A multi-directional free floating device and plug-in equipment suitable for plug-in of a flat cable

Abstract

The application provides a multi-directional free floating device suitable for cable plug-in and a plug-in equipment. The multi-directional free floating device suitable for cable plug-in comprises a mounting base plate, an adapter plate and a floating assembly. The adapter plate is arranged above the mounting base plate and connected with the mounting base plate through a rotating mechanism, and a rotating reset spring is arranged between the adapter plate and the mounting base plate. The floating assembly comprises an X-direction floating module, a Y-direction floating module and a Z-direction floating module. The X-direction floating module is arranged directly below the rotating mechanism, and a Z-direction shaft is parallel to the rotation center line of the rotating mechanism and fixedly connected with the mounting base plate. The plug-in equipment suitable for cable plug-in comprises an industrial mechanical arm, a pneumatic finger and the multi-directional free floating device suitable for cable plug-in. The application integrates three-axis linear and rotating floating, the X-direction floating is arranged below the rotating mechanism to realize decoupling and reduce torsion, has the advantages of full-dimension self-adaptation, compactness and high precision, and is suitable for blind plug-in.

Description

Technical Field

[0001] This invention relates to the field of ribbon cable connection technology, and specifically to a multi-directional free-floating device and connection equipment suitable for ribbon cable connection. Background Technology

[0002] In automated assembly production of automotive wiring harnesses and 3C electronic products, high-precision insertion of ribbon cables (flexible flat cables, multi-core wires, etc.) into corresponding connectors is a common operational step. Industrial robotic arms or automated equipment typically insert the plug at the end of the ribbon cable into the connector socket according to a preset trajectory. However, due to limitations in the absolute positioning accuracy of the robotic arm, the tolerance of the incoming material position, the manufacturing error of the fixture, and the twisting of the cable itself, there are often positional deviations (linear deviations in the X, Y, and Z directions) and angular deviations around the insertion axis (usually the rotation axis) between the plug and the socket. Simply improving the positioning accuracy of the robotic arm is costly and difficult to eliminate random errors. Therefore, integrating a passive flexible floating device at the end effector of the robot has become a common method to solve the above problems.

[0003] Existing passive flexible floating devices, such as floating platforms based on elastic elements, mostly only provide linear floating compensation in a single direction or two orthogonal directions, making it difficult to simultaneously achieve full-dimensional adaptive correction of three-axis linear floating and rotational floating around an axis. Some devices capable of multi-directional floating often employ a multi-layered stacked structure with floating modules stacked vertically, resulting in a large overall height and bulky size, unsuitable for robot end effectors with limited installation space. More critically, in existing designs integrating both linear and rotational floating, the relative positioning of the linear floating module and the rotating mechanism is often inadequate. For example, if the linear floating module is offset from the rotation centerline, its sliding inertia or restoring force will act on the rotating mechanism through an eccentric lever arm when the linear floating module moves, generating undesirable additional torque. This interferes with the sensitivity and restoring accuracy of the rotational floating, and may even cause the rotational restoring spring to fail to accurately overcome cable torsional resistance, reducing the angular deviation compensation effect. Furthermore, traditional floating devices are prone to motion coupling between different directions; that is, floating in one direction can change the reference of another floating direction, reducing the accuracy and stability of full-dimensional correction.

[0004] Therefore, how to achieve a compact integration of linear three-axis floating and rotational floating within a limited space, and eliminate the motion coupling and additional torque interference between linear floating and rotational floating, so as to improve the accuracy and reliability of all-dimensional adaptive correction during cable insertion, is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] In order to solve the technical problems existing in the background art, the present invention proposes a multi-directional free-floating device and plug-in equipment suitable for ribbon cable plug-in.

