Floating connection deviation compensation device

Abstract

The utility model relates to the technical field of welding robots, in particular to a floating connection deviation compensation device, which is characterized in that mutually connected floating devices are arranged between a connecting block used for being connected with a robot and a connecting plate used for being connected with a clamp, and each floating device comprises a mandrel frame and an elastic piece sleeved on the mandrel frame. The connecting block and the connecting plate can make relative axial movement within the deformation range of the elastic piece through the elastic piece, so that the position deviation between the connecting block and the connecting plate can be compensated, the position deviation occurring when the clamp grabs a metal plate workpiece to operate is adaptively compensated, and then the follow-up welding precision of the metal plate is guaranteed.

Description

Technical Field

[0001] This utility model relates to the field of welding robot technology, and in particular to a floating connection deviation compensation device. Background Technology

[0002] Currently, welding robots are generally used in automotive sheet metal welding. However, the robotic arm of the welding robot and the fixture used to hold the sheet metal are usually rigidly connected. After the sheet metal workpiece is stamped and bent, it will deform, resulting in inconsistent dimensions. Therefore, the robot will have positional deviation when gripping the sheet metal workpiece. In addition, the robot itself has a certain degree of repeatability deviation, and the fixture will also have assembly deviation during assembly. Therefore, when the robot drives the fixture to grip the sheet metal workpiece, a certain positional deviation will occur, which will affect the positioning accuracy of the subsequent welding of the sheet metal parts.

[0003] The technical problem to be solved by this application is: to design a floating connection deviation compensation device that can compensate for the positional positioning deviation that occurs when a robot drives a fixture to pick up sheet metal workpieces and during operation. Utility Model Content

[0004] In order to overcome the shortcomings of the existing technology, the purpose of this utility model is to provide a floating connection deviation compensation device that can compensate for the positional positioning deviation that occurs when a robot drives a fixture to pick up sheet metal workpieces and during operation.

[0005] The technical solution adopted by this utility model is as follows: a floating connection deviation compensation device, including a connecting block for connecting with a robot and a connecting plate for connecting with a fixture, and a floating device for mutual connection between the connecting block and the connecting plate, the floating device including a mandrel frame and an elastic element sleeved on the mandrel frame.

[0006] In some embodiments, the floating device further includes a floating upper plate fixedly connected to the connecting block, the floating upper plate having an upper connecting portion fixedly connected thereto.

[0007] In some embodiments, a plurality of interconnected connecting screws are provided between the floating upper plate and the connecting block, and a locating pin is also provided between the floating upper plate and the connecting block.

[0008] In some embodiments, the mandrel frame is cross-shaped, and includes a central block and connecting shafts located on the four sides of the central block. Elastic members are respectively sleeved on the connecting shafts, and the upper connecting part is slidably connected to the connecting shaft. The two ends of the elastic members abut against one side of the upper connecting part and one side of the central block, respectively.

[0009] In some embodiments, the floating device further includes a floating lower plate fixedly connected to the connecting plate. The floating lower plate has a lower connecting part fixedly connected to it. The lower connecting part is slidably connected to the connecting shaft. The two ends of the elastic member abut against one side of the lower connecting part and one side of the center block, respectively.

[0010] In some embodiments, the floating upper plate is provided with an upper oil-free bushing, and the upper oil-free bushing is provided with an upper steel ball roller that rolls with it, and the upper steel ball roller abuts against the upper end of the lower connecting part.

[0011] In some embodiments, the floating lower plate is provided with a lower oil-free bushing, and the lower oil-free bushing is provided with a lower steel ball roller that rolls with it, and the lower steel ball roller abuts against the lower end of the upper connecting part.

[0012] In some embodiments, the upper end of the lower connecting part is provided with a lower insert corresponding to the upper steel ball roller, and the upper steel ball roller abuts against the lower insert.

[0013] In some embodiments, the lower end of the upper connecting part is provided with an upper insert corresponding to the lower steel ball roller, and the lower steel ball roller abuts against the upper insert.

[0014] In some implementations, the elastic element is a disc spring.

[0015] This utility model has the following technical effects: by providing a floating device between the connecting block for connecting with the robot and the connecting plate for connecting with the fixture, and the floating device includes a mandrel frame and an elastic element sleeved on the mandrel frame, the connecting block and the connecting plate can move relative to each other axially through the elastic element and within the deformation range of the elastic element, thereby compensating for the positional deviation between the connecting block and the connecting plate, so that the positional deviation that occurs when the fixture is gripping the sheet metal workpiece is adaptively compensated, thereby ensuring the subsequent welding accuracy of the sheet metal. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the floating connection deviation compensation device of this utility model;

[0017] Figure 2 This is an exploded structural diagram of the floating connection deviation compensation device of this utility model;

[0018] Figure 3 This is an exploded structural diagram of the floating connection deviation compensation device of this utility model;

[0019] Figure 4 This is a schematic diagram of the mandrel frame structure of the floating connection deviation compensation device of this utility model;

[0020] Figure 5 This is a schematic diagram of the forward structure of the floating connection deviation compensation device of this utility model;

[0021] Figure 6 This is a cross-sectional structural diagram of the floating connection deviation compensation device of this utility model;

[0022] Figure 7 This is a cross-sectional view of the floating connection deviation compensation device of this utility model and a schematic diagram of the mandrel frame in the X and Y directions.

