Floating binding tool capable of rolling forwards and backwards

Abstract

The utility model provides a forward and reverse rolling floating binding tool which comprises a floating block, a first binding wheel, a second binding wheel, a reserved installation mechanism, a detection unit, a floating unit, a first connecting rod mechanism, a second connecting rod mechanism, a parallelogram connecting rod mechanism, a sliding mechanism and a force transmission mechanism. The utility model has the benefits as follows: the parallelogram connecting rod mechanism is adopted, one end of the parallelogram connecting rod mechanism is connected to the fixed surface, the binding wheel is connected to the movable end of the parallelogram connecting rod mechanism, the force transmission mechanism is arranged at the movable end, the movable end is connected to one end of the force transmission mechanism, and the force transmission mechanism consists of a V-shaped groove and a ball or a cylinder; the sliding mechanism is arranged at the other end of the force transmission mechanism, a spring or a nitrogen spring is arranged at the tail end of the sliding mechanism and mainly used for acting force and counter-acting force, and therefore it is guaranteed that the floating function can be achieved in the positive pressure or counter-pulling process in the binding process.

Description

Technical Field

[0001] This utility model relates to the field of hemming tool technology, and in particular to a floating hemming tool that can be rolled in both directions. Background Technology

[0002] Robotic edge rolling and pressing technology has been applied to the edge-wrapping manufacturing of key components of car body-in-white, including the sunroof, engine hood, trunk lid, doors, fenders, and wheel arches.

[0003] There are currently three main types of similar designs on the market.

[0004] Application 1: A robot hemming structure for a body-in-white door cover (CN215143694U). This utility model relates to a hemming tool, specifically a robot hemming structure for a body-in-white door cover, comprising a hemming mechanism and a hemming head. The hemming mechanism includes a robot connecting flange end cap, a mounting sleeve, and a hemming head mounting guide, coaxially connected from top to bottom. A spring is coaxially mounted inside the mounting sleeve. The hemming head is equipped with multiple rollers of different diameters. This utility model uses a first and second roller with larger diameters for normal pre-hemming and final hemming; the third and fourth rollers have smaller diameters for pre-hemming and final hemming in confined spaces or with small radius angles. The spring within the hemming mechanism acts as a buffer, reducing hard contact between the rollers and the sheet metal.

[0005] This application uses a robot connecting flange end cover, mounting sleeve and rolling head mounting guide connected in a coaxial sequence from top to bottom. A spring is coaxially installed inside the mounting sleeve. Because the spring is coaxially installed, the spring is compressed when the robot pushes forward, thus achieving floating. However, when the robot pulls backward, the spring cannot be compressed, thus failing.

[0006] Application 2: A robotic hemming cutter (CN214768089U). This utility model discloses a robotic hemming cutter. The main shaft is mounted on a fixed base, and two fixed bases are connected front to back. The shaft of the hemming cutter 4 is mounted on the fixed base and the main shaft. The fixed base 2 and the main shaft 5 are fixed by a cover plate 1 and a partition plate 3. The main shaft 5 is provided with a self-lubricating bearing 6 and a hexagonal slotted nut 7. The self-lubricating bearing plays a guiding role, ensuring that the main shaft does not shift left or right within the fixed base, and the hexagonal slotted nut plays a fixing role. The shaft of the hemming cutter is provided with a bearing 8, and a nitrogen spring 9 is provided in the second fixed base at the lower part of the main shaft. This utility model designs a robotic hemming cutter to meet the aforementioned process requirements, and during the hemming operation, the spring device provides a certain elasticity to the hemming head of the cutter, avoiding damage to the cutter.

[0007] In this application, when the robot is performing the hemming operation, the cutting tool is subjected to a reaction force upon contact with the workpiece. The nitrogen spring provides the cutting tool with a certain degree of elasticity to avoid damage from hard contact. Furthermore, the elasticity curve of the nitrogen spring is flat, and the force during reset is relatively stable, further preventing internal damage to the cutting tool. Similar to the invention 1 mentioned above, when the robot pushes forward, the nitrogen spring is compressed to achieve floating. However, when the robot pulls backward, the nitrogen spring cannot provide force, resulting in floating failure and a decrease in hemming quality.

