A floating mechanism for an automatic tightening gun

Abstract

The utility model discloses a kind of floating mechanism for automatic tightening gun.The utility model includes: positioning device, fixed plate and floating device, fixed plate is cuboid, and the top of fixed plate is equipped with a top U-shaped groove, the bottom of fixed plate is equipped with a bottom U-shaped groove, top U-shaped groove and bottom U-shaped groove are perpendicular to each other, and the center of fixed plate is hollow;Top U-shaped groove is provided with X-axis floating plate, bottom U-shaped groove is provided with tool mounting plate, and the center of X-axis floating plate and tool mounting plate is hollow, wherein, mounting plate can float;The top of X-axis floating plate is provided with positioning device.Through the utility model, the problem that the cap is difficult to recognize and the tightening data is not accurate due to the different centers of automatic tightening shaft and bolt hole in the related technology is solved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm structure technology, and in particular to a floating mechanism for an automatic tightening gun. Background Technology

[0002] As an important type of robot end effector, robot grippers are responsible for grasping, transporting, assembling, and processing various objects. Their performance and reliability directly affect the robot's operational efficiency. However, traditional robot grippers mostly adopt a rigid connection design, which restricts the relative movement between the gripper and the workpiece.

[0003] In scenarios with fast production cycles and complex workpiece shapes, the robotic gripper needs to maintain a certain degree of floating relative to the workpiece to adapt to changes in the workpiece's position and orientation, preventing damage or errors. If the gripper cannot achieve this floating function, it may lead to robot overload, or even trigger alarms or equipment damage.

[0004] Therefore, it is essential to develop robotic grippers with floating mechanisms, which can effectively enhance the gripper's flexibility and adaptability. Utility Model Content

[0005] The purpose of this invention is to provide a floating mechanism for an automatic tightening gun to solve the problems of difficulty in identifying the bolt cap and inaccurate tightening data caused by the misalignment of the automatic tightening shaft and the bolt hole in related technologies.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A floating mechanism for an automatic tightening gun includes a positioning device, a fixed plate, and a floating device. The fixed plate is a cuboid with a top U-shaped groove at the top and a bottom U-shaped groove at the bottom. The top and bottom U-shaped grooves are perpendicular to each other, and the center of the fixed plate is hollowed out. An X-axis floating plate is provided in the top U-shaped groove, and a tool mounting plate is provided in the bottom U-shaped groove. The centers of the X-axis floating plate and the tool mounting plate are hollowed out, and the mounting plate is buoyant. A positioning device is provided on the top of the X-axis floating plate.

[0008] Further configuration: The floating device includes a positioning cylinder and a positioning pin, wherein the positioning cylinder is used to drive the positioning pin to move vertically.

[0009] Further configuration: The positioning pin is inside the positioning cylinder, and when the positioning pin extends, it will insert into the central hollow between the X-axis floating plate and the tool mounting plate.

[0010] Further configuration: Two linear bearings are provided on each of the four sides of the fixed plate. The linear bearings are used to connect the fixed plate with the X-axis floating plate and the tool mounting plate.

[0011] Further configuration: The X-axis floating plate and the tool mounting plate each have a protrusion, and the two protrusions are perpendicular to each other.

[0012] A further feature is provided at the location of the protrusion, the floating device comprising a cylindrical pin, a mounting component, and a plunger spring.

[0013] Further configuration: The mounting component is fixedly mounted on the side of the mounting plate by means of a cylindrical pin.

[0014] Further configuration: The mounting component includes two parallel mounting brackets, on which plunger springs are fixedly connected.

[0015] Further configuration: Two plunger springs are positioned opposite each other.

[0016] Further configuration: the movable end of the plunger spring abuts against the protrusion.

[0017] Compared with the prior art, the beneficial technical effects of this utility model are as follows:

[0018] This device achieves several key technological benefits through the collaborative design of multiple components. The vertical U-shaped groove and central hollow structure of the fixed plate provide independent movement space for the X-axis floating plate and tool mounting plate. Together with the linear bearings on the four sides, it forms a high-precision guide, reduces friction loss, and ensures the linearity and stability of movement in the X and Y directions.

