Mechanical XYZ direction compensation module

Abstract

The invention discloses a mechanical XYZ-direction compensation module, and relates to the technical field of automobile manufacturing, the mechanical XYZ-direction compensation module comprises a shell, an X / Y arbitrary position storage mechanism, an X / Y center locking mechanism and a Z-direction locking mechanism are arranged in the shell, the mechanical XYZ-direction compensation module comprises a storage block, a first sealing ring, a second sealing ring and a plunger, and the mechanical XYZ-direction compensation module comprises a positioning sleeve, a centering pin, a third sealing ring, a fourth sealing ring, a sixth sealing ring, a piston and a magnetic ring. Comprising a limiting block, a piston shaft and a seventh sealing ring, an X / Y center stabilization monitoring mechanism and a Z-direction monitoring mechanism are arranged on the side face of a shell, and the device comprises a first sensor, a second sensor, a first mounting block and a second mounting block. The problems that the compensation precision is insufficient along with the elasticity and the service life of a spring, so that production is affected, similar air floating mechanisms exist abroad, but the price is high and is more than ten times that of mechanical floating, and the cost-reducing and efficiency-increasing strategy of a factory cannot be met are solved.

Description

Technical Field

[0001] This invention relates to the field of automobile manufacturing technology, specifically to a mechanical XYZ axis compensation module. Background Technology

[0002] Through continuous technological innovation and optimization, the XYZ compensation module plays an important role in semiconductor manufacturing, optical equipment, precision machining, automobile manufacturing, battery production lines and automated production lines. With the development of high-end manufacturing and intelligent manufacturing, this module will play an even greater role in precision engineering, robotics and new energy, and will develop towards higher precision, higher speed, intelligence and integration.

[0003] However, most domestic floating mechanisms are mechanical, using springs and guide mechanisms. The main drawback of this type is that the compensation accuracy is insufficient due to the elasticity and lifespan of the springs, which affects production. There are similar air floating mechanisms abroad, but they are more expensive, more than ten times the price of mechanical floating mechanisms, and cannot meet the factory's cost reduction and efficiency improvement strategy. Summary of the Invention

[0004] The purpose of this invention is to provide a mechanical XYZ-axis compensation module to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a mechanical XYZ compensation module, comprising a housing, wherein the interior of the housing is provided with an X / Y arbitrary position storage mechanism, an X / Y center locking mechanism, and a Z-axis locking mechanism, including a storage block, a sealing ring one, a sealing ring two, and a plunger, including a positioning sleeve, a centering pin, a sealing ring three, a sealing ring four, a sealing ring six, a piston, a magnetic ring, including a limit block, a piston shaft, and a sealing ring seven; the side of the housing is provided with an X / Y center stabilization monitoring mechanism and a Z-axis monitoring mechanism, including a sensor one, a sensor two, a mounting block one, and a mounting block two, including a sensor three, a mounting block three, a bolt, and a mounting block four; and a robot mounting flange is mounted on the top of the housing.

[0006] Preferably, the housing includes housing one, housing two and housing three, a slider one is installed on the top of housing one, a positioning sleeve is installed in the positioning hole of housing one, and a slide rail one is movably fitted inside the slider one.

[0007] Preferably, a slide rail 2 is installed on the top of the housing 2, a slider 2 is movably fitted inside the slide rail 2, the bottom of the housing 3 is connected to the slider 2, a sealing ring 5 is placed in the hole at the top of the housing 3, a pin is installed at the bottom of the housing 3, a linear bearing 1 and a linear bearing 2 are provided on the top of the housing 3, a retaining ring 1 and a retaining ring 4 are connected between the housing 3 and the linear bearing 1, a retaining ring 2 and a retaining ring 5 are connected between the linear bearing 2 and the housing 3, and a retaining ring 3 is connected between the piston shaft and the housing 3.

[0008] Preferably, a connector four is installed on the side of the housing three.

[0009] Preferably, connector one and connector two are installed on the side of housing three away from connector four. Sensor one and sensor two are installed in the hole of housing three near connector four. Sensor one is fixed by mounting block one and sensor two is fixed by mounting block two.

[0010] Preferably, springs are installed inside the first, second, and third housings. The top of the springs is connected to the bottom of the robot mounting flange. Guide shaft one and guide shaft two are installed in the bottom hole of the robot mounting flange. A positioning bolt connects the springs to the third housing.