[0006] This invention proposes a multi-directional free-floating device suitable for ribbon cable plugging, comprising: a mounting base plate, an adapter plate, and a floating assembly; wherein: The adapter plate is positioned above the mounting base plate, and the two are connected to each other by a rotating mechanism. A rotary reset spring is also provided between the two to provide rotational reset capability when the two rotate relative to each other. The floating assembly includes an X-axis floating module, a Y-axis floating module, and a Z-axis floating module. The X-axis floating module includes an X-axis shaft, an X-axis slider slidably mounted on the X-axis shaft, and two X-axis return springs sleeved on the X-axis shaft and respectively located at both ends of the X-axis slider. The Y-axis floating module includes a Y-axis shaft, a Y-axis slider slidably mounted on the Y-axis shaft, and two Y-axis return springs sleeved on the Y-axis shaft and respectively located at both ends of the Y-axis slider. The Z-axis floating module includes a Z-axis shaft, a Z-axis slider slidably mounted on the Z-axis shaft, and two Z-axis return springs sleeved on the Z-axis shaft and respectively located at both ends of the Z-axis slider. The X-axis, Y-axis, and Z-axis floating modules are arranged sequentially along the X-axis shaft, and the three axes are orthogonal to each other. The X-axis slider has a connecting part for assembling external actuators. The X-axis is fixedly connected to the Y-axis slider, and the Y-axis is fixedly connected to the Z-axis slider. The floating component is located below the mounting base plate, and the X-axis floating module is located directly below the rotating mechanism. The Z-axis is parallel to the rotation center line of the rotating mechanism and is fixedly connected to the mounting base plate.

[0007] Preferably, each of the two X-axis return springs, the two Y-axis return springs, and the two Z-axis return springs is provided with a limiting ring at their respective ends; each limiting ring is slidably mounted on the corresponding X-axis, Y-axis, or Z-axis, and each limiting ring is integrated with a locking mechanism for locking the limiting ring at a selected position on the axis.

[0008] Preferably, two limiting rings located at both ends of the same shaft are connected by an adjusting assembly; the adjusting assembly includes a first screw, a second screw, and a threaded sleeve; wherein the threaded sleeve is located between the first screw and the second screw, and is threadedly connected to the first screw and the second screw respectively, and the threads of the first screw and the second screw have opposite directions; the ends of the first screw and the second screw that are far apart from each other are fixedly connected to the two limiting rings on the same shaft respectively.

[0009] Preferably, the sidewall of the adapter plate is provided with wire grooves for guiding and constraining the wiring.

[0010] Preferably, the cross-section of the wire groove is arc-shaped.

[0011] Preferably, the Y-axis floating module further includes a first mounting plate, on which the Y-axis axis is fixed, and the first mounting plate is detachably fixedly connected to the Z-axis slider.

[0012] Preferably, the first mounting plate is a U-shaped plate, with a Y-axis disposed inside the first mounting plate and its two ends fixed to the two opposite sides of the first mounting plate, respectively.

[0013] Preferably, the outer wall of the Z-axis slider is provided with a groove extending along its sliding direction and passing through both ends; the back of the first mounting plate is provided with a protrusion that slides with the groove and is fixed to the Z-axis slider by fasteners.

[0014] Preferably, the Z-axis slider has multiple assembly holes arranged along the extension direction of the slide groove on the inner or outer side of its slide groove; the first mounting plate has a connecting hole on the protrusion or on the outer side of the protrusion; the fasteners fix the first mounting plate and the Z-axis slider by connecting the connecting hole and the assembly hole.

[0015] Preferably, the Z-axis floating module further includes a second mounting plate; both ends of the Z-axis shaft are supported by fixing blocks fixed to the second mounting plate; the second mounting plate is fixed to the mounting base plate by threaded fasteners.

[0016] Preferably, the Z-axis is disposed on one side of the second mounting plate, and the side of the second mounting plate away from the Z-axis is provided with a connecting seat fixed thereto; the second mounting plate is perpendicular to the mounting base, and the connecting seat is connected to the mounting base through threaded fasteners to form a fixed connection with the mounting base.