[0008] Application 3: Hemming head assembly with pressure detection (CN111229898A). This invention relates to the field of automotive hemming technology, specifically to a hemming head assembly with pressure detection. It includes a hollow base, with an upper end cover detachably connected to the upper end of the base and a lower end cover detachably connected to the lower end. The lower end cover has a through hole. A main shaft is housed within the base, with one end of the main shaft passing through the through hole and connected to the hemming head. A first pressure sensor is located between the other end of the main shaft and the upper end cover. The first pressure sensor is electrically connected to a pressure display. A tension detection unit is located on the main shaft. This invention utilizes the first pressure sensor to detect the pressure applied to the hemming head, and simultaneously utilizes the tension detection unit to detect the tension applied to the hemming head, thus solving the problem in the prior art where hemming head assemblies cannot detect the tension applied to the hemming head.

[0009] When performing edge-rolling operations on automotive sunroof components using an edge-rolling head, this application can only detect the pressure applied to the edge-rolling head but cannot detect the tensile force applied to it.

[0010] Existing technologies all share a common drawback: the hemming tool can only be pushed forward by the robot and cannot be pulled backward, which makes it impossible to perform hemming operations in some special hemming areas, thereby increasing the factory's investment costs. Utility Model Content

[0011] To overcome the aforementioned problems in the prior art, this utility model provides a floating edge rolling tool that can be rolled in both directions.

[0012] This utility model discloses a floating edge rolling tool capable of forward and reverse rolling, comprising a floating block, a first edge rolling wheel, a second edge rolling wheel, a pre-installed mounting mechanism, a detection unit, a floating unit, a first linkage mechanism, a second linkage mechanism, a parallelogram linkage mechanism, a sliding mechanism, and a force transmission mechanism. The first edge rolling wheel is mounted to the floating block via the first mounting block, and the second edge rolling wheel is mounted to the floating block via the second mounting block. The floating block has a groove at the mounting location, and the first and second mounting blocks have bosses. The groove matches the bosses. The pre-installed mounting mechanism is mounted to the mounting location on the floating block. Inside the hole, the reserved installation mechanism is used to install the rolling wheel. One end of the linkage mechanism is connected to the floating block, and the other end is connected to the robot flange mounting base. The flange mounting base is provided with a robot flange surface. The linkage mechanism one and linkage mechanism two are installed in parallel. The floating unit is installed on the robot flange mounting base. One end of the parallelogram linkage mechanism is connected to the robot flange surface. The movable end of the parallelogram linkage mechanism is connected to the rolling wheel. The movable end of the parallelogram linkage mechanism is provided with a force transmission mechanism, and a sliding mechanism is provided at the other end of the force transmission mechanism.

[0013] Based on this, the first rolling wheel is fixed to the mounting block one by pad one and pad two, and locked by nut one; the second rolling wheel is fixed to the mounting block two by pad three and pad four, and locked by nut two.

[0014] Based on this, the reserved installation mechanism includes bearing one, snap ring one, mounting shaft, bearing two, and snap ring two. Bearing one is installed in the mounting hole of the floating block. Snap ring one fixes bearing one and the floating block. The mounting shaft is fitted into the inner diameter of bearing one. The mounting shaft has a boss, one side of which contacts the inner end face of bearing one. Bearing two is installed in the mounting hole of the floating block. Snap ring two makes the inner end face of bearing two contact the other side of the boss on the mounting shaft. Snap ring two fixes the position of bearing two and the floating block. Rollers are installed on the mounting shaft.

[0015] In addition, a TCP correction component is also included. The TCP correction component includes a bumper sleeve, a positioning pin, and a TCP mounting base. The TCP mounting base is connected to a floating block. The positioning pin is positioned and locked onto the TCP mounting base. The bumper sleeve is installed on the TCP mounting base, and the positioning pin is inserted into the hole of the bumper sleeve.

[0016] Based on this, the linkage mechanism includes friction plates, washers, self-locking nuts, connecting plate one, connecting plate two, rotating shaft one, rotating shaft two, bushing one, and bushing two. Two friction plates and washers are respectively provided on both sides of rotating shaft one and rotating shaft two. Bushing one is installed in the mounting hole of the robot flange mounting base, and bushing two is installed in the mounting hole of the floating block. Rotating shaft one is inserted into bushing one, and rotating shaft two is inserted into bushing two. The two mounting holes on connecting plate one are respectively aligned with rotating shaft one and rotating shaft two and inserted into one side of the mounting plate. The two mounting holes on connecting plate two are respectively aligned with rotating shaft one and rotating shaft two and inserted into the other side of the mounting plate. Rotating shaft one and rotating shaft two are locked on both sides by self-locking nuts.