[0019] In the floating device, the mounting components are fixed to the fixed plate by cylindrical pins. Parallel mounting brackets ensure that the piston spring axes are parallel, and the opposing springs form a two-way elastic constraint on the protrusion: allowing controllable floating of ±3.5mm to accommodate workpiece errors, while also achieving automatic reset through elastic restoring force to avoid excessive displacement. This structure, in conjunction with linear bearings, improves the floating accuracy and stability.

[0020] The positioning device's positioning cylinder drives the positioning pin to move vertically, inserting it into the central hollow for rapid fixing and precise limitation of the two plates' displacement, ensuring no deviation during tool operation. Simultaneously, the "extend-retract" action efficiently switches between floating and fixed modes, meeting the rapid adjustment needs of automated production. The central positioning method also evenly distributes the fixing force, reducing stress concentration.

[0021] The overall design is highly modular, with standardized components that facilitate the individual replacement of vulnerable parts, making maintenance convenient. The spatial layout of each structure is reasonable, with no movement interference, balancing floating flexibility, fixed reliability, and ease of maintenance, providing a stable and precise working reference for tools such as tightening guns. Attached Figure Description

[0022] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art 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 from these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0024] Figure 2 This is the front view of the present invention;

[0025] Figure 3 This is the right view of the present invention;

[0026] Figure 4 This is a top view of the present invention;

[0027] Figure 5 This is a bottom view of the present invention;

[0028] Figure 6 This is a structural diagram of the fixed plate;

[0029] Figure 7 This is a cross-sectional view of the left side of this utility model;

[0030] Figure 8 This is a sectional view of the main view of this utility model.

[0031] Reference numerals in the attached drawings: 1. Positioning cylinder; 2. Fixing plate; 3. Linear bearing; 4. X-axis floating plate; 5. Cylindrical pin; 6. Mounting component; 7. Piston spring; 8. Positioning pin; 9. Tool mounting plate. Detailed Implementation

[0032] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0033] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and 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, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0034] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances. Example

[0035] Reference Figures 1-8 This utility model discloses a floating mechanism for an automatic tightening gun. The utility model includes: a positioning device, a fixing plate 2, and a floating device. The fixing plate 2 is a cuboid, with a top U-shaped groove at the top and a bottom U-shaped groove at the bottom. The top and bottom U-shaped grooves are perpendicular to each other, and the center of the fixing plate 2 is hollowed out. An X-axis floating plate 4 is provided in the top U-shaped groove, and a tool mounting plate 9 is provided in the bottom U-shaped groove. The centers of the X-axis floating plate 4 and the tool mounting plate 9 are hollowed out, and the mounting plate is buoyant. A positioning device is provided on the top of the X-axis floating plate 4.

[0036] Specifically, there is a gap between the X-axis floating plate 4 and the tool mounting plate 9 and the fixed plate 2. The distance between the two plunger springs 7 can be changed by adjusting the plunger springs 7 on the floating device, allowing the X-axis floating plate 4 and the tool mounting plate 9 to move. Once the X-axis floating plate 4 and the tool mounting plate 9 are in the appropriate position, the positioning cylinder 1 is activated, and the positioning pin 8 is inserted into the X-axis floating plate 4 and the tool mounting plate 9, fixing them in place and achieving floating in both the X and Y directions. The floating amount can reach ±3.5mm. The tool mounting plate 9 is used to mount tools such as tightening guns. This utility model has a simple structure; the linear bearing 3, in conjunction with the plunger springs 7, achieves floating in the X and Y directions. The floating function is stable, easy to maintain and replace easily damaged parts, and the positioning device can switch between floating and fixed modes.

[0037] Further configuration: The floating device includes a positioning cylinder 1 and a positioning pin 8. The positioning cylinder 1 is used to drive the positioning pin 8 to move vertically. The positioning pin 8 is inside the positioning cylinder 1. When the positioning pin 8 extends, it inserts into the central hollow between the X-axis floating plate 4 and the tool mounting plate 9.