[0017] Preferably, the rotating mechanism includes a rotating shaft and a rotating bearing; wherein the rotating bearing is disposed between the adapter plate and the mounting base plate, and its outer ring is fixed to the mounting base plate; the rotating shaft is fixed to the adapter plate, and one end of it is fixed to the inner ring of the rotating bearing.

[0018] The present invention proposes a connector device suitable for ribbon cable plugging, comprising: an industrial robotic arm, pneumatic fingers for gripping the connector plug, and a multi-directional free-floating device as described above for ribbon cable plugging; The end of the industrial robotic arm is fixedly connected to the adapter plate; the pneumatic finger is located below the X-axis slider and is assembled with the connecting part on the X-axis slider.

[0019] This invention integrates a linear floating module orthogonally connected in series along the X, Y, and Z axes with a floating module rotating around a rotation axis into a single unit. This allows for simultaneous compensation of positional deviations in the linear direction and angular deviations caused by cable torsion, achieving full-dimensional adaptive correction. This full-dimensional passive flexibility significantly reduces the reliance on the absolute positioning accuracy of the industrial robotic arm, enabling high-success-rate blind insertion even under complex conditions with multidimensional random errors. Specifically, the X-axis floating module is located directly below the rotating mechanism. This layout achieves spatial decoupling between linear and rotational floating: when the rotating mechanism drives the adapter plate to rotate around the rotation axis to compensate for cable torsion, the X-axis floating module and its sliding direction remain absolutely fixed, avoiding coupling errors caused by changes in the linear floating direction due to rotation, thereby improving the accuracy and stability of full-dimensional correction. Simultaneously, placing the X-axis floating module near the rotation axis significantly shortens the lever arm, effectively reducing the additional torque generated by the linear floating action on the rotational degree of freedom. This allows the rotational return spring to only overcome the torsional resistance of the cable itself, ensuring the sensitivity and accuracy of the rotational floating. Furthermore, by arranging the floating components entirely beneath the mounting base and employing a compact structure that connects the modules in each direction via sliders and shafts, particularly by placing the X-axis floating module directly below the rotating mechanism, the upper adapter plate area becomes lighter and more compact. This facilitates the natural routing of cables from the side wall wire channels, avoiding interference with the lower floating module and achieving the integration of complex functions within a limited space. Compared to traditional multi-layered stacked floating mechanisms, this invention significantly reduces size and weight, making it easier to integrate into various robot end effects, especially suitable for precision assembly scenarios in industries such as automotive and 3C electronics where installation space is critical. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of a multi-directional free-floating device suitable for ribbon cable connection. Figure 2 This is a schematic diagram of the floating component in a multi-directional free-floating device suitable for ribbon cable connection; Figure 3 This is a schematic diagram of the limiting ring in a multi-directional free-floating device suitable for cable connectors; Figure 4 This is a schematic diagram of a wiring device suitable for ribbon cable connection. Detailed Implementation

[0021] Implementation 1: Multi-directional free-floating device Reference Figure 1-2 This embodiment proposes a multi-directional free-floating device suitable for ribbon cable plugging, comprising: a mounting base plate 1, an adapter plate 2, and a floating component.

[0022] The adapter plate 2 is positioned above the mounting base plate 1, and the two are connected by a rotating mechanism 6, allowing them to rotate relative to each other. The rotating mechanism 6 specifically includes a rotating shaft and a rotating bearing. The rotating bearing is positioned between the adapter plate 2 and the mounting base plate 1, with its outer ring fixedly connected to the mounting base plate 1. The rotating shaft is fixed to the adapter plate 2, and one end of it is fixed to the inner ring of the rotating bearing, thereby allowing the adapter plate 2 to rotate relative to the mounting base plate 1 about the axis of the rotating shaft.