[0017] Based on this, the second linkage mechanism has the same connection method as the first linkage mechanism, and the first linkage mechanism and the second linkage mechanism have the same structural dimensions.

[0018] Based on this, the floating unit includes a limiting block, a nitrogen spring, a mounting base, an open bushing, a shaft, a floating column, and a floating plate. The mounting base is installed on the robot flange mounting base, and an open bushing is installed in the hole of the mounting base. The shaft is installed in the open bushing, the floating plate is installed on the floating block, and the floating column is installed between the floating plate and the shaft. Both the floating plate and the shaft are provided with V-grooves. The nitrogen spring is installed in the hole of the mounting base, and a nitrogen spring is provided at the end of the sliding mechanism for action and reaction forces. The limiting block is locked on the mounting base.

[0019] Based on this, the detection unit includes a movable block, a fixed seat, a set screw, and a dial indicator. The movable block is connected to the shaft through a mounting base and an oblong hole on the open bushing. The fixed seat is connected to the mounting base. The dial indicator passes through the mounting hole of the fixed seat and contacts the inner end face of the movable block. The set screw locks the dial indicator.

[0020] Based on this, the force transmission mechanism consists of a V-groove and a ball or cylinder.

[0021] Compared with the prior art, the beneficial effects of this utility model are as follows: A parallelogram linkage mechanism is adopted, with one end connected to a fixed surface. The hemming wheel is connected to the movable end of the parallelogram linkage mechanism, and a force transmission mechanism is provided at the movable end. The movable end is connected to one end of the force transmission mechanism, which consists of a V-groove and a ball or cylinder. A sliding mechanism is located at the other end of the force transmission mechanism, and a nitrogen spring is provided at the end of the sliding mechanism, mainly used for action and reaction forces. This ensures that the floating function can be achieved during the hemming process, regardless of whether it is under positive pressure or reverse tension, thus reducing the factory's investment costs. A dial indicator is provided for easy on-site hemming adjustments. A quick-change hemming wheel is adopted for easy on-site vehicle model changes later. Attached Figure Description

[0022] Figure 1 This is a three-dimensional structural diagram of the floating hemming tool of this utility model;

[0023] Figure 2 yes Figure 1 Explosion diagram at point A;

[0024] Figure 3 This is an exploded view of the linkage mechanism of this utility model;

[0025] Figure 4 This is an exploded view of the floating unit and detection unit structure of this utility model;

[0026] Figure 5 This is a schematic diagram of the working principle of this utility model;

[0027] Figure 6 This is a schematic diagram of the positive pressure working principle of this utility model;

[0028] Figure 7 This is a schematic diagram of the reverse pressure working principle of this utility model;

[0029] In the diagram: 1. First rolling roller; 2. Mounting block one; 3. Reserved mounting mechanism; 3-1. Bearing one; 3-2. Snap ring one; 3-3. Mounting shaft; 3-4. Bearing two; 3-5. Snap ring two; 4. Second rolling roller; 5. TCP correction assembly; 5-1. Anti-collision sleeve; 5-2. Positioning pin; 5-3. TCP mounting base; 6. Mounting block two; 7. Floating block; 8. Detection unit; 8-1. Movable block; 8-2. Fixed base; 8-3. Set screw; 8-4. Dial indicator; 9. Floating unit; 9-1. Limit block; 9-2. Nitrogen spring; 9-3. Mounting base; 9-4. Open bushing; 9-5. Shaft; 9-6. Floating column; 9-7. Floating plate; 10. Linkage mechanism one; 10-1. Self-locking nut three; 10-2. Self-locking nut four; 10-3. 1. Gasket 3, 10-4; Gasket 4, 10-5; Connecting plate 2, 10-6; Gasket 7, 10-7; Gasket 8, 10-8; Friction plate 3, 10-9; Friction plate 4, 10-10; Self-locking nut 1, 10-11; Self-locking nut 2, 10-12; Gasket 1, 10-13; Gasket 2, 10-14; Connecting plate 1, 10-15; Gasket 5, 10-16; Gasket 6, 10-17; Rotating shaft 1, 10-18; Rotating shaft 2, 10-19; Friction plate 1, 10-20; Friction plate 2, 10-21; Bushing 1, 10-22; Bushing 2, 11; Linkage mechanism 2, 12; Robot flange face, 13; Robot flange mounting base, 15; Quadrilateral linkage mechanism, 18; Sliding mechanism, 19; Force transmission mechanism. Detailed Implementation

[0030] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention.

