Axial floating device dedicated to a robot

Abstract

The utility model belongs to the field of polishing equipment and provides a special axial floating device for robot, including shell, upper fixed block, lower fixed block, output flange spare, ball spline, upper piston subassembly, lower piston subassembly and base, shell is connected with base, ball spline and base slide fit, upper fixed block, lower fixed block are in the shell, and are in the upper and lower ends of base, and are connected with the upper and lower ends of ball spline respectively, upper piston subassembly, lower piston subassembly are located in base, and the driving end of upper piston subassembly is set up to upper fixed block and can be abutted with upper fixed block, and the driving end of lower piston subassembly is set up to lower fixed block and can be abutted with lower fixed block. Its possess the structure of two -way piston, can eliminate the regulation of external load or floating force according to actual application working condition, can be applied to the scene of polishing deburring, also can be applied to other need tool to do passive floating scene, for example, flexible gripping, flexible assembly.

Description

Technical Field

[0001] This utility model belongs to the field of grinding equipment, specifically relating to an axial floating device for robots. Background Technology

[0002] Currently, there are many axial floating tools in the industry, and their application is relatively mature, but they have the following problems:

[0003] 1. Relatively large structural dimensions: It is assembled using standard parts (for example, the guide structure directly uses linear guides / linear bearings, and the power is directly used cylinders), which makes it impossible to integrate or miniaturize.

[0004] 2. The installation methods for external equipment are relatively limited: there are mainly two methods: radial installation and axial installation;

[0005] 3. Insufficient rigidity: Due to the use of standard parts for assembly, there may be eccentricity under structural constraints. Utility Model Content

[0006] In order to overcome the above-mentioned shortcomings of the prior art, the purpose of this utility model is to provide an axial floating device for robots.

[0007] The technical solution adopted by this utility model to solve its technical problem is:

[0008] An axial floating device for robots includes a housing, an upper fixed block, a lower fixed block, an output flange, a ball spline, an upper piston assembly, a lower piston assembly, and a base;

[0009] The outer shell is connected to the base;

[0010] The ball spline slides with the base;

[0011] The upper fixing block and the lower fixing block are located inside the outer shell and at the upper and lower ends of the base, respectively, and are connected to the upper and lower ends of the ball spline.

[0012] The upper piston assembly and the lower piston assembly are disposed on the base. The driving end of the upper piston assembly is disposed toward the upper fixed block and can abut against the upper fixed block. The driving end of the lower piston assembly is disposed toward the lower fixed block and can abut against the lower fixed block.

[0013] The output flange is connected to the lower fixed block.

[0014] Preferably, the upper piston assembly and the lower piston assembly have the same structure, including a piston, a venting cavity, an air inlet, and an air inlet connector;

[0015] The ventilation cavity is located on the base, the piston component cooperates with the ventilation cavity, the piston component is the driving end of the upper piston assembly and the lower piston assembly, the air inlet is located on the outer shell and communicates with the ventilation cavity, and the air inlet connector is connected to the air inlet.

[0016] Preferably, the upper piston assembly is positioned above the lower piston assembly, and there are two or more upper and lower piston assemblies that are evenly distributed along the radial direction of the ball spline.

[0017] Preferably, the upper fixing block and the lower fixing block are provided with steel plates at positions corresponding to the driving ends of the upper piston assembly and the lower piston assembly.

[0018] Preferably, the upper fixing block and the lower fixing block are provided with limiting blocks on their end faces facing the base.

[0019] Preferably, the base is provided with a guide seat that cooperates with the piston component.

[0020] Preferably, the outer wall surface of the base is provided with a plurality of sealing rings.

[0021] Preferably, the base is provided with a spline guide seat, and the ball spline is slidably engaged with the spline guide seat.

[0022] Preferably, the outer casing is provided with an exhaust port, which communicates with the internal cavity of the outer casing.

[0023] Preferably, the housing and output flange are provided with a side mounting portion.

[0024] Compared with the prior art, the beneficial effects of this utility model include:

[0025] The axial floating device for robots described in this application has a reasonable structural design. It has an upper piston assembly and a lower piston assembly, and has a bidirectional piston structure. It can eliminate external load or adjust the floating force according to the actual application conditions. It can be applied to grinding and deburring scenarios, as well as other scenarios that require tools to make passive floating, such as flexible grasping and flexible assembly. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the structure for axial installation of this utility model.

