A floatable clamping device

Abstract

The utility model belongs to mechanical equipment technical field discloses a kind of floatable clamping devices. This floatable clamping device includes mounting pedestal, floating module and clamping module, mounting pedestal is connected to mechanical arm, floating module includes mounting plate and two positioning components, mounting plate is slidably connected in mounting pedestal along X axis, two positioning components are spaced apart and set in the two ends of mounting plate along X axis, the side of two positioning components towards each other has guiding slope and locating surface sequentially arranged along Y axis;Clamping module is connected to the end of mounting plate towards hanger, and along X axis, clamping module is located between two positioning components, and clamping module is used to clamp multiple workpieces. This floatable clamping device realizes pure mechanical floating and positioning by positioning component, without additional servo compensation mechanism, low in cost, can be self-adaptive to the precision error of hanger, ensure that workpiece can be smoothly hung into or taken out hanger, not prone to cause workpiece damage, hanger deformation and other conditions, ensure production rhythm.

Description

Technical Field

[0001] This utility model relates to the field of mechanical equipment technology, and in particular to a floating clamping device. Background Technology

[0002] In automated continuous production lines such as surface treatment, electroplating, and spraying, hangers are typically used to carry workpieces and facilitate transfer between processes. A hanger generally consists of a frame and several hanging components arranged in an array along the Z-axis. Each hanging component has multiple hanging stations spaced apart along the X-axis. After workpieces are picked up in batches by a clamping device, they need to be precisely placed into the corresponding hanging stations.

[0003] However, due to the manufacturing process of non-standard hangers and the cumulative deformation after long-term use, there is generally a random error of about ±2 mm between the actual position and the theoretical design position of each hanger station. When the clamping device performs loading and unloading operations according to the preset trajectory, alignment deviations are very likely to occur between the multiple workpieces clamped on it and the multiple hanger stations, resulting in frequent situations where workpieces cannot be successfully hung or removed. In severe cases, the clamping device and the hanger collide rigidly, causing workpiece damage, hanger deformation, and even equipment shutdown, directly affecting production cycle and product quality.

[0004] Therefore, there is a need to provide a floating clamping device to solve the above problems. Utility Model Content

[0005] The purpose of this utility model is to provide a floating clamping device that uses pure mechanical floating and positioning, without the need for additional servo compensation mechanisms, is low in cost, can adapt to the accuracy error of the fixture, ensures that the workpiece can be smoothly hung or removed from the fixture, and is less likely to cause workpiece damage or fixture deformation, thus ensuring production cycle time.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] A floating clamping device is used to clamp multiple workpieces and hang or remove the multiple workpieces on a hanging assembly of a fixture. The floating clamping device includes:

[0008] Mounting base, connected to robotic arm;

[0009] A floating module includes a mounting plate and two positioning components. The mounting plate is slidably connected to the mounting base along the X-axis. The two positioning components are spaced apart at both ends of the mounting plate along the X-axis. The two positioning components have guide slopes and positioning surfaces arranged sequentially along the Y-axis on the side facing each other.

[0010] A clamping module is connected to one end of the mounting plate facing the hanger and along the X-axis. The clamping module is located between the two positioning components and is used to clamp multiple workpieces.

[0011] The two positioning components can move along the Y-axis toward the hanger so that at least one guide ramp abuts against one side wall of the hanging component. The positioning components continue to move along the Y-axis, and the guide ramp can guide the floating module to float along the X-axis so that the two positioning surfaces of the two positioning components abut against the two side walls of the hanging component, thereby making the multiple workpieces held by the clamping module face the multiple hanging positions of the hanging component.

[0012] Preferably, the positioning component includes:

[0013] A driving component, the fixed end of which is disposed on the mounting plate;

[0014] The positioning plate includes a fixing part and a positioning part. The fixing part is connected to the output end of the driving member. The positioning part extends along the Y-axis and has the guide slope and the positioning surface. Along the Y-axis toward the hanger, the guide slope gradually moves away from the mounting plate.

[0015] Preferably, the floating clamping device further includes:

[0016] A first guide assembly includes a slidingly engaged first slide rail and a first slider. The first slide rail extends along the X-axis. One of the mounting base and the mounting plate is provided with the first slide rail, and the other is provided with the first slider.

