Floating Contact Device

Abstract

To provide a floating contact device provided with a floating mechanism capable of coping with variations in connector positions in all directions that are front and rear, left and right, and inclination.SOLUTION: A floating contact device 1, which drives in a contact direction an equipment-side connector 34 capable of being brought into contact with a work-side connector and capable of moving along the contact direction and which brings the equipment-side connector 34 into contact therewith while adjusting a position of the equipment-side connector, includes a floating unit 3 and a drive device 5. The floating unit 3 has: a floating base 31; a spring 311; a positioning pin 321 having a projection 3211 projecting in the contact direction; a positioning base 32 having a spherical portion projecting in a direction opposite to the contact direction; a guide member 33 having a recess capable of being brought into contact with the projection 3211; and the equipment-side connector 34. The drive device has a drive plate 51.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to a floating abutment device. [Background technology]

[0002] 2. Description of the Related Art Conventionally, when manufacturing a workpiece, a device is known in which a facility-side connector is brought into contact with a work-side connector for connection in order to inspect the performance.

[0003] For example, Patent Document 1 discloses, as alignment means, an XYθ floating means that moves the contact head in the direction of the contact surface between the contact head and the semiconductor tester, and a surface tracing means that corrects the inclination of the contact surface after the XYθ floating means operates. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2007-71807 Summary of the Invention [Problem to be solved by the invention]

[0005] In workpieces with one or more resin connectors, there may be large variations in the connector mounting position. In addition to misalignment on the XY plane, there may also be misalignment in the rotational direction around each axis that makes up the spatial coordinate system. In the case of multiple connectors, there may also be inherent misalignment between the connectors.

[0006] Therefore, to smoothly connect the equipment-side connector, it is necessary to make a floating contact with the work-side connector individually. At this time, it is necessary to avoid applying excessive moment force to the connector so as not to damage the work-side elements, etc.

[0007] The present invention was created in consideration of this point, and its purpose is to provide a floating abutment device equipped with a floating mechanism that can accommodate variations in connector position in all directions, including front-to-back, left-to-right, and tilt. [Means for solving the problem]

[0008] The present invention provides a floating abutment device (1) that drives an equipment-side connector (34) that can abut against one or more work-side connectors (C) and that can move along the abutment direction in the abutment direction, and abuts the equipment-side connector while adjusting its position, and the floating abutment device (1) includes one or more floating sections (3) and a drive device (5).

[0009] The floating part includes a floating base 31, one or more springs 311, a positioning pin 321, a positioning base 32, a guide member 33, and an equipment-side connector. The floating base and the guide member are connected to each other, and the positioning base and the equipment-side connector are connected to each other.

[0010] The one or more springs are fixed in the abutment direction by a floating base. The positioning pin is located in the abutment direction relative to the spring and has a convex portion. The positioning base fixes the positioning pin so that the convex portion protrudes in the abutment direction and has a spherical portion protruding in the opposite abutment direction. The guide member has a concave portion that faces the convex portion of the positioning pin and can abut against it.

[0011] The drive device has a drive plate (51) that drives one or more floating portions in the abutment direction.

[0012] In this specification, the term "connector" is used to mean a connecting or contacting member used in a general system in which one component and another component are brought into contact with each other at predetermined positions to establish a certain connection or contact state, not limited to a general mating connection system. Similarly, the term "contact" is used to mean not only simply contacting but also establishing some kind of connection or contact state, including mating systems. Therefore, the scope of application of this invention is not limited to mating connections between connectors.