[0023] To provide automatic reset capability after rotation, a rotary reset spring is provided between the adapter plate 2 and the mounting base plate 1. The two ends of this rotary reset spring (e.g., a torsion spring) are connected to the adapter plate 2 and the mounting base plate 1, respectively. When an external force causes the adapter plate 2 to rotate, the rotary reset spring is torsionally charged and stores energy; when the external force is removed, the restoring force of the rotary reset spring drives the adapter plate 2 back to its initial position. This helps to straighten the cable during the connection process and allows the device to return to its initial posture after the operation is completed.

[0024] The floating assembly is positioned below the mounting base plate 1 and includes an X-axis floating module 3, a Y-axis floating module 4, and a Z-axis floating module 5 arranged along three orthogonal directions in space. Its specific structural design is as follows: The Z-axis floating module 5 serves as the base for the entire floating assembly and is fixed to the mounting base 1. It includes a Z-axis shaft 51, a second mounting plate 54, a Z-axis slider 52 slidably mounted on the Z-axis shaft 51, and two Z-axis return springs 53 fitted onto the Z-axis shaft 51 and respectively located at both ends of the Z-axis slider 52. The Z-axis shaft 51 is supported on the second mounting plate 54 by a fixing block, and the second mounting plate 54 is fixed to the mounting base 1 by threaded fasteners. Specifically, the Z-axis shaft 51 is located on one side of the second mounting plate 54, and a connecting seat is provided on the side of the second mounting plate 54 away from the Z-axis shaft 51. This connecting seat fixes the module to the mounting base 1, allowing the entire Z-axis module to be mounted perpendicular to the mounting base 1.

[0025] The Y-axis floating module 4 is mounted on the Z-axis slider 52 to achieve floating perpendicular to the Z-axis. It includes a Y-axis shaft 41, a first mounting plate 44, a Y-axis slider 42 slidably mounted on the Y-axis shaft 41, and two Y-axis return springs 43 fitted onto the Y-axis shaft 41 and located at both ends of the Y-axis slider 42. The Y-axis shaft 41 is connected to the Z-axis slider 52 via the first mounting plate 44. Specifically, the first mounting plate 44 is preferably a U-shaped plate, with both ends of the Y-axis shaft 41 fixed to the inner side of the U-shaped plate. The first mounting plate 44 achieves sliding assembly by engaging with a groove extending along the Z-axis on the outer wall of the Z-axis slider 52 via a protrusion on its back side, and is fixed to the mounting hole on the Z-axis slider 52 by threaded fasteners passing through the connecting hole, thereby achieving connection and position adjustment between the Y-axis module and the Z-axis slider 52.

[0026] The X-axis floating module 3 is mounted on the Y-axis slider 42, enabling floating in a third orthogonal direction. It includes an X-axis shaft 31, an X-axis slider 32 slidably mounted on the X-axis shaft 31, and two X-axis return springs 33 fitted onto the X-axis shaft 31 and located at both ends of the X-axis slider 32. The X-axis slider 32 has a connecting part 321 for mounting external actuators (such as pneumatic fingers 7). The X-axis shaft 31 is fixedly connected to the Y-axis slider 42, and the Y-axis shaft 41 is fixedly connected to the Z-axis slider 52, thereby connecting the three floating modules in series to form a floating system capable of simultaneous displacement compensation in the X, Y, and Z directions.

