 is configured to detect whether a first part is accommodated in the accommodating cavity 14. Specifically, the detection structure 5 includes a photoelectric sensor 51 and first detection holes 52, second detection holes 53, and third detection holes 54 respectively provided on the second sleeve 13, the first sleeve 12, and the pressing rod 11. It can be understood that the second detection holes 53 are provided at the end of the first sleeve 12. The first detection holes 52, the second detection holes 53, and the third detection holes 54 are all opened in a direction perpendicular to the axial direction of the pressing rod 11. The photoelectric sensor 51 emits light beams that can be emitted along the opening directions of the first detection holes 52, the second detection holes 53, and the third detection holes 54. When the first sleeve 12 is in the first working position, the first detection holes 52, the second detection holes 53, and the third detection holes 54 are aligned. When the first sleeve 12 is in the first working position and the sleeve 81 is not accommodated in the accommodating cavity 14, the light beam emitted by the photoelectric sensor 51 passes through the first detection hole 52 and the third detection hole 54. When the first sleeve 12 is in the first working position and the sleeve 81 is accommodated in the accommodating cavity 14, the light beam emitted by the photoelectric sensor 51 is blocked by the sleeve 81. When the first sleeve 12 starts to move from the first working position to the second working position, the light beam emitted by the photoelectric sensor 51 can first pass through the first detection hole 52, the second detection hole 53, and the third detection hole 54. When the first sleeve 12 continues to move to the second working position to completely sleeve the sleeve 81 on the shaft rod 82, the light beam emitted by the photoelectric sensor 51 is blocked by the first sleeve 12.

[0091] As described above, when the product assembly device is located at the loading station, the product assembly device can detect whether the product assembly device has picked up the sleeve 81 according to whether the light beam emitted by the photoelectric sensor 51 is blocked. When the operation module 1 moves from the loading station to the assembly station, the product assembly device can detect whether the sleeve 81 has fallen off from the second sleeve 13 according to whether the light beam emitted by the photoelectric sensor 51 is blocked. After the operation module 1 moves to the assembly station, the product assembly device can detect whether the first sleeve 12 has sleeved the sleeve 81 onto the shaft rod 82 according to whether the light beam emitted by the photoelectric sensor 51 is blocked.

[0092] In summary, in this embodiment, it is detected whether the sleeve 81 is accommodated in the accommodation cavity 14 according to whether the light beam emitted by the photoelectric sensor 51 is blocked. Thus, on the one hand, it can be detected whether the product assembly device has picked up the sleeve 81 and whether the sleeve 81 has fallen off from the second sleeve 13, so as to ensure that the operation module 1 can carry the sleeve 81 and move from the loading station to the assembly station. On the other hand, this embodiment can also monitor the working process of the first sleeve 12.

[0093] In addition, it is worth noting that based on the above-mentioned content, the floating joint 2 provided in this embodiment can also be applied to other industrial production scenarios where the operation module 1 needs to be driven by a driving module. Exemplarily, other industrial production scenarios can be screw locking, workpiece insertion, part welding, etc. Correspondingly, the operation module 1 is a locking bit or an insertion joint or a welding head, etc. This embodiment does not make specific limitations on this.

[0094] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limiting the implementation manners of the present invention. For those of ordinary skill in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A floating joint for connecting a driving module and an operating module (1), the driving module being configured to drive the operating module (1) to move, characterized in that, The floating joint includes: A first connection block (21) and a second connection block (22). A cavity (211) is provided inside the first connection block (21). The second connection block (22) is movably mounted in the cavity (211) along a first direction and a second direction, the first direction being perpendicular to the second direction. The second connection block (22) extends out of the first connection block (21). One of the driving module and the working module (1) is connected to the first connection block (21), and the other of the driving module and the working module (1) is connected to the extending part of the second connection block (22). A centering structure (23) configured to drive the second connection block (22) to reset to the center of the cavity (211).

2. The floating joint according to claim 1, wherein, The first connection block (21) is provided with a perforation (212) that communicates with the cavity (211). The second connection block (22) includes a first block body (221) and a second block body (222). The first block body (221) is mounted inside the cavity (211), and the second block body (222) passes through the perforation (212) and extends out of the first connection block (21). The perforation (212) surrounds the outer periphery of the second block body (222), and there is a gap between the hole wall of the perforation (212) and the second block body (222). There are gaps between the side walls on both sides of the first block body (221) in the first direction and the cavity wall of the cavity (211), and there are gaps between the side walls on both sides of the first block body (221) in the second direction and the cavity wall of the cavity (211).

3. The floating joint according to claim 2, characterized in that, The centering structure (23) includes a first elastic member (231) and a second elastic member (232). Both the first elastic member (231) and the second elastic member (232) are mounted between the first block body (221) and the first connection block (21). The first elastic member (231) can center the second connection block (22) in the first direction, and the second elastic member (232) can center the second connection block (22) in the second direction.

4. The floating joint according to claim 2, characterized in that, A plurality of balls (241) are provided on both sides of the first block body (221) in a third direction. The balls (241) are mounted between the first connection block (21) and the first block body (221), and the third direction is perpendicular to both the first direction and the second direction.

5. Product assembly device, characterized in that, The product assembly device includes a driving module, a working module (1), and a floating joint as described in any one of claims 1-4. The floating joint connects the driving module and the working module (1). The driving module is configured to drive the working module (1) to move to an assembly station, and the working module (1) is configured to assemble a first part to a second part placed at the assembly station along a third direction, the third direction being perpendicular to both the first direction and the second direction.

6. The product assembly device according to claim 5, characterized in that, The product assembly device further includes a mounting plate (3) and a guiding structure. The operation module (1) is mounted on the mounting plate (3), and the mounting plate (3) is connected to the floating joint (2). The guiding structure includes: At least two guiding rods (41) which are mounted on the mounting plate (3) and all extend along the third direction; At least two guiding holes (42) which are arranged at the assembly station and all extend along the third direction. At least two of the guiding holes (42) correspond to at least two of the guiding rods (41) one by one.

7. The product assembly device according to claim 6, wherein, One end of the guiding rod (41) for inserting into the guiding hole (42) is chamfered.

8. The product assembly device according to claim 5, characterized in that, The operation module (1) includes: A pressing rod (11) which extends along the third direction, and the pressing rod (11) can press the second part along the third direction; A first sleeve (12) which is sleeved on the outer periphery of the pressing rod (11); A second sleeve (13) which is sleeved on the outer periphery of the first sleeve (12). The first sleeve (12), the second sleeve (13) and the pressing rod (11) enclose a receiving cavity (14), and the receiving cavity (14) is configured to receive the first part sleeved on the outer periphery of the pressing rod (11); A driving member (15) which is configured to drive the first sleeve (12) to move along the third direction so that the first sleeve (12) pushes the first part out from an opening (16) formed between the second sleeve (13) and the pressing rod (11).

9. The product assembly device according to claim 8, wherein, One end of the second sleeve (13) close to the opening (16) is provided with a flared hole (131), and the diameter of the flared hole (131) gradually decreases from the opening (16) to the side away from the opening (16). One end of the pressing rod (11) close to the opening (16) is provided with a frustum (111), and the diameter of the frustum (111) gradually increases from the opening (16) to the side away from the opening (16).

10. The product assembly device according to claim 8, wherein, The product assembly device further includes a detection structure (5), and the detection structure (5) is configured to detect whether the first part is received in the receiving cavity (14).

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