[0017] Preferably, the clamping module includes:

[0018] Multiple clamping elements are distributed at intervals along the X-axis, and the clamping elements are used to clamp or release the workpiece.

[0019] Preferably, the clamping module further includes:

[0020] The adsorption assembly includes a support plate, multiple suction cups, and several connectors. Multiple clamping elements are fixed to the support plate. Multiple suction cups are arranged on the side of the support plate facing the hanger. The multiple suction cups are distributed along the X-axis and correspond one-to-one with the multiple clamping elements. The support plate is also provided with several connectors. An air passage is provided inside the support plate. The several connectors are connected to the multiple suction cups through the air passage. A negative pressure generating device is connected to the connectors to enable the suction cups to adsorb the workpiece.

[0021] Preferably, there are two adsorption components, which are located on opposite sides of the clamping member along the Z-axis, and one of the adsorption components is connected to the mounting plate.

[0022] Preferably, there are multiple clamping modules, which are distributed along the X-axis.

[0023] Preferably, the mounting base includes:

[0024] A first base is connected to the robotic arm;

[0025] The second base is slidably connected to the first base, and a buffer extending along the Y-axis is provided between the first base and the second base. The mounting plate is slidably connected to the second base along the X-axis.

[0026] Preferably, the floating clamping device further includes:

[0027] The second guide assembly includes a slidingly engaged second slide rail and a second slider. The second slide rail extends along the Y-axis. One of the first base and the second base is provided with the second slide rail, and the other is provided with the second slider.

[0028] Preferably, the floating clamping device further includes:

[0029] A locking element is provided on the mounting plate. The mounting plate has a first locking hole extending along the Z-axis, and the mounting base has a second locking hole extending along the Z-axis. The floating module moves along the X-axis so that the first locking hole and the second locking hole are aligned. The locking part of the locking element can move along the Z-axis to pass through the first locking hole and the second locking hole, thereby limiting the relative displacement between the floating module and the mounting base.

[0030] The beneficial effects of this utility model are:

[0031] This floating clamping device includes a mounting base, a floating module, and a clamping module. The mounting base is connected to a robotic arm. The floating module includes a mounting plate and two positioning components. The mounting plate is slidably connected to the mounting base along the X-axis. The two positioning components are spaced apart at both ends of the mounting plate along the X-axis. Each positioning component has a guide ramp and a positioning surface arranged sequentially along the Y-axis on one side facing each other. The clamping module is connected to the end of the mounting plate facing the hanger and is located along the X-axis between the two positioning components. The clamping module is used to clamp multiple workpieces. The two positioning components can move along the Y-axis toward the hanger so that at least one guide ramp abuts against one side wall of the hanger component. The positioning components continue to move along the Y-axis, and the guide ramp can guide the floating module to float along the X-axis so that the two positioning surfaces of the two positioning components abut against the two side walls of the hanger component, thereby making the multiple workpieces clamped by the clamping module face the multiple hanging positions of the hanger component.

[0032] First, the robotic arm, carrying the floating gripper, performs a loading action according to a preset trajectory, causing the floating gripper to move towards the hanger. When the floating gripper reaches a corresponding position in front of the hanger, the robotic arm stops. It should be noted that the corresponding position here refers to the position of the floating gripper at this point, ensuring that the travel of the positioning components along the Y-axis allows the two positioning surfaces to abut against the side walls of the hanger component. Then, the two positioning components move towards the hanger along the Y-axis so that at least one guide ramp abuts against one side wall of the hanger component, creating a wedge-like action between the guide ramp and the side wall. As the positioning components move, this wedge... The surface action converts the Y-axis displacement of the positioning component into an X-axis component force, pushing the mounting plate to slide along the X-axis on the mounting base, achieving automatic alignment. Since the two positioning components are spaced apart along the X-axis, the floating process continues until the two positioning surfaces simultaneously adhere to the left and right sidewalls of the hanging component, completing the precise positioning of the floating module along the X-axis. This eliminates the relative positional error between the clamping module and the hanging component set on the floating module. At this point, the multiple workpieces clamped by the clamping module correspond one-to-one with the multiple hanging positions of the hanging component. Finally, the robotic arm continues to move along the Y-axis so that the clamping module hangs multiple workpieces into multiple hanging positions at once, achieving automatic feeding.