[0038] Specifically, when the locating pin 8 is inserted into the central hollow of the X-axis floating plate 4 and the tool mounting plate 9, it directly restricts the displacement of the two plates in the XY direction (counteracting the floating degree of freedom), thus rigidly locking the originally floating components. This ensures that tools such as tightening guns on the tool mounting plate 9 will not shift due to external forces or vibrations during operation (such as tightening operations), thereby guaranteeing operational accuracy (such as tightening position, torque stability, etc.). The locating cylinder 1 drives the "extend-retract" action of the locating pin 8, which can quickly switch between "fixed mode" and "floating mode": when retracted, the two plates regain their floating ability, and their positions can be adjusted by the plunger spring 7 to accommodate workpiece errors (±3.5mm float); when extended, the position is immediately locked and the working state is entered. This switching does not require complex operation, responds quickly, and is suitable for the rapid switching needs of "adjustment-work" in automated production lines.

[0039] Further configuration: Two linear bearings 3 are provided on each of the four sides of the fixed plate 2. The linear bearings 3 are used to connect the fixed plate 2 with the X-axis floating plate 4 and the tool mounting plate 9. The X-axis floating plate 4 and the tool mounting plate 9 are each provided with a protrusion, and the two protrusions are perpendicular to each other. A floating device is provided at the location of the protrusion, and the floating device includes a cylindrical pin 5, a mounting part 6, and a plunger spring 7.

[0040] Specifically, the linear bearings 3 on the four sides of the fixed plate 2 are connected to the X-axis floating plate and the tool mounting plate 9, respectively. Their core function is to provide high-precision guidance for the movement of the two plates. The linear bearings 3 themselves have the characteristics of low friction and high rigidity, which can ensure that the X-axis floating plate moves strictly in the X direction and the tool mounting plate 9 moves in the Y direction, avoiding deviation or jamming and ensuring the smoothness of the floating process. Compared with the sliding friction of direct contact, the linear bearings 3 can significantly reduce the wear between components and extend the overall service life of the device, which is especially suitable for scenarios that require frequent floating adjustments. The protrusion of the X-axis floating plate corresponds to the X direction, and its floating device (plunger spring 7) can independently control the ±3.5mm floating amount in the X direction; the protrusion of the tool mounting plate 9 corresponds to the Y direction, and its floating device can independently control the ±3.5mm floating amount in the Y direction. The plunger spring 7 in the floating device is the core elastic component: when the position needs to be adjusted, external force can compress or stretch the plunger spring 7, and the two plates float through the elastic deformation of the spring (the cylindrical pin 5, together with the mounting part 6, plays a limiting and guiding role to prevent the spring from deviating); when there is no external force, the restoring force of the spring can make the two plates automatically return to the initial position, ensuring the consistency of the reference after adjustment.

[0041] Further configured: the mounting component 6 is fixedly mounted on the side of the fixing plate 2 by a cylindrical pin 5. The mounting component 6 includes two parallel mounting brackets, on which plunger springs 7 are fixedly connected. The two plunger springs 7 are arranged opposite to each other. The movable end of the plunger spring 7 abuts against the protrusion.

[0042] Specifically, the mounting component 6 is fixed to the side of the fixed plate 2 by the cylindrical pin 5, forming a rigid reference for the floating device. The fixed plate 2 serves as the fixed base, and the position of the mounting component 6 is precisely positioned, thereby ensuring the stability of the installation posture of the two parallel mounting brackets and the plunger spring 7. This fixing method avoids the displacement of the floating device itself and ensures that the force of the plunger spring 7 is always applied to the protrusion in a preset direction (consistent with the movement direction of the protrusion, i.e., the X or Y direction), providing a precise force source reference for subsequent floating motion.