[0031] This utility model discloses a floating hemming tool capable of both forward and reverse rolling, reference Figures 1-4 The first hemming wheel 1 is mounted onto the floating block 7 via mounting block 1 4, and the second hemming wheel 4 is mounted onto the floating block 7 via mounting block 2 6. The floating block 7 has a groove at the mounting location, and mounting blocks 1 2 and 2 6 have bosses. The groove and the bosses match, thus solving the problem of both positioning and quick replacement when changing vehicle models. The reserved mounting mechanism 3 is installed into the mounting hole provided in the floating block 7. The reserved mounting mechanism 3 is mainly used to install more hemming wheels, up to two of which can be installed. The structure of the hemming wheel here is the same as or different from that of the first hemming wheel 1 and the second hemming wheel 4. One end of the linkage mechanism 10 is connected to the floating block 7, and the other end is connected to the robot flange mounting base 13. The robot flange face 12 is provided. The second linkage mechanism 11 is connected in the same way as the first linkage mechanism 10. The first linkage mechanism 10 and the second linkage mechanism 11 have the same structural dimensions. After installation, they are parallel, so that the displacement direction of the floating unit 9 is the same regardless of whether it is rolling in the forward or reverse direction. The floating unit 9 is installed on the robot flange mounting base 13 and floats by a nitrogen spring 9-2. It is mainly used to float when rolling the workpiece to prevent the rolling quality from deteriorating due to excessive force. One end of the detection unit 8 is installed on the shaft 9-5 of the floating unit 9, and the other end is installed on the fixed block of the floating unit 9. This allows for the detection and observation of the floating function during the rolling process.

[0032] refer to Figure 2 During installation, insert shim 1-1 into the shaft diameter of the first rolling wheel 1, then install the first rolling wheel 1 into the hole of mounting block 2, with the surface of shim 1-1 in contact with the mounting surface of mounting block 2. Insert shim 2-2 into the shaft diameter of the first rolling wheel 1, and then lock the first rolling wheel 1, shim 1-1, mounting block 2, and shim 2-2 using nut 1-3. Finally, connect the assembled assembly to the floating block 7. Insert shim 3-4 into the shaft diameter of the second rolling wheel 4, then install the second rolling wheel 4 into the hole of mounting block 2-6. The mounting surface of Block 3 (1-4) contacts the mounting surface of Mounting Block 2 (6). The pad 4 (1-5) is then inserted into the shaft diameter of the second rolling wheel 4. Nut 2 (1-6) then locks the second rolling wheel 4, pad 3 (1-4), Mounting Block 2 (6), and pad 4 (1-5) together. Finally, the assembled assembly is connected to the floating block 7. The mounting surface of the floating block 7 has a groove, while mounting blocks 1 (2) and 2 (6) have protrusions on both sides. This ensures that the assembly can be installed on both sides, and the grooves and protrusions allow for positioning, enabling quick replacement when changing vehicle models.

[0033] refer to Figure 2 The reserved installation mechanism 3 includes bearing 3-1, snap ring 3-2, mounting shaft 3-3, bearing 3-4, and snap ring 3-5. During installation, bearing 3-1 is installed into the mounting hole of floating block 7, and snap ring 3-2 is used to fix the position of bearing 3-1 and floating block 7. Mounting shaft 3-3 is inserted into the inner diameter of bearing 3-1. Mounting shaft 3-3 has a boss, the surface of which contacts the inner end face of bearing 3-1. Bearing 3-4 is then installed into the mounting hole of floating block 7. Snap ring 3-5 is used to make the inner end face of bearing 3-4 contact the other side of the boss on mounting shaft 3-3, thus fixing the position of bearing 3-4 and floating block 7. When additional rollers are needed on site, they can be installed on mounting shaft 3-3, thus ensuring the versatility of the equipment.

[0034] refer to Figure 2 The TCP calibration component 5 includes a bumper sleeve 5-1, a positioning pin 5-2, and a TCP mounting base 5-3. The TCP mounting base 5-3 is connected to the floating block 7. The positioning pin 5-2 is positioned and locked onto the TCP mounting base 5-3. Then, the bumper sleeve 5-1 is installed onto the TCP mounting base 5-3, and the positioning pin 5-2 is inserted into its hole. It is mainly used to protect personnel safety and prevent personnel from being injured by collisions. This constitutes the TCP calibration component 5, which is used to check the position of the robot with tools during operation.