[0033] The floating clamping device provided by this utility model utilizes the guide slope of the positioning component to allow the floating module to adaptively float along the X-axis. This ensures a one-to-one correspondence between the multiple workpieces clamped by the clamping module and the multiple mounting positions of the mounting component, eliminating the need for additional sensors or closed-loop control. The structure is simple and reliable. The X-axis position of the floating module after floating is determined by the constraints of the double-sided positioning surfaces and the sidewalls of the mounting component. This prevents relative displacement between the clamping module and the mounting component when the robotic arm continues to move along the Y-axis to advance the clamping module. This floating clamping device uses purely mechanical floating and positioning, eliminating the need for additional servo compensation mechanisms. It is low in cost, adapts to the accuracy error of the mounting fixture, and ensures that workpieces can be smoothly mounted or removed from the fixture. It is less likely to cause workpiece damage or fixture deformation, thus ensuring production cycle time. Attached Figure Description

[0034] Figure 1 This is one of the structural schematic diagrams of the floating clamping device provided by this utility model;

[0035] Figure 2 This is the second structural schematic diagram of the floating clamping device provided by this utility model;

[0036] Figure 3 This is a schematic diagram of the positioning plate provided by this utility model;

[0037] Figure 4 This is a schematic diagram of the clamping module provided by this utility model;

[0038] Figure 5 This is a schematic diagram of the mounting base provided by this utility model.

[0039] In the picture:

[0040] 1. Mounting base; 11. First base; 12. Second base; 13. Buffer component;

[0041] 2. Floating module; 21. Mounting plate; 22. Positioning assembly; 221. Driving component; 222. Positioning plate; 2221. Fixing part; 2222. Positioning part; 22221. Guide slope; 22222. Positioning surface;

[0042] 3. Clamping module; 31. Clamping component; 321. Support plate; 322. Suction cup; 323. Connector;

[0043] 4. First guide assembly; 41. First slide rail; 42. First slider;

[0044] 5. Second guide assembly; 51. Second slide rail; 52. Second slider;

[0045] 6. Locking components;

[0046] 7. Third guide assembly; 71. Third slide rail; 72. Third slider. Detailed Implementation

[0047] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0048] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" 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 communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0049] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0050] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0051] A hanger typically consists of a frame and several hanging components arranged in an array along the Z-axis. Each hanging component has multiple hanging stations spaced apart along the X-axis. After workpieces are picked up in batches by a clamping device, they need to be precisely placed into the corresponding hanging stations. Due to the inherent error between the actual and theoretical positions of the hanging stations on non-standard hangers, when the clamping device in the existing technology performs loading and unloading actions according to a preset trajectory, the workpiece cannot be aligned with the hanging station, resulting in the workpiece being unable to be successfully hung or removed.

[0052] Therefore, such as Figures 1-5 As shown, this embodiment provides a floating clamping device for clamping multiple workpieces and hanging or removing them from a hanging fixture's mounting assembly. This floating clamping device includes a mounting base 1, a floating module 2, and a clamping module 3. The mounting base 1 is connected to a robotic arm. The floating module 2 includes a mounting plate 21 and two positioning components 22. The mounting plate 21 is slidably connected to the mounting base 1 along the X-axis. The two positioning components 22 are spaced apart at both ends of the mounting plate 21 along the X-axis. Each positioning component 22 has a guide slope 22221 and a positioning surface 22222 sequentially arranged along the Y-axis on its side facing each other. The clamping module 3 is connected to the end of the mounting plate 21 facing the fixture and, along the X-axis, clamps the workpieces. Block 3 is located between two positioning components 22. The clamping module 3 is used to clamp multiple workpieces. The two positioning components 22 can move along the Y-axis toward the hanger so that at least one guide ramp 22221 abuts against one side wall of the hanger. The positioning components 22 continue to move along the Y-axis, and the guide ramp 22221 can guide the floating module 2 to float along the X-axis so that the two positioning surfaces 22222 of the two positioning components 22 abut against the two side walls of the hanger respectively, thereby making the multiple workpieces clamped by the clamping module 3 face the multiple hanging positions of the hanger.