[0043] The working principle and beneficial effects of this utility model are as follows:

[0044] This device achieves several key technological effects through the collaborative design of multiple components. The vertical U-shaped groove and central hollow structure of the fixed plate 2 provide independent movement space for the X-axis floating plate 4 and the tool mounting plate 9. Together with the linear bearings 3 on the four sides, it forms a high-precision guide, reduces friction loss, and ensures the linearity and stability of movement in the XY directions.

[0045] In the floating device, mounting component 6 is fixed to the fixed plate 2 by cylindrical pin 5. The parallel mounting bracket ensures that the axis of the plunger spring 7 is parallel, and the relatively arranged springs form a two-way elastic constraint on the protrusion: it allows controllable floating of ±3.5mm to accommodate workpiece errors, and achieves automatic reset through elastic restoring force to avoid excessive displacement. This structure, in conjunction with the linear bearing 3, improves the floating accuracy and stability.

[0046] The positioning cylinder 1 of the positioning device drives the positioning pin 8 to move vertically, inserting it into the central hollow to achieve rapid fixation and precisely limit the displacement of the two plates, ensuring no deviation during tool operation. Simultaneously, the "extend-retract" action efficiently switches between floating and fixed modes to meet the rapid adjustment needs of automated production. The central positioning method also evenly distributes the fixing force, reducing stress concentration.

[0047] The overall design is highly modular, with standardized components that facilitate the individual replacement of vulnerable parts, making maintenance convenient. The spatial layout of each structure is reasonable, with no movement interference, balancing floating flexibility, fixed reliability, and ease of maintenance, providing a stable and precise working reference for tools such as tightening guns.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A floating mechanism for an automatic tightening gun, characterized by, include: The positioning device, the fixing plate (2) and the floating device are provided. The fixing plate (2) is a cuboid and has a top U-shaped groove at the top and a bottom U-shaped groove at the bottom. The top U-shaped groove and the bottom U-shaped groove are perpendicular to each other. The center of the fixing plate (2) is hollow. The top U-shaped groove is provided with an X-axis floating plate (4), and the bottom U-shaped groove is provided with a tool mounting plate (9). The center of the X-axis floating plate (4) and the tool mounting plate (9) is hollowed out, wherein the mounting plate can float. The positioning device is provided on the top of the X-axis floating plate (4).

2. A floating mechanism for an automatic tightening gun according to claim 1, characterized in that, include: The floating device includes a positioning cylinder (1) and a positioning pin (8), wherein the positioning cylinder (1) is used to drive the positioning pin (8) to move vertically.

3. A floating mechanism for an automatic tightening gun according to claim 2, characterized in that include: The positioning pin (8) is inside the positioning cylinder (1). When the positioning pin (8) extends, it will insert into the central hollow between the X-axis floating plate (4) and the tool mounting plate (9).

4. A floating mechanism for an automatic tightening gun according to claim 1, characterized in that, include: Two linear bearings (3) are provided on each of the four sides of the fixed plate (2). The linear bearings (3) are used to connect the fixed plate (2) with the X-axis floating plate (4) and the tool mounting plate (9).

5. A floating mechanism for an automatic tightening gun according to claim 1, characterized in that, include: The X-axis floating plate (4) and the tool mounting plate (9) are each provided with a protrusion, and the two protrusions are perpendicular to each other.

6. A floating mechanism for an automatic tightening gun according to claim 5, characterized in that, include: A floating device is provided at the location of the protrusion, the floating device including a cylindrical pin (5), a mounting part (6) and a plunger spring (7).

7. A floating mechanism for an automatic tightening gun according to claim 6, characterized in that include: The mounting component (6) is fixedly mounted on the side of the fixing plate (2) by the cylindrical pin (5).

8. A floating mechanism for an automatic tightening gun according to claim 6, characterized in that, include: The mounting component (6) includes two parallel mounting brackets, on which a plunger spring (7) is fixedly connected.

9. A floating mechanism for an automatic tightening gun according to claim 8, characterized in that include: The two plunger springs (7) are arranged opposite each other.

10. A floating mechanism for an automatic tightening gun according to claim 9, characterized in that include: The movable end of the plunger spring (7) abuts against the protrusion.

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