[0027] The three floating modules are arranged as follows: X-axis floating module 3, Y-axis floating module 4, and Z-axis floating module 5 are arranged sequentially (i.e., in series) along X-axis 31, and X-axis 31, Y-axis 41, and Z-axis 51 are orthogonal to each other. The entire floating assembly is located below the mounting base plate 1, with X-axis floating module 3 located directly below the rotating mechanism 6 (rotation axis). Z-axis 51 is parallel to the rotation center line of the rotating mechanism 6. This layout achieves spatial decoupling between linear floating and rotational floating, which helps reduce additional torque during the insertion process. The specific principle is as follows: First, since the rotating mechanism 6 is positioned between the mounting base plate 1 and the adapter plate 2, and the X-axis floating module 3 is located below the mounting base plate 1 and directly opposite the rotation center, when the adapter plate 2 rotates around the rotation axis to compensate for the cable torsion angle, the X-axis floating module 3 and its sliding direction remain absolutely fixed and will not rotate with the adapter plate 2. This makes the X-axis position compensation and the angle compensation around the rotation axis independent of each other and does not interfere with each other, avoiding coupling errors caused by changes in the linear floating direction due to rotation, thereby improving the accuracy and stability of the all-dimensional adaptive correction.

[0028] Secondly, during cable insertion, the actuator (such as the pneumatic finger 7) drives the X-axis slider 32 to move via the connecting part 321. If the X-axis floating module 3 deviates far from the rotation center, its linear displacement may create an additional lever arm on the adapter plate 2, inducing an undesirable rotational torque. By arranging the X-axis floating module 2 directly below the rotating mechanism 6 (i.e., near the rotation axis), this lever arm can be significantly shortened, minimizing the disturbance of the rotational degree of freedom caused by the X-axis floating action. The rotational reset spring only needs to overcome the torsional resistance of the cable itself, without additional compensation for the deflection force caused by the floating, thus ensuring the sensitivity and reset accuracy of the rotational floating.

[0029] In addition, by placing the longer X-axis 31 and slider assembly at the bottom, the area of ​​the upper adapter plate 2 becomes more compact and lightweight, making it easier for the cable to be naturally led out from the wire groove on the side wall of the adapter plate 2, thus avoiding interference between the cable and the floating module below.

[0030] As a further preferred embodiment of this invention, to optimize the applicability of the device in cable connection scenarios, the side wall of the adapter plate 2 is provided with a wire groove 21 for guiding and constraining the air pipes, cables, and other cables extending from the robotic arm, preventing them from swinging erratically or interfering with moving parts. Preferably, the cross-section of the wire groove 21 is designed to be arc-shaped to reduce wear on the cables.

[0031] Reference Figure 3 As a further preferred embodiment, this embodiment provides limiting rings 8 at the mutually distant ends of the two X-direction return springs 33, the two mutually distant ends of the two Y-direction return springs 43, and the two mutually distant ends of the two Z-direction return springs 53 (i.e., two limiting rings 8 are installed on each shaft). Each limiting ring 8 is slidably mounted on the corresponding X-direction shaft 31, Y-direction shaft 41, or Z-direction shaft 51, and each limiting ring 8 integrates a locking mechanism to lock the limiting ring 8 at a selected position on the shaft, thereby adjusting or fixing the pre-compression or working stroke of the corresponding return spring. This structural design allows for flexible changes in the floating stiffness, return force, and effective floating range in the corresponding direction, enabling the device to achieve field adaptation of floating characteristics without replacing springs or changing the shaft system structure. This allows it to adapt to different specifications of cable connection tasks (such as differences in connection force and changes in docking accuracy requirements), effectively enhancing the versatility of the device and the convenience of process adjustment.

[0032] Furthermore, in this embodiment, two limiting rings 8 located at both ends of the same axis (including the X-axis 31, Y-axis 41, and Z-axis) are connected by an adjusting assembly 9. The adjusting assembly 9 includes a first screw, a second screw, and a threaded sleeve. The threaded sleeve is located between the first and second screws and is threadedly connected to both screws, with the threads of the first and second screws having opposite directions. The ends of the first and second screws that are far apart from each other are fixedly connected to the two coaxial limiting rings 8. During adjustment, by rotating the threaded sleeve, the distance between the limiting rings 8 at both ends of the coaxial axis can be changed synchronously and equally by utilizing the reverse thread engagement of the first and second screws, thereby achieving symmetrical adjustment of the pre-compression or working stroke of the two oppositely positioned return springs. This structure allows for quick and precise adjustment of the initial stiffness and floating range of the floating module, while also avoiding asynchronous errors caused by adjusting the limiting rings at both ends separately.