[0011] Preferably, a connector three is installed on one side of the robot mounting flange, a mounting block three is installed on the side of the housing three away from the connector three, a sensor three is installed on the mounting block three, a mounting block four is installed on the side of the robot mounting flange away from the connector three, and a bolt is installed on the bottom of the mounting block three.

[0012] Compared with the prior art, the beneficial effects of the present invention are:

[0013] This invention comprises a housing, an X / Y arbitrary position storage mechanism, an X / Y center locking mechanism, an X / Y center locking monitoring mechanism, a Z-axis monitoring mechanism, a Z-axis locking mechanism, and a robot mounting flange, thereby achieving compensation operations in the XYZ three directions with higher precision, better performance, and lower cost. Attached Figure Description

[0014] Figure 1 This is a partial cross-sectional view of the present invention;

[0015] Figure 2 This is a schematic diagram of the overall structure of the present invention;

[0016] Figure 3 This is a side view of the overall structure of the present invention rotated 45 degrees;

[0017] Figure 4 This is an exploded view of the overall structure of the present invention. Figure 1 ;

[0018] Figure 5 This is an exploded view of the overall structure of the present invention. Figure 2 .

[0019] In the diagram: 1. Housing; 2. X / Y arbitrary position storage mechanism; 3. X / Y center locking mechanism; 4. X / Y center stabilization monitoring mechanism; 5. Z-axis monitoring mechanism; 6. Z-axis locking mechanism; 7. Robot mounting flange; 8. Connector 1; 9. Connector 2; 10. Connector 3; 11. Connector 4; 101. Housing 1; 102. Housing 2; 103. Housing 3; 104. Slider 1; 105. Slide rail 1; 106. Slide rail 2; 107. Slider 2; 108. Pin; 109. Snap ring 1; 110. Snap ring 2; 111. Sealing ring 5; 112. Snap ring 3; 113. Linear bearing 1; 114. Linear bearing 2; 115. Snap ring 4; 16. Snap ring five; 117. Spring; 118. Guide shaft one; 119. Guide shaft two; 120. Positioning bolt; 201. Storage block; 202. Sealing ring one; 203. Sealing ring two; 204. Piston; 301. Positioning sleeve; 302. Centering pin; 303. Sealing ring three; 304. Sealing ring four; 305. Sealing ring six; 306. Piston; 307. Magnetic ring; 401. Sensor one; 402. Sensor two; 403. Mounting block one; 404. Mounting block two; 501. Sensor three; 502. Mounting block three; 503. Bolt; 504. Mounting block four; 601. Limiting block; 602. Piston shaft; 603. Sealing ring seven. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see Figures 1-4 This invention provides a technical solution: a mechanical XYZ compensation module, including a housing 1. The housing 1 is internally provided with an X / Y arbitrary position storage mechanism 2, an X / Y center locking mechanism 3, and a Z-axis locking mechanism 6. 2 includes a storage block 201, a first sealing ring 202, a second sealing ring 203, and a plunger 204. 3 includes a positioning sleeve 301, a centering pin 302, a third sealing ring 303, a fourth sealing ring 304, a sixth sealing ring 305, a piston 306, and a magnetic ring 307. 6 includes a limiting block 601, a piston shaft 602, and a seventh sealing ring 603. The side of the housing 1 is provided with an X / Y center stabilization monitoring mechanism 4 and a Z-axis monitoring mechanism 5. 4 includes a first sensor 401, a second sensor 402, a first mounting block 403, and a second mounting block 404. 5 includes a third sensor 501, a third mounting block 502, a bolt 503, and a fourth mounting block 504. A robot mounting flange 7 is mounted on the top of the housing 1.

[0022] Furthermore, housing 1 includes housing one 101, housing two 102 and housing three 103. A slider one 104 is installed on the top of housing one 101. A positioning sleeve 301 is installed in the positioning hole of housing one 101. A slide rail one 105 is movably fitted inside the slider one 104. X-axis compensation is performed by the movement between the slide rail one 105 and the slider one 104. The X-axis compensation range is ±10mm. A step is provided on housing one 101 and a limiting groove is provided on housing two 102 to limit the X-axis compensation.