[0013] (effect) According to the present invention, the position of the equipment-side connector can be adjusted while abutting it in all directions, including front-to-back, left-to-right, and tilt, to flexibly accommodate positional variations in the work-side connector, thereby enabling a smooth connection in an optimal positional relationship. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 is a perspective view of a first embodiment. [Figure 2] FIG. [Figure 3] Plan view of the workpiece. [Figure 4] Bottom view of the workpiece. [Figure 5] Front view of the workpiece. [Figure 6] Side view of the workpiece. [Figure 7] FIG. 2 is a side view of the first embodiment and a workpiece. [Figure 8] Partial cross-sectional view of Figure 1. [Figure 9] FIG. 4 is a side cross-sectional view showing one connecting body of the floating portion. [Figure 10] FIG. 10 is a side cross-sectional view showing another connecting body of the floating portion. [Figure 11] Figure 1 shows how the floating mechanism works. [Figure 12] Figure 2 shows how the floating mechanism works. [Figure 13] Figure 3 shows how the floating mechanism works. [Figure 14] FIG. 10 is a diagram showing the functions of the drive plate and the regulating plate. [Figure 15] FIG. [Figure 16] FIG. [Figure 17] FIG. 10 is a perspective view of one connecting body according to the second embodiment. [Figure 18] FIG. [Figure 19] FIG. [Figure 20]Perspective view of the unchucked state (front side). [Figure 21] 10 is a flowchart of a contact operation. [Figure 22] FIG. [Figure 23] How the sensor mechanism works. [Figure 24] Flowchart of the punching process. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, several embodiments of the present invention will be described with reference to the drawings. In the following embodiments, the workpiece W is an automobile EPS-MCU (electric power steering motor control unit), the equipment is motor performance inspection equipment, and "contact" refers to the mating connection of matable connectors. Wiring of the equipment-side connector 34 is omitted from the illustration.

[0016] [First embodiment] The first embodiment of the present invention is a floating abutment device 1 that includes two floating sections 3 and a drive unit 5, and drives an equipment side connector 34 that is capable of abutting against two work side connectors C on a work W and is movable along the abutment direction d1 in the abutment direction d1, and abuts the equipment side connector 34 while adjusting the position of the equipment side connector 34.

[0017] FIG. 1 shows the floating abutment device 1, and FIGS. 2-6 show the workpiece W. Of the components constituting the workpiece W in this embodiment, the cover W1 and the member W2 connecting the cover W1 to the workpiece-side connector C are made of resin. The motor housing W3 is a separate metal body containing two three-phase brushless motors, and is provided with two redundant connectors for connecting the power lines and signal lines of each system, to which the cover W1, connecting member W2, etc. are attached. The floating abutment device 1 has two floating sections 3 corresponding to these. FIG. 7 shows the state in which the workpiece W is presented to the floating abutment device 1 with the connection port of the connector C facing downward, and is waiting until the equipment-side connector 34 is mated and connected.

[0018] For parts like the workpiece W, molding and assembly variations can occur in the resin parts, and misalignment can occur not only in the XY plane but also in each rotational direction. To illustrate the potential for assembly variations in the two workpiece-side connectors C in multiple directions, Figure 2 shows the X-, Y-, and Z-axis directions that make up the three-dimensional space, with the connector mating direction being the Z-axis, along with the φ (phi), θ (theta), and ψ (psi) directions, which are the names used in this specification for the rotational directions around these axes. Furthermore, Figures 3-6 illustrate various types of misalignment and their directions with double-headed arrows. Specifically, Figures 3 and 4 show rotational misalignment in the ψ direction around the Z axis, Figure 5 shows rotational misalignment in the φ direction around the X axis, and Figure 6 shows rotational misalignment in the θ direction around the Y axis. Addressing each of these misalignments individually is inefficient, which is why labor savings are required.

[0019] In order to achieve smooth contact in response to multiple misalignments, including misalignment on a plane, in the rotational direction, and between connectors, a mechanism is required to correct the posture of the equipment-side connector 34 in all of these directions. In the present invention, a smooth contact state is achieved by a floating mechanism including a spring 311, as described below.

[0020] <Floating section> Fig. 8 shows the structure of the floating unit 3. The floating unit 3 has a floating base 31, two springs 311, a positioning pin 321, a positioning base 32, a guide member 33, and an equipment-side connector 34. As shown in Fig. 8, in this embodiment, two floating units 3 are provided in parallel, and each floating unit 3 has two springs 311.

[0021] Two springs 311 are fixed upright in the contact direction d1 by the floating base 34. The positioning pin 321 is located closer to the contact direction d1 (directly above the spring 311) and has a protrusion 3211. One positioning pin 321 is provided for each spring 311. The positioning base 32 fixes two positioning pins 321 upright so that the protrusions 3211 of the positioning pins 321 protrude in the contact direction d1, and also has a spherical surface 322 that protrudes in the anti-contact direction d2. The guide member 33 has recesses 331 on its underside that face the protrusions 3211 of the positioning pins 321 and can abut against them. The same number of recesses 331 are provided as the number of positioning pins 321.