[0033] Example 2: Plug-in device suitable for ribbon cable connection Reference Figure 4 This embodiment proposes a connector device suitable for ribbon cable connection, including: an industrial robotic arm (not slid out in the figure), a pneumatic finger 7 for gripping the connector plug, and a multi-directional free-floating device suitable for ribbon cable connection as described above.

[0034] The industrial robotic arm, serving as the primary motion and execution mechanism, has its end cap fixedly connected to the adapter plate 2, thereby mounting the entire floating device onto the robotic arm. The pneumatic finger 7 is located below the X-axis slider 32 and is assembled and fixed to the connecting part 321 on the X-axis slider 32 using bolts or other fasteners. The control cables of the robotic arm body and the air pipes of the pneumatic finger 7 are neatly arranged by passing sequentially through the wire groove 21 on the adapter plate 2.

[0035] During wiring and connection operations, the industrial robotic arm, carrying the floating device and pneumatic fingers 7, moves to the vicinity of the target socket. Because the three return springs in the floating assembly provide initial balancing forces, the entire end effector is in a "floating" state. The specific working process is as follows: Coarse positioning and float compensation: When the robotic arm performs coarse positioning, as the plug grasped by the pneumatic finger 7 approaches the socket, minor positional deviations in the X, Y, and Z directions may cause the plug to contact the socket opening. At this time, the contact force overcomes the force of the corresponding return spring, pushing the X-axis slider 32, Y-axis slider 42, or Z-axis slider 52 to slide along their axial direction, thereby absorbing the positional error and achieving passive flexible alignment. This effectively avoids damage to the plug and socket or overload alarms of the robotic arm caused by rigid collisions.

[0036] Rotational alignment and cable management: If there is an angular deviation or cable twisting during the insertion process, the plug may not be able to be inserted smoothly or the cable may become tangled. In this case, the adapter plate 2 can rotate relative to the mounting base plate 1 around the rotation axis, thereby releasing torsional stress and assisting the plug in aligning the angle. At the same time, the rotational reset spring ensures that the device automatically rotates back after the insertion action is completed, straightening the cable and avoiding long-term torsional fatigue.

[0037] Precise insertion and reset: With the assistance of floating compensation and rotational correction, the plug is precisely aligned with the socket. The robotic arm continues to apply a small axial (mainly Z-axis) thrust to smoothly complete the insertion. Throughout the process, the wire channel 21 ensures the orderly movement of the cable, preventing it from interfering with the normal operation of the floating mechanism. After the operation is completed, under the action of each reset spring, all floating sliders and adapter plates 2 automatically return to their initial zero positions, ready for the next operation.

[0038] As can be seen from the above, the present invention has the following advantages compared with the prior art: 1. Achieved full-dimensional adaptive correction: By innovatively integrating a linear floating module orthogonally connected in series along the X, Y, and Z axes with a rotary floating module around the rotation axis, this invention can simultaneously compensate for positional deviations in the linear direction and angular deviations caused by cable torsion. This full-dimensional passive flexibility greatly reduces the dependence on the absolute positioning accuracy of industrial robotic arms, making it possible to achieve high-success-rate blind insertion even under conditions with multidimensional random errors.

[0039] 2. Decoupling of Linear Floating and Rotational Floating: The X-axis floating module 3 is positioned directly below the rotating mechanism 6, achieving spatial decoupling between linear and rotational floating. When the rotating mechanism 6 drives the adapter plate 2 to rotate around the rotation axis to compensate for the cable's torsion angle, the X-axis floating module 3 and its sliding direction remain absolutely fixed, avoiding coupling errors caused by changes in the linear floating direction due to rotation. This improves the accuracy and stability of all-dimensional correction. Simultaneously, placing the X-axis floating module 3 near the rotation axis significantly shortens the lever arm, effectively reducing the additional torque generated by the linear floating action on the rotational degree of freedom. This allows the rotational return spring to only overcome the cable's own torsional resistance, ensuring the sensitivity and accuracy of the rotational floating.