[0053] Taking workpiece loading as an example, the workflow of the floating clamping device is described. First, the robotic arm carries the floating clamping device to perform a loading action according to a preset trajectory, that is, the floating clamping device moves towards the hanger. When the floating clamping device moves to the corresponding position in front of the hanger, the robotic arm stops moving. It should be noted that the corresponding position here refers to the position of the floating clamping device at this time, which allows the positioning component 22 to move along the Y-axis to achieve the two positioning surfaces 22222 respectively abutting against the two side walls of the hanger component. Then, the two positioning components 22 move along the Y-axis towards the hanger so that at least one guide inclined surface 22221 can abut against one side wall of the hanger component, so that the guide inclined surface 22221 and the side wall form a wedge action. As the positioning component 22 moves, The wedge action converts the Y-axis displacement of the positioning component 22 into an X-axis component force, pushing the mounting plate 21 to slide along the X-axis on the mounting base 1 to achieve automatic alignment. Since the two positioning components 22 are spaced apart along the X-axis, the floating process continues until the two positioning surfaces 22222 simultaneously adhere to the left and right sidewalls of the hanging component, completing the precise positioning of the floating module 2 along the X-axis. This eliminates the relative position error between the clamping module 3 set on the floating module 2 and the hanging component. At this time, the multiple workpieces clamped by the clamping module 3 correspond one-to-one with the multiple hanging positions of the hanging component. Finally, the robotic arm continues to move along the Y-axis so that the clamping module 3 hangs multiple workpieces into multiple hanging positions at once, achieving automatic feeding.

[0054] It should be noted that when using this floating clamping device to unload workpieces, the workflow is similar to the loading process described above, and will not be repeated in this embodiment.

[0055] The floating clamping device provided in this embodiment utilizes the guide ramp 22221 of the positioning component 22 to allow the floating module 2 to adaptively float along the X-axis. This enables a one-to-one correspondence between the multiple workpieces clamped by the clamping module 3 and the multiple mounting positions of the mounting component, eliminating the need for additional sensors or closed-loop control. The structure is simple and reliable. The X-axis position of the floating module 2 after floating is determined by the constraints of the double-sided positioning surfaces 22222 and the sidewalls of the mounting component. This ensures that when the robotic arm continues to move along the Y-axis to advance the clamping module 3, there will be no relative displacement between the clamping module 3 and the mounting component along the X-axis. This floating clamping device uses purely mechanical floating and positioning, eliminating the need for additional servo compensation mechanisms. It is low in cost, adapts to the accuracy error of the mounting fixture, and ensures that workpieces can be smoothly mounted or removed from the fixture. It is less likely to cause workpiece damage or fixture deformation, thus ensuring production cycle time.

[0056] Optionally, such as Figure 1 , Figure 3 As shown, the positioning component 22 includes a driving member 221 and a positioning plate 222. The fixed end of the driving member 221 is disposed on the mounting plate 21. The positioning plate 222 includes a fixing part 2221 and a positioning part 2222. The fixing part 2221 is connected to the output end of the driving member 221. The positioning part 2222 extends along the Y-axis and has a guide slope 22221 and a positioning surface 22222. Along the Y-axis toward the hanger, the guide slope 22221 gradually moves away from the mounting plate 21. The driving component 221 is used to drive the positioning plate 222 to move along the Y-axis, so that the positioning plate 222 can move towards the hanging component until the guide slope 22221 abuts against the side wall of the hanging component. As the guide slope 22221 extends along the Y-axis towards the hanger, it gradually moves away from the mounting plate 21, so that the slope expands outward as it moves forward. This allows the floating clamping device to be automatically guided even if there is an X-axis error with the hanging component, as long as the edge of the hanger can abut against the guide slope 22221. The fault tolerance range is large. As it continues to advance, the guide slope 22221 transitions to the positioning surface 22222, and finally, the two positioning surfaces 22222 are in contact with the two side walls of the hanging component to achieve precise positioning.

[0057] In one optional embodiment, the fixing part 2221 and the positioning part 2222 are integrally formed; in another optional embodiment, the fixing part 2221 and the positioning part 2222 are separately formed and connected by means of threaded connection, adhesive, riveting or welding.

[0058] In this embodiment, the driving component 221 is a slide cylinder. It should be noted that any structure in the prior art capable of driving the positioning plate 222 to move along the Y-axis can be used as the driving component 221 in this embodiment, and this embodiment does not limit it.