[0023] Furthermore, a slide rail 106 is installed on the top of housing 2 102, and a slider 107 is movably fitted inside the slide rail 2 106. The bottom of housing 3 103 is connected to slider 2 107. A sealing ring 5 111 is placed in the hole at the top of housing 3 103. A pin 108 is installed at the bottom of housing 3 103. Linear bearing 1 113 and linear bearing 2 114 are provided at the top of housing 3 103. Snap ring 1 109 and snap ring 4 115 are connected between housing 3 103 and linear bearing 1 113. Snap ring 2 110 and snap ring 5 116 are connected between linear bearing 2 114 and 103. Snap ring 3 112 is connected between piston shaft 602 and housing 3 103. Y-axis compensation is achieved through the movement between slide rail 2 106 and slider 2 107. The Y-axis compensation range is ±10mm. The four pins 108 installed at the lower end of housing 3 103 limit the Y-axis compensation.

[0024] Furthermore, a connector 11 is installed on the side of the housing 103. Air is introduced through the connector 11 to make the lower end of the storage block 201 contact the upper end of the step set on the housing 101. The friction between the two achieves pneumatic locking at any eccentric position. When the air is cut off by the connector 11, the elastic force inside the four plungers 204 separates the lower end of the storage block 201 from the upper end of the housing 101.

[0025] Furthermore, connectors 1 and 2 9 are installed on the side of housing 3 103 away from connector 4 11. Sensor 1 401 and sensor 2 402 are installed in the holes of housing 3 103 near connector 4 11. Sensor 1 401 is fixed by mounting block 1 403, and sensor 2 402 is fixed by mounting block 2 404. Connector 2 9 is vented, causing piston 306 and centering pin 302 to move downwards, and centering pin 302 to be positioned with positioning sleeve 301. The movement between slide rail 1 105 and slider 1 104, and slide rail 2 106 and slider 2 107, thereby realizing the movement of housing 1 101 and housing 2 102. The X / Y direction center locking mechanism involves sensor 402 sensing the magnetic ring 307 to monitor whether the piston 306 is in position, thus confirming whether the center lock has been achieved. Connector 8 allows air to pass through, causing the piston 306 and centering pin 302 to move upwards, disengaging the centering pin 302 from the positioning sleeve 301, thereby unlocking the X / Y direction lock of housing 101 and housing 202. Sensor 401 senses the magnetic ring 307 to monitor whether the piston 306 is in position, thus confirming whether the center lock has been unlocked.

[0026] Furthermore, springs 117 are installed inside housing 101, housing 2 102, and housing 3 103. The top of spring 117 is connected to the bottom of robot mounting flange 7. Guide shaft 118 and guide shaft 2 119 are installed in the bottom hole of robot mounting flange 7. A positioning bolt is connected between spring 7 and housing 3 103. Spring 117 enables housing 101, housing 2 102, and housing 3 103 to perform Z-axis compensation, with the Z-axis compensation range being 14mm.

[0027] Furthermore, a connector 3 10 is installed on one side of the robot mounting flange 7, a mounting block 3 502 is installed on the side of the housing 3 103 away from the connector 3 10, a sensor 3 501 is installed on the mounting block 3 502, a mounting block 4 504 is installed on the side of the robot mounting flange 7 away from the connector 3 10, and a bolt 503 is installed at the bottom of the mounting block 3 502. When the sensor 3 501 senses the bolt 503, it determines that the Z-axis compensation has reached its maximum value. The connector 3 10 is vented, so that a force is generated between the robot mounting flange 7 and the piston shaft 602, thereby ensuring that the two are always in the end position.

[0028] Working Principle: A mechanical XYZ compensation module mainly consists of a housing 1, an X / Y arbitrary position storage mechanism 2, an X / Y center locking mechanism 3, an X / Y center locking monitoring mechanism 3, a Z-axis monitoring mechanism 5, a Z-axis locking mechanism 6, and a robot mounting flange 7. The housing 1 is made of 7075 high-strength aluminum alloy, primarily for weight reduction in the mechanical XYZ compensation module. The X / Y arbitrary position storage mechanism 2 achieves pneumatic locking at any eccentric position through friction connection. The X / Y center locking mechanism 3 achieves center locking at the eccentric position through conformal positioning. The X / Y center locking monitoring mechanism 3 monitors the opening and closing of the center lock. The Z-axis locking mechanism 6 uses pneumatic drive to lock the Z-axis compensation at the terminal position, thus stopping Z-axis compensation operation. The Z-axis monitoring mechanism 5 monitors whether the Z-axis compensation is locked at the terminal position. The robot mounting flange 7 adopts a standardized ISO9409 robot interface design, meeting standardization requirements.