[0035] refer to Figure 3The linkage mechanism 10 includes friction plates, washers, self-locking nuts, connecting plate 10-14, connecting plate 20-5, rotating shaft 10-17, rotating shaft 20-18, bushing 10-21, and bushing 20-22. Bushing 10-21 is installed into the mounting hole of the robot flange mounting base 13, and bushing 20-22 is installed into the mounting hole of the floating block 7. Then, rotating shaft 10-17 is fitted into bushing 10-21. Fit 10-18 into bushing 10-22; install friction plates 10-19 and 10-20 onto one side of rotating shaft 10-17 and rotating shaft 20-18 respectively, and then install friction plates 30-8 and 40-9 onto the other side of rotating shaft 10-17 and rotating shaft 20-18 respectively; install pads 510-15 and 610-16 onto one side of rotating shaft 10-17 and rotating shaft 20-18 respectively. Next, install shims 7 (10-6) and 8 (10-7) onto the other side of rotating shaft 1 (10-17) and rotating shaft 2 (10-18); align the two mounting holes on connecting plate 1 (10-14) with rotating shaft 1 (10-17) and rotating shaft 2 (10-18) and fit them onto one side of the installation; then align the two mounting holes on connecting plate 2 (10-5) with rotating shaft 1 (10-17) and rotating shaft 2 (10-18) and fit them onto the other side of the installation; install shims 1 (10-12) and 10-18 respectively. -13. Shims 3 10-3 and 4 10-4 are installed on both sides of rotating shaft 1 10-17 and rotating shaft 2 10-18, and then the rotating shaft 1 10-17 and rotating shaft 2 10-18 are locked by self-locking nuts 1 10-10, 2 10-11, 3 10-1, and 4 10-2; the connection method of linkage mechanism 2 11 is the same as that of linkage mechanism 1 10, and the structural dimensions of linkage mechanism 1 10 and linkage mechanism 2 11 are the same;

[0036] refer to Figure 4 The floating unit 9 includes a limiting block 9-1, a nitrogen spring 9-2, a mounting base 9-3, an open bushing 9-4, a shaft 9-5, a floating column 9-6, and a floating plate 9-7. The mounting base 9-3 is installed on the robot flange mounting base 13, the open bushing 9-4 is installed into the hole of the mounting base 9-3, the shaft 9-5 is installed into the open bushing 9-4, the floating plate 9-7 is installed on the floating block 7, and the floating column 9-6 is installed between the floating plate 9-7 and the shaft 9-5. Both the floating plate 9-7 and the shaft 9-5 are provided with V-grooves to float during the rolling process. The nitrogen spring 9-2 is installed into the hole of the mounting base 9-3 and locked to the mounting base 9-3 by the limiting block 9-1, thereby fixing the nitrogen spring 9-2.

[0037] Reference Figure 5As shown, the detection unit 8 includes a movable block 8-1, a fixed seat 8-2, a set screw 8-3, and a dial indicator 8-4. The movable block 8-1 is connected to the shaft 9-5 through the oblong hole on the mounting seat 9-3 and the open bushing 9-4. The fixed seat 8-2 is then connected to the mounting seat 9-3. The dial indicator 8-4 is passed through the mounting hole of the fixed seat 8-2 and contacts the inner end face of the movable block 8-1. It is then locked by the set screw 8-3.

[0038] The force transmission mechanism 19 is composed of a V-groove and a ball or cylinder. One end of the parallelogram linkage mechanism 15 is connected to the robot flange surface 12. The roller is connected to the movable end of the parallelogram linkage mechanism 15. The movable end of the parallelogram linkage mechanism 15 is provided with the force transmission mechanism 19. The sliding mechanism 18 is provided at the other end of the force transmission mechanism 19. The end of the sliding mechanism 18 is provided with a nitrogen spring 9-2 for action and reaction forces.

[0039] The working principle of this utility model is as follows: (Refer to...) Figure 5 In actual use, one end of the parallelogram linkage mechanism 15 is connected to the robot flange surface 12, wherein the rolling wheel is connected to the movable end of the parallelogram linkage mechanism 15, and a force transmission mechanism 19 is provided at the movable end, wherein the movable end is connected to one end of the force transmission mechanism 19, which is composed of a V-groove and a ball or cylinder, and a sliding mechanism 18 is provided at the other end of the force transmission mechanism 19. A nitrogen spring 9-2 is provided at the end of the sliding mechanism 18, which is mainly used for action and reaction forces.