[0022] The floating base 31 and guide member 33 (hereinafter referred to as "one connecting body"), and the positioning base 32 and equipment-side connector 34 (hereinafter referred to as "other connecting body") are connected to each other. Figures 9-10 show each connecting body, and Figures 11-13 show the combination and function of both connecting bodies. Both connecting bodies are combined as shown in Figure 11-13. The connecting portion of the positioning base 32 and equipment-side connector 34 passes through a through-hole provided near the center of the guide member 33, and the positioning pin 321 fitted into the positioning base 32 has a spring 311 fitted into the floating base 31 directly below it.

[0023] With the above configuration, the positioning base 32 is supported by the floating base 31 at one point on the spherical surface 322, and the convex portion 3211 of the positioning pin 321 is guided by the concave portion 331 of the guide member 33 while being freely displaced in all directions by the spring 311, aligning the orientation of the equipment-side connector 34 with the work-side connector C to the optimal abutment direction. A mechanism having the above functions will be referred to as the "floating mechanism" hereinafter. The floating mechanism is formed so as to be separable from the drive plate 51, which will be described later, and therefore can be easily removed for maintenance.

[0024] <Drive unit> 1 again, the driving device 5 has a driving plate 51 that drives the two floating portions 3 in the contact direction d1, and a regulating plate 52. In this embodiment, the driving device 5 is a chuck cylinder.

[0025] Figure 14 shows a schematic diagram of the functions of the drive plate 51 and the regulating plate 52. Figure 14(a) shows the initial state. When the drive plate 51 drives the floating portion 3 in the contact direction d1, the regulating plate 52 moves in the anti-contact direction d2. Next, when the equipment-side connector 34 contacts the work-side connector C, the regulating plate 52 contacts the work-side connector C from the side opposite to the side where the equipment-side connector 34 contacts. This state is shown in Figure 14(b). Furthermore, when the equipment-side connector 34 contacts and continues to press the work-side connector C, the regulating plate 52 continues to press the work-side connector C from the opposite side until the two connectors are mated. Figure 14(c) shows the state when the mating connection is complete. As a result, the regulating plate 52 bears the load of the equipment-side connector 34, stabilizing the two connectors during contact (mating connection).

[0026] <Floating mechanism> Initially, the work-side connector C is in a state where it is slightly deviated from the design value, as shown in Figure 11. Next, when the floating part is driven upward in the abutment direction d1, the equipment-side connector 34 and the work-side connector C are unable to abut in the optimal abutment direction, and collide while tilted, as shown in Figure 12. At this time, because the orientation of the equipment-side connector 34 does not match the orientation of the work-side connector C, the equipment-side connector 34 will come into contact with the work-side connector C at, for example, a specific point. Figure 12 also shows the "optimal abutment direction" and the actual "abutment direction (before adjustment)."

[0027] As a result, the spring continues to be pressed by the positioning base 32 connected to the work-side connector C as shown in Figure 13 and becomes compressed, creating a gap S between the convex portion 3211 of the positioning pin 321 and the concave portion 331 of the guide member 33, allowing the positioning base 32 to float in any of the X-axis direction, Y-axis direction, φ direction, θ direction, and ψ direction. The convex portion 3211 of the positioning pin 321 in Figure 13 floats by sliding and moving in the upper left direction of the figure as shown by arrow dF. Figure 13 also shows the "contact direction (before adjustment)" and the "contact direction (after adjustment)."

[0028] As a result, the posture of the equipment-side connector 34 is adjusted by the free displacement of the spring 311, allowing it to abut against the work-side connector C from the optimal abutment direction, resulting in a smooth mating connection. When the specified purpose is achieved, that is, in this embodiment, when the MCU performance test is completed, the floating base 31 descends, the spring 311 returns to its original position (FIG. 11), the positioning pin 321 is guided by the recess 331 of the guide member 33, and the entire mechanism returns to its initial position.

[0029] Effect of First Embodiment The first embodiment allows the position of the equipment-side connector to be adjusted while abutting in a flexible manner to accommodate positional variations in the work-side connector in all directions, including front-to-back, left-to-right, and tilt, thereby enabling a smooth connection state to be established in the optimal positional relationship.