[0029] Reference Figure 2-5 As shown, the lower end face of housing 101 is used to install products or equipment requiring compensation. Slider 104 is installed on the upper end face of housing 101. Positioning sleeve 301 is installed in the positioning hole on the upper end face of housing 101. Slide rail 105 is fitted into the groove of slider 104. Slide rail 206 is installed on the upper end face of housing 202, and slide rail 105 is installed on the lower end face of housing 206. X-axis compensation is achieved through the movement between slide rail 105 and slider 104, with an X-axis compensation range of ±10mm. A step is provided on housing 101, and a limiting groove is provided on housing 202 to limit the X-axis compensation. Sealing ring 202 is installed in the inner hole of storage block 201, and sealing ring 203 is installed on the outer diameter of storage block 201. Four plungers 204 are installed on the screws of storage block 201. In the perforated hole, the storage block 201, which has been installed as described above, is fitted into the cylinder at the lower end of the housing 3 103; the sealing ring 303 is fitted into the outer groove of the centering pin 302, and the sealing ring 4 304 is placed in the upper groove of the centering pin 302; the sealing ring 6 305 is fitted into the outer groove of the piston 306, and the magnetic ring 307 is fitted into the outer groove of the piston 306; in summary, the lower end of the piston 306 is connected to the upper end of the centering pin 302, and the piston 306 and the centering pin 302, which have been installed as described above, are fitted into the cylinder of the housing 3 103 from the upper end; the sealing ring 5 111 is placed into the hole at the upper end of the housing 3 103; the limiting block 601 is installed on the lower end face of the piston shaft 602, and the piston shaft 602 is connected to the housing 3 103 through the snap ring 3 112; the outer groove of the piston shaft 602 is fitted with the sealing ring 7 603;

[0030] Four pins 108 are installed into the holes on the lower end face of housing 3 103. Two linear bearings 113 are connected to housing 3 103 from the top and bottom ends via snap rings 109 and 115. Two linear bearings 214 are connected to housing 3 103 from the top and bottom ends via snap rings 110 and 116. Slider 2 107 is fitted onto slide rail 2 106. The lower end face of housing 3 103 is then connected to the upper end face of slider 2 107. Y-axis compensation is achieved through the movement between slide rail 2 106 and slider 2 107. The Y-axis compensation range is ±10mm. The four pins 108 installed on the lower end of housing 3 103 limit the Y-axis compensation.

[0031] Install connector 411 onto the left side of housing 3103. Air is introduced through connector 411 to make the lower end of storage block 201 contact the upper end of the step set on housing 101. The friction between the two achieves pneumatic locking at any eccentric position. When the air is cut off by connector 411, the elastic force inside the four plungers 204 separates the lower end of storage block 201 from the upper end of housing 101.

[0032] Install connector 1 (8) and connector 2 (9) onto the right side of housing 3 (103). Install sensor 1 (401) and sensor 2 (402) into the holes on the left side of housing 3 (103). Fix sensor 1 (401) with mounting block 1 (403) and sensor 2 (402) with mounting block 2 (404). Connector 2 (9) allows air to pass through, causing piston 306 and centering pin 302 to move downwards and centering pin 302 to be positioned with positioning sleeve 301. The movement between slide rail 1 (105) and slider 1 (104), and between slide rail 2 (106) and slider 2 (107) achieves center locking of housing 1 (101) and housing 2 (102) in the X / Y direction. Sensor 2 (402) senses magnetic ring 307 to monitor whether piston 306 is in position, thus confirming whether center locking has been achieved.