[0028] Figure 2 This is a schematic diagram of the radial installation structure of this utility model.

[0029] Figure 3 This is a cross-sectional view of the present invention.

[0030] Figure 4 This is a cross-sectional view from another perspective of the present invention.

[0031] in:

[0032] 1-Outer shell, 2-Upper fixing block, 3-Lower fixing block, 4-Output flange, 5-Ball spline, 6-Upper piston assembly, 7-Lower piston assembly, 8-Base, 9-Piston component, 10-Ventilation chamber, 11-Inlet, 12-Inlet connector, 13-Steel sheet, 14-Limiting block, 15-Guide seat, 16-Sealing ring, 17-Spline guide seat, 18-Exhaust port, 19-Side mounting part. Detailed Implementation

[0033] To better understand the above-mentioned objectives, features, and advantages of this utility model, it will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. Many specific details are set forth in the following description to provide a thorough understanding of this utility model; the described embodiments are merely some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0035] Example:

[0036] like Figure 1-4 As shown, this embodiment provides an axial floating device for robots, including a housing 1, an upper fixing block 2, a lower fixing block 3, an output flange 4, a ball spline 5, an upper piston assembly 6, a lower piston assembly 7, and a base 8;

[0037] The outer casing 1 is connected to the base 8;

[0038] The ball spline 5 slides into the base 8;

[0039] The upper fixing block 2 and the lower fixing block 3 are located inside the outer shell 1 and at the upper and lower ends of the base 8, respectively, and are connected to the upper and lower ends of the ball spline 5.

[0040] The upper piston assembly 6 and the lower piston assembly 7 are disposed on the base 8. The driving end of the upper piston assembly 6 is disposed towards the upper fixed block 2 and can abut against the upper fixed block 2. The driving end of the lower piston assembly 7 is disposed towards the lower fixed block 3 and can abut against the lower fixed block 3.

[0041] The output flange 4 is connected to the lower fixed block 3.

[0042] The axial floating device for robots in this embodiment has an upper piston assembly 6 and a lower piston assembly 7. It has a bidirectional piston structure and can eliminate external load or floating force adjustment according to actual application conditions. It can be applied to grinding and deburring scenarios, as well as other scenarios that require tools to make passive floating, such as flexible grasping and flexible assembly.

[0043] The specific structures of the upper piston assembly 6 and the lower piston assembly 7 in this embodiment are as follows:

[0044] The upper piston assembly 6 and the lower piston assembly 7 have the same structure, specifically including piston part 9, venting chamber 10, air inlet 11 and air inlet connector 12;

[0045] Ventilation chamber 10 is located on base 8. Piston component 9 is engaged with ventilation chamber 10. Piston component 9 is the driving end of upper piston assembly 6 and lower piston assembly 7. Air inlet 11 is located on outer shell 1 and communicates with ventilation chamber 10. Air inlet connector 12 is connected to air inlet 11.

[0046] By connecting the air inlet connector 12 to an external air supply device, air is supplied to the ventilation chamber 10 to cause the piston 9 to move relative to the ventilation chamber 10. This allows the piston 9 to abut against the upper fixed block 2 and the lower fixed block 3, thereby causing the upper fixed block 2 and the lower fixed block 3 to move within the outer casing 1, achieving a floating adjustment effect.

[0047] In this embodiment, the upper piston assembly 6 is positioned above the lower piston assembly 7. There are two or more upper piston assemblies 6 and lower piston assemblies 7, which are evenly distributed along the radial direction of the ball spline 5. The above structural arrangement can ensure uniform overall force distribution and guarantee the stability of the floating adjustment.

[0048] In this embodiment, steel plates 13 are provided at the positions of the upper fixing block 2 and the lower fixing block 3 corresponding to the driving ends of the upper piston assembly 6 and the lower piston assembly 7. When the driving ends, i.e. the piston 9, move, the piston 9 comes into contact with the steel plates 13. Because the upper fixing block 2 in this embodiment is made of aluminum alloy and the lower fixing block 3 is made of carbon steel, the effect of weight reduction and ensuring structural strength is achieved. Therefore, the steel plates 13 can prevent the piston 9 from coming into contact with the upper fixing block 2 and the lower fixing block 3 and causing wear.