[0059] Optionally, such as Figure 1 As shown, this floating clamping device also includes a third guide assembly 7, which provides guidance for the movement of the positioning plate 222 along the Y-axis. The third guide assembly 7 prevents the positioning plate 222 from wobbling along the X-axis or Y-axis during movement, ensuring the movement accuracy of the positioning plate 222 and reducing wear on the drive end of the drive component 221, thus extending the lifespan of the drive component 221.

[0060] Specifically, such as Figure 1 As shown, the third guide assembly 7 includes a slidingly fitted third slide rail 71 and a third slider 72. The third slide rail 71 extends along the Y-axis. One of the positioning plate 222 and the mounting plate 21 is provided with the third slide rail 71, and the other is provided with the third slider 72.

[0061] In some embodiments, a third slide rail 71 is provided on the positioning plate 222, and a third slider 72 is provided on the mounting plate 21; in other embodiments, a third slider 72 is provided on the positioning plate 222, and a third slide rail 71 is provided on the mounting plate 21. It should be noted that the specific arrangement of the third slide rail 71 and the third slider 72 is not limited in this embodiment, and can be set according to actual needs.

[0062] Optionally, such as Figure 1 As shown, this floating clamping device also includes a first guide assembly 4, which includes a first slide rail 41 and a first slider 42 that are slidably engaged. The first slide rail 41 extends along the X-axis. One of the mounting base 1 and the mounting plate 21 is provided with the first slide rail 41, and the other is provided with the first slider 42. That is, the mounting plate 21 is slidably connected to the mounting base 1 through the first guide assembly 4, which can ensure the accuracy of the floating module 2 floating along the X-axis.

[0063] In some embodiments, a first slide rail 41 is provided on the mounting base 1, and a first slider 42 is provided on the mounting plate 21; in other embodiments, a first slider 42 is provided on the mounting base 1, and a first slide rail 41 is provided on the mounting plate 21. It should be noted that the specific arrangement of the first slide rail 41 and the first slider 42 is not limited in this embodiment, and can be set according to actual needs.

[0064] Optionally, such as Figure 1 , Figure 4As shown, the clamping module 3 includes multiple clamping elements 31, which are spaced apart along the X-axis. The clamping elements 31 are used to clamp or release workpieces. By setting multiple clamping elements 31, multiple workpieces can be clamped simultaneously, ensuring that multiple workpieces can be hung at multiple hanging positions in a single operation. When a clamping element 31 is damaged, it only needs to be replaced individually, which is relatively simple and convenient.

[0065] In this embodiment, the clamping component 31 is a gripper cylinder, and its specific structure will not be described in detail. It should be noted that any structure in the prior art capable of clamping a workpiece can be used as the clamping component 31 in this embodiment, and this embodiment is not limited thereto.

[0066] Optionally, such as Figure 1 , Figure 4 As shown, the clamping module 3 also includes an adsorption assembly, which includes a support plate 321, multiple suction cups 322, and several connectors 323. Multiple clamping elements 31 are fixed to the support plate 321. Multiple suction cups 322 are arranged on the side of the support plate 321 facing the hanger. The multiple suction cups 322 are distributed along the X-axis and correspond one-to-one with the multiple clamping elements 31. Several connectors 323 are also provided on the support plate 321. An air passage is provided inside the support plate 321, and the connectors 323 are connected to the multiple suction cups 322 through the air passage. A negative pressure generating device is connected to the connectors 323 to allow the suction cups 322 to adsorb the workpiece. By mechanically clamping the workpiece with the clamping elements 31 and simultaneously applying adsorption force to the workpiece using the suction cups 322, the stability of the workpiece during clamping is greatly enhanced, effectively preventing the workpiece from shaking, shifting, or falling off during handling. Several connectors 323 are provided on the support plate 321, and the connectors 323 are connected to multiple suction cups 322 through the internal air passage, making the air passage layout more compact and reasonable, reducing the complexity of air passage connection and floor space, and facilitating installation and maintenance.

[0067] It should be noted that the clamping member 31 can be fixed to the support plate 321 by adhesive. This embodiment does not limit the specific fixing method.

[0068] Optionally, such as Figure 1 , Figure 4 As shown, there are two adsorption components, located on opposite sides of the clamping member 31 along the Z-axis, with one component connected to the mounting plate 21. The two adsorption components, positioned on opposite sides of the clamping member 31 along the Z-axis, further enhance the stability of the workpiece during clamping and ensure a more uniform distribution of adsorption force, resulting in a more balanced force distribution on the workpiece along the Z-axis. This avoids potential tilting or deformation problems caused by uneven force distribution on the workpiece due to unilateral adsorption.

