CN110171012B

CN110171012B - Floating rotary connecting mechanism used between truss mechanical arm and servo rotary table

Info

Publication number: CN110171012B
Application number: CN201910578383.3A
Authority: CN
Inventors: 刘蕾; 李骥国; 汤东华; 汤伟; 刘宏婕; 王静
Original assignee: Anhui Juyi Technology Co Ltd
Current assignee: Anhui Juyi Technology Co Ltd
Priority date: 2019-06-28
Filing date: 2019-06-28
Publication date: 2021-02-23
Anticipated expiration: 2039-06-28
Also published as: CN110171012A

Abstract

The invention provides a floating rotary connecting mechanism used between a truss manipulator and a servo rotary table, which comprises a clamping module and a rotary module, wherein the clamping module takes a shell as an installation seat, an end cover is packaged at the open end of the shell, a plurality of radial through holes are uniformly distributed on the side wall of a boss at the middle part along the circumferential direction, spherical balls are arranged in the radial through holes, two ends of the spherical balls are exposed, and the clamping block is a movable component and is arranged in the inner cavity of the shell and can do linear reciprocating motion along the axial direction of the boss; the rotating shaft of the rotating module is supported by an end face bearing, the shaft body is coaxial with the boss, the upper end part of the rotating module extends into the cylindrical cavity, the top of the rotating module is of a horn-shaped structure, a gap is reserved between the top of the rotating module and the inner wall of the cylindrical cavity in the radial direction, the rotating shaft is sleeved with the spring sheath, the adjusting nut is sleeved at the lower end part of the rotating shaft, the spring is arranged in the spring sheath, the rotating shaft is sleeved with the spring sheath, and the upper end and the lower end. The method is suitable for a high-speed binding scheme, and is beneficial to controlling the production beat and improving the production efficiency.

Description

Floating rotary connecting mechanism used between truss mechanical arm and servo rotary table

Technical Field

The invention relates to the technical field of welding and assembling of a body in white, in particular to a floating rotary connecting mechanism between a truss manipulator and a servo rotary table.

Background

The manipulator and the gripping apparatus play an irreplaceable role in welding and assembling the white automobile body, and the rapid and accurate characteristics of the manipulator and the gripping apparatus can meet the current fast-paced production rhythm, so that the stability of the connecting mechanism for connecting the manipulator and the gripping apparatus is very important for manufacturing the white automobile body.

At present, a common connecting mechanism of a manipulator and a gripper only comprises two functions of clamping and releasing, namely, the manipulator is connected with the gripper during clamping, and the manipulator is completely separated from the gripper after releasing. When the gripping apparatus connected with the manipulator through the connecting mechanism is used in a high-speed edging scheme of a servo turntable and a truss manipulator, the following problems occur:

when the servo turntable rotates, the manipulator must be disconnected from the gripper and then reconnected, which wastes several seconds of time and affects the binding cycle.

Disclosure of Invention

The present invention aims to solve the above technical problem at least to some extent. Therefore, the floating rotary connecting mechanism between the truss manipulator and the servo rotary table is provided, so that the manipulator and the gripping apparatus are kept connected in clamping and releasing states, the floating rotary connecting mechanism is suitable for a high-speed edge rolling scheme, the production beat is controlled, and the production efficiency is improved.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a be used for unsteady swivelling joint mechanism between truss manipulator and servo revolving stage which structural feature is:

the clamping module is arranged, a shell with an opening at the bottom and an inner cavity is used as an installation seat, an end cover is packaged at the opening end of the shell, the middle part of the clamping module protrudes upwards into the inner cavity of the shell to form a boss, a columnar cavity with the opening at the bottom is formed at the boss, a plurality of radial through holes are uniformly distributed on the side wall of the boss at intervals along the circumferential direction, one side of each radial through hole, facing the columnar cavity, is provided with a conical closing-in, spherical balls matched with the apertures of the radial through holes are arranged in the radial through holes, two ends of each radial through hole are exposed out of the radial through holes, the clamping block is a movable component and is arranged in the inner cavity of the shell, the clamping block can be driven by a driving device to do linear reciprocating motion up and down along the axial direction of the boss, and the;