[0040] refer to Figure 6 When the hemming wheel is subjected to a positive force, the parallelogram linkage mechanism 15 translates upward and changes from a rectangle to a parallelogram. The force is then transmitted to the ball or cylinder through the V-groove at one end of the force transmission mechanism 15. The force is then transmitted to the V-groove on the sliding mechanism 18 through the ball or cylinder. Finally, the force is transmitted to the nitrogen spring 9-2 through the sliding mechanism 18. The nitrogen spring 9-2 is compressed, which causes the hemming wheel to float to a certain extent when subjected to a positive force. The dotted line in the figure represents the initial position of the hemming wheel and the ball or cylinder. When subjected to force, the hemming wheel floats upward and the ball or cylinder moves toward the nitrogen spring 9-2.

[0041] refer to Figure 7When the hemming wheel is subjected to a reverse force, the parallelogram linkage mechanism 15 translates downward and changes from a rectangle to a parallelogram. The force is then transmitted to the ball or cylinder through the V-groove at one end of the force transmission mechanism 15. The force is then transmitted to the V-groove on the sliding mechanism 18 through the ball or cylinder. Finally, the force is transmitted to the nitrogen spring 9-2 through the sliding mechanism 18. The nitrogen spring 9-2 is compressed, which causes the hemming wheel to float to a certain extent when subjected to a reverse force. The dotted line in the figure represents the initial position of the hemming wheel and the ball or cylinder. When subjected to force, the hemming wheel floats downward and the ball or cylinder moves toward the nitrogen spring 9-2.

[0042] In the description of this utility model, it should be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "side", "top", "inner", "front", "center", "both ends", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0043] In this utility model, unless otherwise explicitly specified and limited, the terms "installation", "setting", "connection", "fixing", "screw connection", "pad", etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0044] The foregoing description illustrates and describes preferred embodiments of the present invention. As previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through the foregoing teachings or related technical or knowledge. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A positive and negative roll press floating edging tool characterized by: The invention comprises a floating block (7), a first rolling wheel (1), a second rolling wheel (4), a reserved mounting mechanism (3), a detection unit (8), a floating unit (9), a connecting rod mechanism I (10), a connecting rod mechanism II (11), a parallelogram connecting rod mechanism (15), a sliding mechanism (18) and a force transmission mechanism (19), the first rolling wheel (1) is mounted on the floating block (7) through a mounting block I (2), the second rolling wheel (4) is mounted on the floating block (7) through a mounting block II (6), the floating block (7) is provided with a groove at the mounting position, the mounting block I (2) and the mounting block II (6) are provided with bosses, the groove is matched with the bosses, the reserved mounting mechanism (3) is mounted in the mounting hole of the floating block (7), the reserved mounting mechanism (3) is used for mounting the rolling wheel, one end of the connecting rod mechanism I (10) is connected with the floating block (7), and the other end is connected with a robot flange mounting fixed seat (13), the robot flange mounting fixed seat (13) is provided with a robot flange face (12), the connecting rod mechanism I (10) and the connecting rod mechanism II (11) are both installed in parallel, the floating unit (9) is mounted on the robot flange mounting fixed seat (13), one end of the parallelogram connecting rod mechanism (15) is connected to the robot flange face (12), the movable end of the parallelogram connecting rod mechanism (15) is connected to the rolling wheel, the movable end of the parallelogram connecting rod mechanism (15) is provided with the force transmission mechanism (19), and the sliding mechanism (18) is arranged at the other end of the force transmission mechanism (19).

2. The positive and negative roll press floating edging tool of claim 1, wherein: The first rolling wheel (1) and the mounting block I (2) are fixed through a cushion block I (1-1) and a cushion block II (1-2) and locked through a nut I (1-3), and the second rolling wheel (4) and the mounting block II (6) are fixed through a cushion block III (1-4) and a cushion block IV (1-5) and locked through a nut II (1-6).