[0069] Specifically, the adsorption component is connected to the mounting plate 21 via the support plate 321, and the connection method can be adhesive, threaded connection, or other specific methods, which are not limited in this embodiment.

[0070] Optionally, such as Figure 1 As shown, there are multiple clamping modules 3, distributed along the X-axis. When a clamping module 3 malfunctions, it can be repaired or replaced individually, reducing maintenance costs. Each clamping module 3 can be independently controlled, performing precise motion control according to its own clamping task.

[0071] Optionally, such as Figure 1 , Figure 5 As shown, the mounting base 1 includes a first base 11 and a second base 12. The first base 11 is connected to the aforementioned robotic arm. The second base 12 is slidably connected to the first base 11, and a buffer 13 extending along the Y-axis is provided between the first base 11 and the second base 12. The aforementioned mounting plate 21 is slidably connected to the second base 12 along the X-axis. During operation, the robotic arm may experience displacement deviation along the Y-axis, causing the gripping module 3 to collide with the hanger along the Y-axis. By allowing the second base 12 to slide relative to the first base 11 along the Y-axis and providing the buffer 13, the displacement deviation along the Y-axis can be automatically compensated, preventing the gripping module 3 from being damaged by a rigid collision with the hanger.

[0072] In this embodiment, the buffer 13 is a spring that extends along the Y-axis, and its two ends are connected to the first base 11 and the second base 12, respectively. Specifically, the spring can be connected to the first base 11 and the second base 12 by means of adhesive bonding, welding, or other methods.

[0073] Optionally, such as Figure 5 As shown, there are multiple buffer elements 13, which are spaced apart along the X-axis. The multiple buffer elements 13 together provide cushioning for the second base 12, resulting in better cushioning performance. Even if a single buffer element 13 is damaged or its performance degrades, other buffer elements 13 can still provide cushioning, preventing rigid collisions between the clamping module 3 and the hanger.

[0074] Optionally, such as Figure 1 As shown, this floating clamping device also includes a second guide assembly 5. The second guide assembly 5 includes a slidingly engaged second slide rail 51 and a second slider 52. The second slide rail 51 extends along the Y-axis. One of the first base 11 and the second base 12 is provided with the second slide rail 51, and the other is provided with the second slider 52. That is, the second base 12 is slidably connected to the first base 11 through the second guide assembly 5, which can ensure the accuracy of the movement of the second base 12 along the Y-axis.

[0075] In some embodiments, a second slide rail 51 is provided on the first base 11, and a second slider 52 is provided on the second base 12; in other embodiments, a second slider 52 is provided on the first base 11, and a second slide rail 51 is provided on the second base 12. It should be noted that the specific arrangement of the first slide rail 41 and the first slider 42 is not limited in this embodiment, and can be set according to actual needs.

[0076] Optionally, such as Figure 2 As shown, the floating clamping device also includes a locking member 6, which is disposed on the mounting plate 21. The mounting plate 21 has a first locking hole extending through it along the Z-axis, and the mounting base 1 has a second locking hole extending through it along the Z-axis. The floating module 2 moves along the X-axis to align the first and second locking holes. The locking part of the locking member 6 can move along the Z-axis to pass through the first and second locking holes, thereby limiting the relative displacement between the floating module 2 and the mounting base 1. To prevent the floating module 2 from shifting when the workpiece is loaded onto the clamping module 3, the locking part of the locking member 6 passes through the first and second locking holes to limit the floating module 2 and the mounting base 1, preventing relative displacement between them. When using this floating clamping device to load and unload the hanger, the locking part of the locking member 6 moves along the Z-axis to retract, allowing the floating module 2 to float relative to the mounting base 1 along the X-axis.

[0077] In this embodiment, the locking element 6 is a cylinder. The fixed end of the cylinder is fixed on the mounting plate 21, and the output end of the cylinder extends along the Z-axis and is located in the first locking hole.