the rotary module is arranged, a rotary shaft of the rotary module is supported by an end face bearing and can rotate around a central shaft, a shaft body is coaxial with a boss, the upper end part of the rotary module extends into a columnar cavity of the boss, the top part of the rotary module is of a horn-shaped structure expanding outwards from bottom to top, a gap is reserved between the rotary shaft and the inner wall of the columnar cavity along the radial direction, a spring sheath is sleeved outside the rotary shaft and assembled with an end cover through the end face bearing, an adjusting nut is sleeved at the lower end part of the rotary shaft in a threaded manner, a spring is sleeved on the rotary shaft and positioned in a containing cavity formed by the side wall of the rotary shaft, the inner wall of the spring sheath and the upper end face of the adjusting nut in an enclosing;

the clamping block which linearly moves downwards or upwards is in a way that the inner wall surface of the circular truncated cone-shaped structure is in tangential contact with/departs from the outer exposed end of the spherical ball, so that the spherical ball moves towards/back to the rotating shaft along the radial through hole, the exposed end on the inner side is in tangential contact with the lower edge peripheral wall of the top of the rotating shaft in a horn-shaped structure, or the exposed end on the inner side is in movable tangential contact with the lower edge peripheral wall of the top of the rotating shaft in the horn-shaped structure and is supported on the rotating shaft, so that the rotating shaft is axially abutted against/departed from the top wall of the columnar cavity of the lug boss to respectively and correspondingly clamp or release the rotating shaft, and a gap is reserved between the rotating;

the clamping module and the rotating module form an integral structure of the floating rotary connecting mechanism, the floating rotary connecting mechanism is assembled on the truss manipulator through the shell, and the bottom end of the rotating shaft is assembled on the binding grabber, so that connection between the truss manipulator and the binding grabber is formed.

The invention also has the structural characteristics that:

the included angle of the inner wall surface of the clamping block in the round platform-shaped structure is 5 degrees compared with that of a vertical surface, and the lower edge of the top of the rotating shaft in the trumpet-shaped structure is a 45-degree inclined surface.

The clamping block is of a cylindrical structure with an open bottom, the open end faces downwards and is coaxially covered on the outer side of the boss, the lower end part of the inner wall gradually expands outwards from top to bottom to form the inner wall surface of the circular truncated cone-shaped structure, a chamfer is arranged on the lower edge of the circular truncated cone-shaped structure, and when the clamping block moves upwards until the inner wall surface of the circular truncated cone-shaped structure is separated from the spherical ball, the clamping block is pressed on the exposed end of the outer side of the spherical ball in a tangent mode through the chamfer on the lower edge.

The up-and-down linear reciprocating motion of the clamping block is guided by a guide sleeve fixedly arranged on the inner wall of the shell.

The guide sleeve is an oilless bushing.

And a circle of annular groove is formed in the upper end surface of the end cover at a position corresponding to the position right below the bottom edge of the clamping block, and the groove width is matched with the wall thickness of the bottom end part of the clamping block.

The driving device is an air cylinder and is fixedly arranged on the top wall of the inner cavity of the shell, and the rod end of the air cylinder is fixedly connected to the middle part of the top end of the clamping block.

The shell is provided with a pressure relief air hole.

The lower end part of the rotating shaft is provided with an annular convex section which protrudes outwards along the radial direction, the annular convex section is provided with external threads, the adjusting nut is sleeved on the annular convex section in a threaded manner, and the outer wall of the adjusting nut is close to the inner wall of the spring sheath in the radial direction.

The end face bearing is a thrust ball bearing, a columnar inner cavity of the boss extends outwards along the axial direction and is exposed outside the lower end face of the end cover to form a circle of annular exposed end, the annular exposed end of the end cover is coaxially assembled with an upper seat ring of the end face bearing, the spring sheath is of a cylindrical structure, and a step hole is formed in the top of the spring sheath and is coaxially assembled with the lower seat ring of the end face bearing.