[0049] In this embodiment, a limiting block 14 is provided on the end face of the upper fixing block 2 and the lower fixing block 3 facing the base 8. The limiting block 14 can be made of rigid polyurethane. When the upper fixing block 2 and the lower fixing block 3 move inside the outer shell 1, it can prevent the upper fixing block 2 and the lower fixing block 3 from directly contacting the base 8 and causing wear.

[0050] In this embodiment, the base 8 is provided with a guide seat 15 that cooperates with the piston 9, which can ensure the stability of the movement of the piston 9.

[0051] In this embodiment, a plurality of sealing rings 16 are provided on the outer wall surface of the base 8. The sealing rings 16 can ensure the sealing of the cavity formed by the connection between the outer shell 1 and the base 8.

[0052] In this embodiment, a spline guide seat 17 is provided on the base 8, and the ball spline 5 slides in cooperation with the spline guide seat 17.

[0053] In this embodiment, the outer shell 1 is provided with an exhaust hole 18, which is connected to the internal cavity of the outer shell 1. The exhaust hole 18 can expel the gas from the internal cavity of the outer shell 1 when the floating device extends or retracts.

[0054] The axial floating device in this embodiment can be installed axially or radially. See details below. Figure 1 The upper end of the outer shell 1 of the axial floating device is connected to the robot's manipulator, and the lower end is connected to the grinding tool through the output flange 4.

[0055] Or see Figure 2 Specifically, a side mounting part 19 is provided on the outer shell 1 and the output flange 4. The side mounting part 19 of the outer shell 1 is connected to the robot's manipulator, and the side mounting part 19 on the output flange 4 is connected to the grinding tool.

[0056] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Therefore, any modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present utility model without departing from the technical solution of the present utility model shall still fall within the scope of the technical solution of the present utility model.

Claims

1. An axial floating device specifically for robots, characterized in that, include: Housing, upper fixed block, lower fixed block, output flange, ball spline, upper piston assembly, lower piston assembly, and base; The outer shell is connected to the base; The ball spline slides with the base; The upper fixing block and the lower fixing block are located inside the outer shell and at the upper and lower ends of the base, respectively, and are connected to the upper and lower ends of the ball spline. The upper piston assembly and the lower piston assembly are disposed on the base. The driving end of the upper piston assembly is disposed toward the upper fixed block and can abut against the upper fixed block. The driving end of the lower piston assembly is disposed toward the lower fixed block and can abut against the lower fixed block. The output flange is connected to the lower fixed block.

2. The axial floating device for robots according to claim 1, characterized in that, The upper piston assembly and the lower piston assembly have the same structure, including a piston, a venting chamber, an air inlet, and an air inlet connector; The ventilation cavity is located on the base, the piston component cooperates with the ventilation cavity, the piston component is the driving end of the upper piston assembly and the lower piston assembly, the air inlet is located on the outer shell and communicates with the ventilation cavity, and the air inlet connector is connected to the air inlet.

3. The axial floating device for robots according to claim 2, characterized in that, The upper piston assembly is positioned above the lower piston assembly, and there are two or more upper and lower piston assemblies that are evenly distributed along the radial direction of the ball spline.

4. The axial floating device for robots according to claim 3, characterized in that, The upper and lower fixing blocks are provided with steel plates at positions corresponding to the drive ends of the upper and lower piston assemblies, respectively.

5. The axial floating device for robots according to claim 4, characterized in that, The upper fixing block and the lower fixing block are provided with limiting blocks on their end faces facing the base.

6. The axial floating device for robots according to claim 5, characterized in that, The base is provided with a guide seat that cooperates with the piston component.

7. The axial floating device for robots according to claim 1, characterized in that, The outer wall surface of the base is provided with several sealing rings.

8. The axial floating device for robots according to claim 1, characterized in that, The base is provided with a spline guide seat, and the ball spline slides in cooperation with the spline guide seat.

9. The axial floating device for robots according to claim 1, characterized in that, The outer casing is provided with an exhaust port, which communicates with the internal cavity of the outer casing.

10. The axial floating device for robots according to claim 1, characterized in that, The outer casing and output flange are provided with side mounting parts.

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