[0078] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A floating clamping device for clamping multiple workpieces and attaching or removing the multiple workpieces onto a hanging assembly of a fixture, characterized in that, The floating clamping device includes: Mounting base (1), connected to the robotic arm; The floating module (2) includes a mounting plate (21) and two positioning components (22). The mounting plate (21) is slidably connected to the mounting base (1) along the X-axis. The two positioning components (22) are spaced apart at both ends of the mounting plate (21) along the X-axis. The two positioning components (22) have guide slopes (22221) and positioning surfaces (22222) arranged sequentially along the Y-axis on the side facing each other. A clamping module (3) is connected to one end of the mounting plate (21) facing the hanger and along the X-axis. The clamping module (3) is located between the two positioning components (22) and is used to clamp multiple workpieces. The two positioning components (22) can move along the Y-axis toward the hanger so that at least one guide ramp (22221) abuts against one side wall of the hanging component. The positioning components (22) continue to move along the Y-axis, and the guide ramp (22221) can guide the floating module (2) to float along the X-axis so that the two positioning surfaces (22222) of the two positioning components (22) abut against the two side walls of the hanging component respectively, thereby making the multiple workpieces clamped by the clamping module (3) face the multiple hanging positions of the hanging component.

2. The floating clamping device according to claim 1, characterized in that, The positioning component (22) includes: The driving component (221) has its fixed end disposed on the mounting plate (21); The positioning plate (222) includes a fixing part (2221) and a positioning part (2222). The fixing part (2221) is connected to the output end of the driving member (221). The positioning part (2222) extends along the Y-axis and has the guide slope (22221) and the positioning surface (22222). The guide slope (22221) gradually moves away from the mounting plate (21) along the Y-axis toward the hanger.

3. The floating clamping device according to claim 1, characterized in that, The floating clamping device further includes: The first guide assembly (4) includes a slidingly fitted first slide rail (41) and a first slider (42). The first slide rail (41) extends along the X-axis. One of the mounting base (1) and the mounting plate (21) is provided with the first slide rail (41), and the other is provided with the first slider (42).

4. The floating clamping device according to claim 1, characterized in that, The clamping module (3) includes: Multiple clamping elements (31) are distributed at intervals along the X-axis, and the clamping elements (31) are used to clamp or release the workpiece.

5. The floating clamping device according to claim 4, characterized in that, The clamping module (3) also includes: The adsorption assembly includes a support plate (321), multiple suction cups (322), and several connectors (323). Multiple clamping members (31) are fixed on the support plate (321). Multiple suction cups (322) are provided on the side of the support plate (321) facing the hanger. The multiple suction cups (322) are distributed along the X-axis and correspond one-to-one with the multiple clamping members (31). Several connectors (323) are also provided on the support plate (321). An air passage is provided inside the support plate (321). Several connectors (323) are connected to multiple suction cups (322) through the air passage. A negative pressure generating device is connected to the connectors (323) to enable the suction cups (322) to adsorb the workpiece.

6. The floating clamping device according to claim 5, characterized in that, The number of adsorption components is two, and the two adsorption components are located on both sides of the clamp (31) along the Z-axis, and one of the adsorption components is connected to the mounting plate (21).

7. The floating clamping device according to claim 1, characterized in that, The number of clamping modules (3) is multiple, and the multiple clamping modules (3) are distributed along the X-axis.

8. The floating clamping device according to any one of claims 1-7, characterized in that, The mounting base (1) includes: The first base (11) is connected to the robotic arm; The second base (12) is slidably connected to the first base (11), and a buffer (13) extending along the Y-axis is provided between the first base (11) and the second base (12). The mounting plate (21) is slidably connected to the second base (12) along the X-axis.

9. The floating clamping device according to claim 8, characterized in that, The floating clamping device further includes: The second guide assembly (5) includes a slidingly engaged second slide rail (51) and a second slider (52). The second slide rail (51) extends along the Y-axis. One of the first base (11) and the second base (12) is provided with the second slide rail (51), and the other is provided with the second slider (52).

10. The floating clamping device according to any one of claims 1-7, characterized in that, The floating clamping device further includes: Locking member (6) is disposed on mounting plate (21). Mounting plate (21) has a first locking hole through it along the Z-axis. Mounting base (1) has a second locking hole through it along the Z-axis. Floating module (2) moves along the X-axis so that the first locking hole and the second locking hole are aligned. The locking part of locking member (6) can move along the Z-axis to pass through the first locking hole and the second locking hole to limit the relative displacement between floating module (2) and mounting base (1).

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