Compared with the prior art, the invention has the beneficial effects that:

the floating rotary connecting mechanism is used for connecting the truss manipulator and the binding grabber, clamping and releasing of a rotary shaft in the rotary module are switched through the clamping module, the clamping force is amplified in the clamping process through a smart boosting structural design, meanwhile, the rotary module in the releasing state is not disconnected with the clamping module, and the rotary shaft can rotate. The invention ensures that the truss manipulator and the binding grabber are connected in a clamping state and a releasing state, and the binding grabber can rotate along with the servo turntable without being influenced, thereby saving the time for connection and having larger concentricity tolerance.

Drawings

FIG. 1 is a schematic cross-sectional view of the present invention in a clamped state;

FIG. 2 is a schematic cross-sectional view of the release mechanism of the present invention;

FIG. 3 is a cross-sectional structural view of the clamping block;

FIG. 4 is a schematic top view of the clamping block;

FIG. 5 is a schematic perspective view of the end cap in half section;

FIG. 6 is a schematic top view of the end cap;

FIG. 7 is a schematic view of the position of the spherical balls in the radial through holes in the clamped state;

FIG. 8 is a schematic view of the position of the spherical ball in the radial through hole in the released state;

FIG. 9 is a cross-sectional structural view of the spring sheath;

fig. 10 is a schematic structural view of the end face bearing.

In the figure, 1 truss manipulator; 2, a binding grip; 3 clamping the module; 4, a shell; 5, end cover; 6, a boss; 7 radial through holes; 8, a spherical ball; 9 an annular groove; 10 annular exposed ends; 11, a clamping block; 12 a truncated cone-shaped structure; 13 chamfering; 14, a guide sleeve; 15 a drive device; 16 pressure relief air holes; 17 a rotation module; 18 a rotating shaft; 19 a horn-like structure; 20 an annular projecting section; 21 a spring; 22 a spring sheath; 23 adjusting the nut; 24 end face bearings; 25 an upper race; 26 lower race.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 and 2, the floating rotary connection mechanism for the truss manipulator and the servo turntable of the present embodiment can be applied to a high-speed binding scheme based on the servo turntable and the truss manipulator, and the structure thereof is as follows:

a clamping module 3 is arranged, the clamping module 3 takes a cylindrical shell 4 with an opening at the bottom and an internal cavity as a mounting seat, an end cover 5 is packaged at the opening end of the shell 4, the middle part of the clamping module protrudes upwards into the inner cavity of the shell 4, a boss 6 is formed, a columnar cavity with an open bottom is formed at the boss 6, a plurality of radial through holes 7 are uniformly distributed on the side wall of the boss 6 at intervals along the circumferential direction, as shown in fig. 5 and 6, one side of the radial through hole 7 facing the cylindrical cavity is provided with a tapered closing-in, spherical balls 8 matched with the apertures of the radial through holes 7 are arranged in the radial through holes 7, two ends of each spherical ball 8 are exposed out of the radial through holes 7, and the clamping block 11 is a movable component and is arranged in the inner cavity of the shell 4 and can be driven by a driving device 15 to do vertical linear reciprocating motion along the axis direction of the boss 6, so that the inner wall surface of the circular truncated cone-shaped structure 12 of the clamping block 11 is in tangential contact with/separated from the exposed ends of the outer sides of the spherical balls 8;

a rotating module 17 is arranged, a rotating shaft 18 of the rotating module 17 is supported by an end face bearing 24 and can rotate around a central shaft, a shaft body is coaxial with a boss 6, the upper end part of the shaft body extends into a cylindrical cavity of the boss 6, the top part of the shaft body is of a horn-shaped structure 19 expanding from bottom to top, a gap is reserved between the top part of the shaft body and the inner wall of the cylindrical cavity along the radial direction, a spring sheath 22 is sleeved outside the rotating shaft 18 and assembled with an end cover 5 through the end face bearing 24, an adjusting nut 23 is sleeved at the lower end part of the rotating shaft 18 in a threaded mode, a spring 21 is sleeved on the rotating shaft 18 and positioned in a containing cavity formed by the side wall of the rotating shaft 18, the inner wall of the spring sheath 22 and the upper end face of the adjusting;