[0023] The labels and names in the diagram correspond as follows: 1. Connecting block; 2. Connecting plate; 3. Floating device; 30. Mandrel frame; 31. Elastic element; 32. Floating upper plate; 320. Upper connecting part; 10. Connecting screw; 11. Positioning pin; 301. Center block; 302. Connecting shaft; 33. Floating lower plate; 330. Lower connecting part; 321. Upper oil-free bushing; 322. Upper ball bearing roller; 331. Lower oil-free bushing; 332. Lower ball bearing roller; 333. Lower insert; 323. Upper insert. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] Please see Figure 1-7 This utility model provides a technical solution: a floating connection deviation compensation device, including a connecting block 1 for connecting with a robot and a connecting plate 2 for connecting with a fixture. A floating device 3 is provided between the connecting block 1 and the connecting plate 2. The floating device 3 can restrict the relative axial movement between the connecting block 1 and the connecting plate 2, thereby correcting the positional deviation between the fixture and the robot, and ensuring that the fixture will not have positional deviation when gripping sheet metal workpieces, thus affecting the welding accuracy. The floating device 3 mainly includes a mandrel frame 30 and an elastic element 31 sleeved on the mandrel frame 30. The elastic element 31 is a disc spring. The mandrel frame 30 is cross-shaped and includes a central block 301 and connecting shafts 302 located on the four sides of the central block 301. The elastic element 31 is sleeved on the connecting shafts 302 on the four sides of the central block 301.

[0026] The floating device 3 also includes a floating upper plate 32 fixedly connected to the connecting plate 2. Four connecting screws 10 are provided between the floating upper plate 32 and the connecting block 1. The connecting screws 10 are located at the four corners of the floating upper plate 32 to lock the floating upper plate 32 and the connecting block 1 together. Positioning pins 11 are also provided between the floating upper plate 32 and the connecting block 1. The positioning pins 11 ensure the accuracy of the floating upper plate 32 and the connecting block 1 before connection and facilitate the use of the connecting screws 10 to lock and fix the floating upper plate 32 and the connecting block 1 together. An upper connecting part 320 is provided on the floating upper plate 32 and fixedly connected thereto. Two connecting parts 32 are provided and are distributed on opposite sides of the floating upper plate 32. By connecting the upper connecting part 320 to the two opposing connecting shafts 302 on the spindle frame 30, the floating upper plate 32 and the spindle frame 30 can be connected, that is, the connecting block 1 and the spindle frame 30 can be connected. The upper connecting part 320 and the connecting shaft 302 are in a limited sliding connection. When the upper connecting part 320 and the connecting shaft 302 are connected, the two ends of the elastic member 31 abut against one side of the upper connecting part 320 and one side of the center block 301, respectively. Since the upper connecting parts 320 are oppositely arranged, the connecting block 1 can move axially within the deformation range of the elastic member 31 by providing the elastic member 31.

[0027] The floating device 3 also includes a floating lower plate 33 fixedly connected to the connecting plate 2. The floating lower plate 33 and the floating upper plate 32 are arranged vertically opposite each other. The floating lower plate 33 is also provided with a lower connecting part 330 fixedly connected to it. There are two lower connecting parts 330, which are also distributed on two opposite sides of the floating lower plate 33. The lower connecting parts 330 are respectively limited and slidably connected to two other opposite connecting shafts 302. After the lower connecting parts 330 are connected to the connecting shafts 302, the elastic members 31 on the two connecting shafts 302 also abut against one side of the lower connecting part 330 and one side of the center block 301, respectively. Since the lower connecting parts 330 are also arranged opposite each other, the elastic members 31 on the two connecting shafts 302 abut against one side of the lower connecting part 330 and one side of the center block 301, respectively. The elastic element 31 also enables the connecting plate 2 to move axially within the deformation range of the elastic element 31. When the floating upper plate 32 and the floating lower plate 33 are both connected to the mandrel frame 30, since the upper connecting part 320 and the lower connecting part 330 are located on two opposite sides of the center block 301 after connection, which are equivalent to the mutually perpendicular XY directions, the connecting block 1 and the connecting plate 2 can move axially relative to each other within the deformation range of the elastic element 31. This can compensate for the positional deviation between the connecting block 1 and the connecting plate 2, and also enable the positional deviation of the fixture installed on the connecting plate 2 when gripping the sheet metal workpiece to be adaptively compensated, thereby ensuring the subsequent welding accuracy of the sheet metal.