[0033] Ventilation at connector 18 causes piston 306 and centering pin 302 to move upwards, disengaging centering pin 302 from positioning sleeve 301, thereby unlocking the X / Y locks of housing 101 and housing 202. Sensor 101 senses magnetic ring 307 to monitor whether piston 306 is in position, thus confirming whether the center lock has been unlocked. The upper faces of two guide shafts 118 and 119 are respectively installed into the lower holes of robot mounting flange 7. Six springs 117 are placed on the upper face of housing 303. The two guide shafts 118 and 119 are respectively inserted into the holes of two linear bearings 113 and 114. It is confirmed that piston shaft 602 is in the lower hole of robot mounting flange 7. Then, four positioning bolts 120 are used to connect robot mounting flange 7 to housing 303. The flanges are connected, and the spring 117 enables Z-axis compensation of housing 101, housing 2, and housing 3 103, with a Z-axis compensation range of 14mm. Connector 3 10 is installed on the right side of robot mounting flange 7, and mounting block 3 502 is installed on the right side of housing 3 103. Sensor 3 501 is installed on mounting block 3 502, and mounting block 4 504 is installed on the left side of robot mounting flange 7. Bolt 503 is installed at the lower end of mounting block 4 504. When sensor 3 501 senses bolt 503, it determines that the Z-axis compensation has reached its maximum value. Connector 3 10 is vented, so that a force is generated between robot mounting flange 7 and piston shaft 602, thereby ensuring that the two are always in the end position.

[0034] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0035] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A mechanical XYZ compensation module comprising a housing (1), characterized in that: The inside of the shell (1) is provided with X / Y arbitrary position storage mechanism (2), X / Y center locking mechanism (3) and Z direction locking mechanism (6), wherein the storage mechanism (2) includes storage block (201), sealing ring one (202), sealing ring two (203) and plunger (204), X / Y center locking mechanism (3) includes positioning sleeve (301), centering pin (302), sealing ring three (303), sealing ring four (304), sealing ring six (305), piston (306), magnetic ring (307), Z direction locking mechanism (6) includes limiting block (601), piston shaft (602) and sealing ring seven (603), the side of the shell (1) is provided with X / Y center stabilizing monitoring mechanism (4) and Z direction monitoring mechanism (5), X / Y center stabilizing monitoring mechanism (4) includes sensor one (401), sensor two (402), mounting block one (403) and mounting block two (404), Z direction monitoring mechanism (5) includes sensor three (501), mounting block three (502), bolt (503) and mounting block four (504), the top of the shell (1) is provided with robot mounting flange (7).

2. A mechanical XYZ compensation module according to claim 1, characterized in that: The shell (1) includes shell one (101), shell two (102) and shell three (103), the top of the shell one (101) is provided with sliding block one (104), the positioning sleeve (301) is installed in the positioning hole of the shell one (101), the sliding block one (104) is movably sleeved with sliding rail one (105).

3. A mechanical XYZ compensation module according to claim 2, characterized in that: The top of the shell two (102) is provided with sliding rail two (106), the inside of the sliding rail two (106) is movably sleeved with sliding block two (107), the bottom of the shell three (103) is connected with the sliding block two (107), the hole in the top of the shell three (103) is placed with sealing ring five (111), the bottom of the shell three (103) is provided with pin (108), the top of the shell three (103) is provided with linear bearing one (113) and linear bearing two (114), the shell three (103) and the linear bearing one (113) are connected with the clamping spring one (109) and the clamping spring four (115), the linear bearing two (114) and (103) are connected with the clamping spring two (110) and the clamping spring five (116), the piston shaft (602) and the shell three (103) are connected with the clamping spring three (112).

4. The mechanical XYZ compensation module of claim 2, wherein: The side of the shell three (103) is provided with joint four (11).

5. A mechanical XYZ compensation module according to claim 4, characterized in that: The side of the shell three (103) away from the joint four (11) is provided with joint one (8) and joint two (9), the sensor one (401) and the sensor two (402) are installed in the hole of the shell three (103) close to the joint four (11), the sensor one (401) is fixed through the mounting block one (403), and the sensor two (402) is fixed through the mounting block two (404).

6. A mechanical XYZ compensation module according to claim 2, characterized in that: The inside of the shell one (101), shell two (102) and shell three (103) is provided with a spring (117), the top of the spring (117) is connected to the bottom of the robot mounting flange (7), the bottom hole of the robot mounting flange (7) is provided with a guide shaft one (118) and a guide shaft two (119), and the spring (117) is connected with a positioning bolt between the shell three (103).

7. A mechanical XYZ compensation module according to claim 2, characterized in that: One side of the robot mounting flange (7) is provided with a joint three (10), the mounting block three (502) is installed on the side of the shell three (103) away from the joint three (10), the sensor three (501) is installed on the mounting block three (502), the mounting block four (504) is installed on the side of the robot mounting flange (7) away from the joint three (10), and the bolt (503) is installed at the bottom of the mounting block three (502).

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