the downward or upward linear motion clamping block 11 is formed by that the inner wall surface of a circular truncated cone-shaped structure 12 is in tangential contact with/breaks away from the outer exposed end of a spherical ball 8, so that the spherical ball 8 moves towards/back from a rotating shaft 18 along a radial through hole 7, the exposed end at the inner side is in tangential contact with the lower edge peripheral wall of the top of a trumpet-shaped structure 19 of the rotating shaft 18, or is movably in tangential contact with and supported on the rotating shaft 18 along the lower edge of the top of the trumpet-shaped structure 19 of the rotating shaft 18, so that the rotating shaft 18 is axially pressed against/breaks away from the top wall of a cylindrical cavity of a boss 6 to respectively and correspondingly clamp or release the rotating shaft 18, and a gap is reserved between the rotating shaft 18 in a release state.

In specific implementation, the corresponding structural arrangement also includes:

with reference to fig. 3 and 4, the clamping block 11 is a cylindrical structure with an open bottom, and is coaxially covered outside the boss 6 with the open end facing downward, the lower end of the inner wall gradually expands outward from top to bottom to form the inner wall surface of the circular truncated cone-shaped structure 12, a chamfer 13 is provided on the lower edge of the circular truncated cone-shaped structure 12, and when the clamping block 11 moves upward until the inner wall surface of the circular truncated cone-shaped structure 12 is separated from the spherical balls 8, the lower edge of the clamping block is tangent to the exposed end of the outer side of the spherical balls 8 along the chamfer 13.

The up-and-down linear reciprocating motion of the clamping block 11 is guided by a guide sleeve 14 fixedly arranged on the inner wall of the shell 4, and in the embodiment, the guide sleeve 14 is an oilless bushing.

As shown in fig. 5 to 8, the inward end of the radial through hole 7 has a tapered closing-in, and the spherical ball 8 is put in from the outward end during installation, so that the tapered closing-in ensures that the spherical ball 8 does not fall out. In this embodiment, the diameter of the radial through hole 7 is 20mm, the radial through hole penetrates through the side wall of the boss 6, and the diameter of the inward side gradually decreases to 19mm, so that a tapered closing-in is formed.

The upper end surface of the end cover 5 is provided with a circle of annular groove 9 at a position corresponding to the position right below the bottom edge of the clamping block 11, and the groove width is matched with the wall thickness of the bottom end part of the clamping block 11 and used for avoiding the descending clamping block 11.

The driving device 15 is an air cylinder and is fixedly arranged on the top wall of the inner cavity of the shell 4, and the rod end of the air cylinder is fixedly connected with the middle part of the top end of the clamping block 11.

The casing 4 is provided with a pressure relief air hole 16 to ensure smooth linear motion of the clamping block 11 driven by the cylinder and guided by the oilless bushing.

The lower end of the rotating shaft 18 is provided with an annular convex section 20 protruding outwards along the radial direction, the annular convex section 20 is provided with external threads, an adjusting nut 23 is sleeved on the annular convex section 20 in a threaded mode, and the outer wall of the adjusting nut is close to the inner wall of the spring sheath 22 in the radial direction. The force of the spring 21 can be adjusted by adjusting the nut 23.

As shown in fig. 10, the end face bearing 24 is a thrust ball bearing, the cylindrical inner cavity of the boss 6 extends outward in the axial direction and is exposed outside the lower end face of the end cover 5 to form a ring of annular exposed end 10, the end cover 5 is coaxially assembled with the upper race 25 of the end face bearing 24 through the annular exposed end 10, the spring sheath 22 is a cylindrical structure, and as shown in fig. 9, the top of the spring sheath has a stepped hole and is coaxially assembled with the lower race 26 of the end face bearing 24. The spring sheath 22, the end cover 5 and the end face bearing 24 are in transition fit connection.