[0028] On the floating upper plate 32, where there is no upper connecting part 320, there are upper oil-free bushings 321 on both sides. Each upper oil-free bushing 321 contains an upper steel ball roller 322 that rolls with it. The upper steel ball roller 322 abuts against the upper end of the lower connecting part 330. Corresponding to the upper steel ball roller 322, the upper end of the lower connecting part 330 also has a lower insert 333. The upper steel ball roller 322 and the lower insert 333 abut against each other. The floating lower plate 33 contains a lower oil-free bushing 331, and within the lower oil-free bushing 331 is a lower steel ball roller 332 that rolls with it. The lower steel ball roller 332 abuts against the upper connecting part 320. The lower end abuts against the upper connecting part 320, and the lower end of the upper connecting part 320 is provided with an upper insert 323 corresponding to the lower steel ball roller 332. The lower steel ball roller 332 abuts against the upper insert 323. Therefore, when the connecting block 1 and the connecting plate 2 are connected to the mandrel frame 30 through the floating upper plate 32 and the floating lower plate 33 respectively, when the connecting block 1 and the connecting plate 2 move axially relative to the mandrel frame 30, the upper steel ball roller 322 and the lower steel ball roller 332 roll relative to the upper insert 323 and the lower insert 333 respectively. This further assists the connecting block 1 and the connecting plate 2 in making axial movements to correct the positional deviation between the robot and the fixture.

[0029] The working principle of this utility model is as follows: A floating device 3 is provided between the connecting block 1 for connecting with the robot and the connecting plate 2 for connecting with the fixture. The floating device 3 includes a mandrel frame 30 and an elastic element 31 sleeved on the mandrel frame 30. The connecting block 1 and the connecting plate 2 can move relative to each other axially through the elastic element 31 and within the deformation range of the elastic element 31. This can compensate for the positional deviation between the connecting block 1 and the connecting plate 2, thereby adaptively compensating for the positional deviation that occurs when the fixture is gripping the sheet metal workpiece, and thus ensuring the subsequent welding accuracy of the sheet metal.

[0030] Finally, it should be noted that the above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A floating connection deviation compensation device, characterized in that, The device includes a connecting block for connecting to a robot and a connecting plate for connecting to a fixture. A floating device is provided between the connecting block and the connecting plate, the floating device including a mandrel frame and elastic members sleeved on the mandrel frame. The floating device also includes a floating upper plate fixedly connected to the connecting block, the floating upper plate having an upper connecting portion fixedly connected thereto. The mandrel frame is cross-shaped, including a central block and connecting shafts located on the four sides of the central block. The elastic members are respectively sleeved on the connecting shafts. The upper connecting portion is slidably connected to the connecting shaft, and both ends of the elastic member abut against one side of the upper connecting portion and one side of the central block, respectively. The floating device also includes a floating lower plate fixedly connected to the connecting plate, the floating lower plate having a lower connecting portion fixedly connected thereto, the lower connecting portion being slidably connected to the connecting shaft, and both ends of the elastic member abutting against one side of the lower connecting portion and one side of the central block, respectively.

2. The floating connection deviation compensation device according to claim 1, characterized in that, The floating upper plate and the connecting block are provided with a number of interconnected connecting screws, and the floating upper plate and the connecting block are also provided with interconnected positioning pins.

3. The floating connection deviation compensation device according to claim 1, characterized in that, The floating upper plate is provided with an upper oil-free bushing, and the upper oil-free bushing is provided with an upper steel ball roller that rolls with it. The upper steel ball roller abuts against the upper end of the lower connecting part.

4. The floating connection deviation compensation device according to claim 1, characterized in that, The floating lower plate is provided with a lower oil-free bushing, and the lower oil-free bushing is provided with a lower steel ball roller that rolls with it. The lower steel ball roller abuts against the lower end of the upper connecting part.

5. The floating connection deviation compensation device according to claim 3, characterized in that, The upper end of the lower connecting part is provided with a lower insert corresponding to the upper steel ball roller, and the upper steel ball roller abuts against the lower insert.

6. The floating connection deviation compensation device according to claim 4, characterized in that, The lower end of the upper connecting part is provided with an upper insert corresponding to the lower steel ball roller, and the lower steel ball roller abuts against the upper insert.

7. The floating connection deviation compensation device according to claim 1, characterized in that, The elastic element is a disc spring.

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