[0040] 3. Highly Compact and Integrated Structure: The layout of floating components set entirely beneath the mounting base 1, along with the compact design of connecting modules in each direction via sliders and shafts, enables the entire device to achieve complex functional integration within a limited space. Compared to traditional multi-layered floating mechanisms, this invention significantly reduces volume and weight, making it easier to integrate into various robot end effects. It is suitable for precision assembly scenarios in industries such as automotive and 3C electronics where installation space is critical.

[0041] 4. Improved operational reliability and simplified cable management: The unique design of the arc-shaped wire groove 21 on the side wall of the adapter plate 2 can effectively guide and constrain the cables and air pipes of the robotic arm, preventing them from getting tangled or interfering with the floating moving parts. This protects the cables and ensures that the movement of the floating parts is not disturbed by external factors, thus improving the reliability of long-term operation.

[0042] 5. Enhanced process adaptability and versatility: The modular design makes the device easy to install and debug. Stable reset force is provided by a reset elastic element (such as a spring), and combined with possible stroke limit designs, the device can adapt to both coarse positioning correction with large tolerances and micron-level precision embedding. This wide range of adaptability allows it to quickly adapt to mixed-line production of different product models, improving the flexibility of automated production lines.

[0043] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A multi-directional free-floating device suitable for ribbon cable plugging, characterized in that, include: Mounting substrate (1), adapter plate (2), and floating assembly; wherein: The adapter plate (2) is disposed above the mounting base plate (1), and the two are connected to each other by a rotating mechanism (6). A rotary reset spring is also provided between the two to provide rotational reset capability when relative rotation occurs between them. The floating components include an X-axis floating module (3), a Y-axis floating module (4), and a Z-axis floating module (5); wherein, the X-axis floating module (3) includes an X-axis shaft (31), an X-axis slider (32) slidably mounted on the X-axis shaft (31), and two X-axis return springs (33) sleeved on the X-axis shaft (31) and respectively disposed at both ends of the X-axis slider (32); the Y-axis floating module (4) includes a Y-axis shaft (41), a Y-axis slider (42) slidably mounted on the Y-axis shaft (41), and two Y-axis return springs (43) sleeved on the Y-axis shaft (41) and respectively disposed at both ends of the Y-axis slider (42); the Z-axis floating module (5) includes a Z-axis floating module (5). The Z-axis (51), the Z-axis slider (52) slidably mounted on the Z-axis (51), and two Z-axis return springs (53) sleeved on the Z-axis (51) and located at both ends of the Z-axis slider (52); and the X-axis floating module (3), the Y-axis floating module (4), and the Z-axis floating module (5) are arranged in sequence along the X-axis (31), the X-axis (31), the Y-axis (41) and the X-axis (31) are orthogonal to each other, and the X-axis slider (32) is provided with a connecting part (321) for external execution equipment assembly, the X-axis (31) is fixedly connected to the Y-axis slider (42), and the Y-axis (41) is fixedly connected to the Z-axis slider (52); The floating component is located below the mounting base plate (1), and the X-axis floating module (3) is located directly below the rotating mechanism (6). The Z-axis axis (51) is parallel to the rotation center line of the rotating mechanism (6) and is fixedly connected to the mounting base plate (1).

2. The multi-directional free-floating device suitable for ribbon cable plugging according to claim 1, characterized in that, Each of the two X-axis return springs (33) at their far ends, the two Y-axis return springs (43) at their far ends, and the two Z-axis return springs (53) at their far ends is provided with a limiting ring (8); each limiting ring (8) is slidably mounted on the corresponding X-axis (31), Y-axis (41), or Z-axis (51), and each limiting ring (8) is integrated with a locking mechanism for locking the limiting ring (8) at a selected position on the axis.