[0030] [Second embodiment] 15-16 show a second embodiment. In the second embodiment, the element corresponding to the "first connected body" (floating base 31 + guide member 33) in the first embodiment will be referred to as "first connected body XA," and the element corresponding to the "other connected body" (positioning base 32 + facility-side connector 34) will be referred to as "other connected body XB." The second embodiment is designed to have a robot perform the contacting operation. Specifically, the robot arm RB uses a pair of handles H to grasp and move the housing 323 of the first connected body XA, and contacts the facility-side connector 34 of the other connected body XB, which is integrated with the first connected body XA, with the work-side connector C. FIG. 16 shows the state before the robot arm RB grasps the housing 323.

[0031] The second embodiment of the present invention is a floating abutment device 1 that includes one floating section 3 and a robot arm RB, and that drives an equipment-side connector 34 that can abut against one work-side connector C of a workpiece W and that can move along the abutment direction d1 in the abutment direction d1, and abuts the equipment-side connector 34 while adjusting the position of the equipment-side connector 34. A pair of handles H of the robot arm RB are formed in a claw shape so that both ends face each other. Illustrations and descriptions of components common to the first embodiment will be omitted.

[0032] The second embodiment differs from the first embodiment in the following respects. (1) The driving device 5 in the first embodiment is replaced with a robot arm RB. (2) In appearance, the positional relationship between the equipment-side connector 34 and the work-side connector C is reversed from that in the first embodiment. That is, in the second embodiment, the work-side connector C is fixed so that its opening faces upward, and the robot arm RB uses a pair of handles H to bring the equipment-side connector 34 close to the work-side connector C while holding one connected body XA so that its opening faces downward. (3) A sensor mechanism TP (FIG. 22, described later) is further provided to detect when the floating base 31 and the positioning base 32 reach the contact position during the contact operation, and the robot arm RB switches between the “chuck” mode and the “unchuck” mode using this sensor mechanism TP, as described later.

[0033] 17 shows one connected body XA and another connected body XB. As described above, one connected body XA and another connected body XB are substantially integrated, as in the first embodiment, but in the second embodiment, the connecting portion of one connected body XA between floating base 31 and guide member 33 is covered by housing 323, and spring 311, positioning base 32, and positioning pin 321 cannot be seen from the outside. However, because housing 323 has a dumbbell handle-like shape that connects floating base 31 and guide member 33, robot arm RB can be easily grasped from both sides by two handles H.

[0034] Continuing to refer to Figure 17, the floating base 31, the positioning base 32, and the guide member 33 are each provided with a communication hole that connects to the rear (top) part of the equipment-side connector 34 (only the communication hole 313 of the floating base 31 is shown), and two cables 341 of the equipment-side connector 34 are led out to the outside through the communication holes 313.

[0035] Next, in the second embodiment, it will be explained that there are two types of states, a "chuck" state and an "unchuck" state, as a method for the robot arm RB to grip the housing 323.

[0036] FIG. 18 shows the state in which the robot arm RB is "chucking" the housing 323. In the second embodiment, even in the "chucking" state, the housing 323 is not completely chucked so as not to move. A stopper is provided on the chucking mechanism, in which one of the pair of handles H slides horizontally, and a gap of about 0.5 mm is left between the handle H and the side of the housing 323. By providing "play" between one connecting body XA and the handle H of the robot arm RB in this way, it becomes easier to perform the work of aligning (centering) the approximate positions along the abutment direction of the equipment-side connector 34 and the work-side connector C before entering the floating operation.

[0037] 19 shows the state in which the robot arm RB is "unchucking" the housing 323. In the second embodiment, "unchucking" does not mean "releasing the chucking state and retreating," but rather "releasing the chucking state but not retreating, and remaining in a position where a gap of about 5.0 mm is maintained between each handle H and the side surface of the housing 323." This distance of 5.0 mm is sufficient to ensure that the housing 323 is not fixed but the entire one connected body XA is supported by both handles H and will not fall, and is also a distance that allows the one connected body XA to be pushed and pulled in the vertical direction toward the work-side connector C.

[0038] 20 shows the front side of the "unchucked" state. In this "unchucked" state, the pair of handles H of the robot arm RB do not come into contact with the side surfaces of the connecting portion (housing 323) of one connected body XA, but by maintaining a distance that allows them to hold the one connected body XA without dropping it, the one connected body XA can move freely within that range, creating a floating state, and the abutment direction of both connectors can be adjusted to align it in the optimal direction and position. In this way, the "unchucked" state is also a "floating" state.