Constitute the overall structure of rotatory coupling mechanism that floats with clamping module 3 and rotation module 17, can be applied to based on servo revolving stage and truss manipulator 1's high-speed border scheme, it is concrete, rotatory coupling mechanism that floats is with the coaxial assembly in truss manipulator 1's perpendicular roof beam in the top of casing 4, with the coaxial assembly in rotation axis 18 bottom on changing the rifle dish, connect on border gripper 2 through changing the rifle dish, or directly assemble on border gripper 2 according to actual production demand, form the truss manipulator 1 and be connected between border gripper 2.

The working principle of the mechanism is as follows:

as shown in fig. 1, under the clamping state, the truss manipulator 1 is fixedly connected with the binding clip 2 through the floating rotary connecting mechanism, so that the following can be carried out, and the specific process is as follows:

the cylinder drives a clamping block 11 installed on the piston rod to extend downwards along the oilless bushing, the clamping block 11 presses the outer exposed end of the spherical ball 8 through the inner wall surface of the circular truncated cone-shaped structure 12, the spherical ball 8 is extruded inwards and moves along the radial through hole 7, the inner exposed end which is not initially contacted with the rotating shaft 18 is gradually close to the rotating shaft 18 until the inner exposed end is pressed on the top lower edge peripheral wall of the horn-shaped structure 19 of the rotating shaft 18 in a tangent mode, radial and axial forces are applied to the rotating shaft 18, the rotating shaft 18 moves upwards under the action of the axial force, the top end surface is pressed on the top wall of the columnar cavity of the boss 6 in an axial mode, axial and radial clamping of the rotating shaft 18 is formed, and the edge rolling gripping. The position of the spherical balls 8 in the clamped state is shown in fig. 7.

In the process, the inner wall surface of the circular truncated cone-shaped structure 12 of the clamping block 11 is used as a clamping surface, the clamping surface has taper, the clamping surface belongs to a force increasing mechanism, the acting force applied to the rotating shaft 18 is also amplified, the included angle of the clamping surface and the vertical surface is designed to be 5 degrees, the lower part of the top of the rotating shaft 18 in the horn-shaped structure 19 is a 45-degree inclined surface along the peripheral wall, and the effect of increasing force by about 8 times can be achieved.

In the released state, the binding grippers 2 may be rotated, as shown in fig. 2, into the binding process. The working process of the floating rotary connecting mechanism at the moment is as follows:

the cylinder drives the clamping block 11 to retract upwards along the oilless bush, when the clamping block 11 retracts, acting force is not exerted on the outer exposed end of the spherical ball 8 any more, the outer exposed end of the spherical ball 8 is limited by the lower edge chamfer 13 of the clamping block 11, the inner exposed end and the top of the rotary shaft 18 in a horn-shaped structure 19 are in movable tangent contact, and are supported on the rotary shaft 18, so that the rotary shaft 18 cannot be downwards separated from the cylindrical cavity of the boss 6 under the action of gravity or spring tension, and therefore the spherical ball 8 has a certain release space and can rotate in the radial through hole 7, the clamping force exerted on the rotary shaft 18 disappears, the rotary shaft 18 falls, a gap is formed between the rotary shaft and the top wall of the cylindrical cavity of the boss 6, the rotary shaft and the top wall are not in contact, the friction force is reduced, the rotary block can rotate under the aligning action of the. The position of the ball 8 in the released state is shown in fig. 8.