3. The multi-directional free-floating device suitable for ribbon cable plugging according to claim 2, characterized in that, Two limiting rings (8) located at both ends of the same shaft are connected by an adjusting assembly (9); the adjusting assembly (9) includes a first screw, a second screw and a threaded sleeve; wherein the threaded sleeve is located between the first screw and the second screw and is threadedly connected to the first screw and the second screw respectively, and the threads of the first screw and the second screw are opposite in direction; the ends of the first screw and the second screw that are far apart from each other are fixedly connected to the two limiting rings (8) on the same shaft respectively.

4. The multi-directional free-floating device suitable for ribbon cable plugging according to claim 1, characterized in that, The side wall of the adapter plate (2) is provided with a wire groove (21) for guiding and constraining the wiring. Preferably, the cross-section of the wire groove (21) is arc-shaped.

5. The multi-directional free-floating device suitable for ribbon cable plugging according to claim 1, characterized in that, The Y-axis floating module (4) also includes a first mounting plate (44), on which the Y-axis shaft (41) is fixed, and the first mounting plate (44) is detachably fixedly connected to the Z-axis slider (52); Preferably, the first mounting plate (44) is a U-shaped plate, and the Y-axis (41) is disposed inside the first mounting plate (44), with its two ends fixed to the two opposite sides of the first mounting plate (44).

6. The multi-directional free-floating device suitable for ribbon cable plugging according to claim 5, characterized in that, The outer wall of the Z-axis slider (52) is provided with a groove that extends along its sliding direction and passes through both ends; the back of the first mounting plate (44) is provided with a protrusion that slides with the groove and is fixed to the Z-axis slider (52) by fasteners. Preferably, the Z-axis slider (52) has multiple assembly holes arranged along the extension direction of the slide groove on the inner or outer side of its slide groove; the first mounting plate (44) has a connecting hole on the protrusion or on the outer side of the protrusion; the fasteners fix the first mounting plate (44) and the Z-axis slider (52) by connecting the connecting hole and the assembly hole.

7. The multi-directional free-floating device suitable for ribbon cable plugging according to claim 1, characterized in that, The Z-axis floating module (5) also includes a second mounting plate (54); the two ends of the Z-axis shaft (51) are supported by fixing blocks fixed on the second mounting plate (54); the second mounting plate (54) is fixed to the mounting base plate (1) by threaded fasteners.

8. The multi-directional free-floating device suitable for ribbon cable plugging according to claim 7, characterized in that, The Z-axis (51) is located on one side of the second mounting plate (54). The second mounting plate (54) is provided with a connecting seat fixed to the Z-axis (51) on the side away from the Z-axis (51). The second mounting plate (54) is perpendicular to the mounting base (1) and is fixed to the mounting base (1) by connecting the connecting seat with the mounting base (1) through threaded fasteners.

9. The multi-directional free-floating device suitable for ribbon cable plugging according to claim 1, characterized in that, The rotating mechanism (6) includes a rotating shaft and a rotating bearing; wherein the rotating bearing is disposed between the adapter plate (2) and the mounting base plate (1), and its outer ring is fixed to the mounting base plate (1); the rotating shaft is fixed to the adapter plate (2), and one end of it is fixed to the inner ring of the rotating bearing.

10. A plug-in device suitable for ribbon cable plugging, characterized in that, include: Industrial robotic arm, pneumatic finger (7), and multi-directional free-floating device suitable for cable plugging as described in any one of claims 1-9 above; The end of the industrial robotic arm is fixedly connected to the adapter plate (2); the pneumatic finger (7) is located below the X-axis slider (32) and is assembled with the connecting part (321) on the X-axis slider (32).

Images