[0039] After the contact operation is completed, the robot arm RB can move away from the one connected body XA, which is fixed in contact with the equipment-side connector C, simply by retreating horizontally backward, just as a forklift truck places a pallet and moves away, and can maintain a distance that does not interfere with the connector inspection operation.

[0040] <Contact work> 21 shows a flowchart of the abutment operation in the second embodiment. In step S1, the robot arm RB is in the "chuck" mode and "chucks" the housing 323 of one connected body XA so that it can approximately abut against the work-side connector C, thereby adjusting the orientation and position of the equipment-side connector 34 to the orientation of the work-side connector C.

[0041] Next, in step S2, the robot arm RB pushes the equipment-side connector 34 toward the work-side connector C, thereby fitting the paired tip ends together to a certain extent. The floating abutment device of the second embodiment is equipped with a sensor mechanism TP. When the equipment-side connector 34 is pushed into the abutment position between the floating base 31 and the positioning base 32, the sensor mechanism TP is activated, and the process proceeds to step S3, where it switches to the "unchuck" mode (step 21). This is because it is assumed that the abutment position requires some degree of mating, but that thereafter it is necessary to float one connected body XA and adjust it to the optimum abutment position. In the second embodiment, the abutment position is reached when the connected body XA advances, for example, by 3.0 mm.

[0042] FIG. 22 shows an example of the installation of the sensor mechanism TP. FIG. 23 illustrates the mechanism of the sensor mechanism TP. As shown in FIG. 23, the sensor mechanism TP uses a transmission-type photomicrosensor and is configured to detect contact between the floating base 31 and the positioning base 32 based on the establishment of an optical path PW when the floating base 31 and the positioning base 32 reach their abutment position. Specifically, the optical path PW of the transmission-type photomicrosensor is blocked before contact. The L-shaped bracket LG has a through-hole formed in it that creates the optical path PW when the L-shaped bracket LG is positioned at the abutment position. The L-shaped bracket LG is positioned so that the through-hole is aligned with the optimal operating position of the sensor mechanism TP. During the pushing operation, when the through-hole reaches the abutment position, the sensor mechanism TP detects that the optical path PW of the transmission-type photomicrosensor has been established, and the robot arm RB transitions from "chuck" mode to "unchuck" mode. The diameter of the through-hole is set to, for example, 3.0 mm, and the pushing operation continues as long as the optical path PW is established within the through-hole.

[0043] In step S3, the robot arm RB, in "unchuck" mode, floats one connected body XA while further pushing the equipment-side connector 34 toward the work-side connector C. Thereafter, the equipment-side connector 34 is pushed in by 3.0 mm or more, causing the through-hole of the L-shaped metal fitting LG to move away from the vicinity of the abutment position. When the through-hole moves beyond the preset distance from the abutment position, i.e., beyond the range of the aforementioned 3.0 mm diameter of the through-hole, the light path PW of the transmissive photomicrosensor returns to its blocked state. At this point, the robot arm RB determines that the abutment operation is complete, stops pushing (driving in the abutment direction) to avoid an overload condition, and slightly retracts the handle H in the direction away from the floating base 31 and the positioning base 32, and retreats in the forklift manner described above (paragraph

[0039] ) (step S4).

[0044] <Punching work> Next, the extraction operation will be described. This is the operation of gripping the facility-side connector 34 again with the robot arm RB and removing it from the work-side connector C after the inspection of both connectors is completed. Figure 24 shows the flow of the extraction operation in the second embodiment. In step S5, the robot arm RB re-approaches the housing 323 and returns to the "unchuck" mode. In step S6, the first connected body XA is pushed upward to remove the facility-side connector 34 from the work-side connector C. In step S7, the robot arm RB transitions to the "chuck" mode so as not to drop the first connected body XA. In step S8, the robot arm RB retreats backward in preparation for the operation of abutting with the next work-side connector C awaiting inspection.

[0045] Effect of the Second Embodiment The effects of the first embodiment can be extended to the use of a robot arm, which makes it possible to apply the present invention to a variety of situations, such as when the position and orientation of the work connector are not always the same, and the AI-equipped robot can autonomously determine the approximate approach line that allows smooth contact and contact the equipment connector.

[0046] [Other embodiments] Although the EPS-MCU in the above embodiment has a dual-system configuration in which two connectors are provided for redundancy, the connector configuration is not limited to this. For example, the present invention can be applied to an EPS-MCU with a single-system configuration in which one connector is provided, in the same manner as the above embodiment.