3. The positive and negative roll press floating edging tool of claim 1, wherein: The reserved mounting mechanism (3) comprises a bearing I (3-1), a circlip I (3-2), a mounting shaft (3-3), a bearing II (3-4) and a circlip II (3-5), the bearing I (3-1) is mounted in the mounting hole of the floating block (7), the circlip I (3-2) fixes the bearing I (3-1) and the floating block (7), the mounting shaft (3-3) is sleeved into the inner diameter of the bearing I (3-1), the mounting shaft (3-3) is provided with a boss, one side of the boss is in contact with the inner end surface of the bearing I (3-1), the bearing II (3-4) is mounted in the mounting hole of the floating block (7), the circlip II (3-5) makes the inner end surface of the bearing II (3-4) in contact with the other side of the boss of the mounting shaft (3-3), the circlip II (3-5) fixes the position of the bearing II (3-4) and the floating block (7), and the mounting shaft (3-3) is provided with a rolling wheel.

4. The positive and negative roll press floating edging tool of claim 1, wherein: Also include TCP correction components (5), the TCP correction components (5) include anti-collision cover (5-1), positioning pin (5-2) and TCP mounting seat (5-3), the TCP mounting seat (5-3) is connected with floating block (7), the positioning pin (5-2) is positioned and locked to TCP mounting seat (5-3), the anti-collision cover (5-1) is installed on TCP mounting seat (5-3), the positioning pin (5-2) is sleeved into the hole of anti-collision cover (5-1).

5. The positive and negative roll press floating edging tool of claim 1, wherein: The connecting rod mechanism one (10) includes friction plate, gasket, self-locking nut, connecting plate one (10-14), connecting plate two (10-5), rotating shaft one (10-17), rotating shaft two (10-18), bushing one (10-21) and bushing two (10-22), both sides of the rotating shaft one (10-17) and the rotating shaft two (10-18) are respectively provided with two friction plates and gaskets, the bushing one (10-21) is installed in the mounting hole of the robot flange mounting fixed seat (13), the bushing two (10-22) is installed in the mounting hole of the floating block (7); the rotating shaft one (10-17) is sleeved into the bushing one (10-21), the rotating shaft two (10-18) is sleeved into the bushing two (10-22); the two mounting holes on the connecting plate one (10-14) are respectively aligned with the rotating shaft one (10-17) and the rotating shaft two (10-18) and are sleeved into one side of the installation, the two mounting holes on the connecting plate two (10-5) are respectively aligned with the rotating shaft one (10-17) and the rotating shaft two (10-18) and are sleeved into the other side of the installation; both sides of the rotating shaft one (10-17) and the rotating shaft two (10-18) are locked by the self-locking nut.

6. The positive and negative roll press floating edging tool of claim 5, wherein: The connecting rod mechanism two (11) is connected in the same way as the connecting rod mechanism one (10), and the connecting rod mechanism one (10) and the connecting rod mechanism two (11) have the same structure size.

7. The positive and negative roll press floating edging tool of claim 1, wherein: The floating unit (9) includes a limiting block (9-1), a nitrogen spring (9-2), a mounting seat (9-3), an open bushing (9-4), a shaft (9-5), a floating column (9-6), and a floating plate (9-7). The mounting seat (9-3) is installed on the robot flange mounting fixed seat (13), the open bushing (9-4) is installed in the hole of the mounting seat (9-3), the shaft (9-5) is installed in the open bushing (9-4), the floating plate (9-7) is installed on the floating block (7), the floating column (9-6) is installed between the floating plate (9-7) and the shaft (9-5), V-shaped grooves are arranged on the floating plate (9-7) and the shaft (9-5), the nitrogen spring (9-2) is installed in the hole of the mounting seat (9-3), the nitrogen spring (9-2) is arranged at the end of the sliding mechanism (18), and the limiting block (9-1) is locked on the mounting seat (9-3).

8. The positive and negative roll press floating edging tool of claim 7, wherein: The detection unit (8) comprises a movable block (8-1), a fixed seat (8-2), a thread (8-3) and a dial indicator (8-4), the movable block (8-1) is connected to the shaft (9-5) through the waist-shaped hole on the mounting seat (9-3) and the open bushing (9-4), the fixed seat (8-2) is connected to the mounting seat (9-3), the dial indicator (8-4) is in contact with the inner end surface of the movable block (8-1) through the mounting hole of the fixed seat (8-2), and the thread (8-3) locks the dial indicator (8-4).

9. The positive and negative roll press floating edging tool of claim 1, wherein: The force transmission mechanism (19) is composed of a V-shaped groove and a ball or a cylinder.

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