[0047] In the above embodiment, the "contact direction" is the up-down or vertical direction, with the work-side connector disposed on the upper (lower) side and the equipment-side connector disposed on the lower (upper) side, but the "contact direction" is not limited to this. For example, it may be horizontally oriented to the left or right, or one or both of the work-side connector and the equipment-side connector may be held by a robot arm to autonomously adjust the approach direction of the two connectors.

[0048] In the above embodiment, the "spherical surface" is formed integrally with the floating base, but the "spherical surface" method is not limited to this. It may be an embedded hard ball that partially protrudes in the anti-contact direction, or it may be capable of free rotation in all directions, like a so-called free ball bearing or ball roller. Also, while the term "spherical surface" is used for convenience, it is not limited to a spherical surface, and any shape is acceptable as long as it can freely slide and float on the upper surface of the floating base while receiving a load from above the positioning base.

[0049] In this invention, the term "connector" is not limited to a mating connection but refers to a general method of establishing a certain connection or contact state by abutting one component and another component at their respective predetermined positions, and therefore the scope of application of this invention is not limited to the narrow meaning of "abutment," i.e., the purpose of connection, of mating and connecting general connectors together. Therefore, this invention is not limited to the combination of a device and a workpiece, but can be widely applied to purposes and uses of connecting or contacting devices or workpieces for a certain period of time.

[0050] In the above embodiment, the EPS-MCU side connector and the testing equipment side connector are mated and connected for performance testing, but it is also possible to configure the equipment so that, for example, the edges of the two components are abutted together and the equipment can be used for another crimping process.

[0051] In the second embodiment, the sensor mechanism (transmissive photomicrosensor) detects when the optical path is established, but the embodiment is not limited to this method. For example, the optical path may be established before contact, and the sensor mechanism may be controlled to detect when the optical path is blocked.

[0052] In the second embodiment, the contact work is terminated when the optical path is blocked again by a sensor mechanism (transmission type photomicrosensor), but the embodiment is not limited to this method. For example, the robot arm may be equipped with a thrust sensor, and a pushing operation may be performed with a set thrust of, for example, 100 N, and if the thrust exceeds 100 N during the pushing operation, the contact work may be automatically terminated.

[0053] As described above, the present invention is not limited to the above-described embodiment, and can be embodied in various forms without departing from the spirit of the present invention. [Explanation of symbols]

[0054] 1 Floating contact device 3 Floating section 31 Floating base, 311 Spring 32 positioning base, 321 positioning pin, 3211 convex portion, 322 spherical surface 33 guide member, 331 recess 34 Equipment side connector 5 drive unit, 51 drive plate C Work side connector, W Work

Claims

1. A floating abutment device (1) that drives a facility-side connector (34) that can abut against one or more work-side connectors (C) and that can move along the abutment direction in the abutment direction, and abuts the facility-side connector while adjusting the position of the facility-side connector, a floating base (31); one or more springs (311) fixed in the abutment direction by the floating base; a positioning pin (321) located in the abutment direction relative to the spring and having a convex portion (3211); a positioning base (32) that fixes the positioning pin so that the convex portion protrudes in the abutment direction and has a spherical portion protruding in the anti-abutment direction; a guide member (33) having a concave portion (331) that can abut against the convex portion of the positioning pin; and one or more floating parts (3) that have the equipment-side connector, and the floating base and the guide member, the positioning base and the equipment-side connector are respectively connected; a driving device (5) having a driving plate (51) that drives the one or more floating portions in the abutment direction; A floating abutment device comprising:

2. a sensor mechanism (TP) for detecting that the floating base and the positioning base have reached a contact position; When the floating base exceeds a preset distance from the contact position, the driving in the contact direction is stopped, and the floating base is moved backward in a direction away from the positioning base. The floating abutment device according to claim 1 .

3. The drive device further includes a regulating plate (52), When the driving plate drives the floating portion in the contact direction, the regulating plate moves in the opposite direction to the contact direction, When the equipment-side connector abuts against the work-side connector, the regulating plate abuts against the work-side connector from the side opposite to the abutting side of the equipment-side connector, While the equipment-side connector continues to press the work-side connector while being in contact with it, the regulating plate continues to press the work-side connector from the opposite side while being in contact with it.

3. The floating abutment device according to claim 1 or 2.

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