The spring 21 is in a compressed state in the clamping process, and after the clamping force disappears, the spring 21 which is compressed all the time releases the pretightening force, and the pretightening force is converted into the pressing force on the binding clip 2 from the internal force of the rotating module 17. When the binding clip 2 rotates, the upper end of the spring 21 is supported on the spring sheath 22, and the acting force is not directly applied to the end face bearing 24, so that the service life of the end face bearing 24 is prolonged, the spring sheath 22 is assembled on the lower seat ring 26 of the end face bearing 24, the free rotation can be realized, and the abrasion to the clamping module 3 can not be caused.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. The utility model provides a be used for unsteady swivelling joint mechanism between truss manipulator and servo revolving stage which characterized by:

the clamping module (3) is arranged, a shell (4) with an opening at the bottom and an inner cavity is used as a mounting seat of the clamping module (3), an end cover (5) is packaged at the opening end of the shell (4), the middle part of the clamping module protrudes upwards into the inner cavity of the shell (4) to form a boss (6), a cylindrical cavity with an opening at the bottom is formed at the boss (6), a plurality of radial through holes (7) are uniformly distributed at intervals along the circumferential direction on the side wall of the boss (6), one side of each radial through hole (7) facing the cylindrical cavity is provided with a conical closing-in, a spherical ball (8) matched with the aperture of the radial through hole (7) is arranged in the radial through hole (7), two ends of each radial through hole are exposed out of the radial through hole (7), a clamping block (11) is a movable component and is arranged in the inner cavity of the shell (4), and can be driven by a driving device (15) to, the inner wall surface of the clamping block (11) in a circular truncated cone-shaped structure (12) is tangent to press against/separate from the outer exposed end of each spherical ball (8);

a rotating module (17) is arranged, a rotating shaft (18) of the rotating module (17) is supported by an end face bearing (24) and can rotate around a middle shaft, a shaft body is coaxial with the boss (6), the upper end part extends into the columnar cavity of the boss (6), the top part is in a horn-shaped structure (19) expanding outwards from bottom to top, a gap is reserved between the inner wall of the columnar cavity along the radial direction, a spring sheath (22) is sleeved outside the rotating shaft (18), is assembled with the end cover (5) through the end face bearing (24), the adjusting nut (23) is sleeved at the lower end part of the rotating shaft (18) in a threaded manner, the spring (21) is sleeved on the rotating shaft (18) and is positioned in a containing cavity formed by the side wall of the rotating shaft (18), the inner wall of the spring sheath (22) and the upper end face of the adjusting nut (23) in a surrounding manner, the upper end and the lower end are respectively and axially abutted against the top wall of the inner cavity of the spring sheath (22) and the upper end surface of the adjusting nut (23);

the downward or upward linear motion clamping block (11) is characterized in that the inner wall surface of a circular truncated cone-shaped structure (12) is in tangential contact with/breaks away from the outer exposed end of the spherical ball (8), so that the spherical ball (8) moves towards/back to the rotating shaft (18) along a radial through hole (7), the inner exposed end is in tangential contact with/breaks away from the peripheral wall of the top of the trumpet-shaped structure (19) of the rotating shaft (18) or is in movable tangential contact with/bears on the rotating shaft (18) along the bottom of the trumpet-shaped structure (19) of the rotating shaft (18), so that the rotating shaft (18) is axially abutted against/breaks away from the top wall of the cylindrical cavity of the boss (6), and accordingly clamping or releasing of the rotating shaft (18) is respectively formed, and a gap is reserved between the rotating shaft (18) in a releasing state and the axial direction of the top wall of the;

the clamping module (3) and the rotating module (17) form an integral structure of the floating rotary connecting mechanism, the floating rotary connecting mechanism is assembled on the truss manipulator (1) through the shell (4), and is assembled on the binding grabber (2) through the bottom end of the rotating shaft (18), so that connection between the truss manipulator (1) and the binding grabber (2) is formed.

2. The floating rotary joint mechanism for a truss robot and a servo turret as claimed in claim 1 wherein:

the included angle of the inner wall surface of the clamping block (11) in a round platform-shaped structure (12) relative to a vertical surface is 5 degrees, and the lower edge of the top of the rotary shaft (18) in a horn-shaped structure (19) is an inclined plane of 45 degrees.

3. The floating rotary joint mechanism for a truss robot and a servo turret as claimed in claim 1 wherein:

the clamping block (11) is of a cylindrical structure with an open bottom, the outer side of the boss (6) is coaxially covered with the clamping block with the open end facing downwards, the lower end part of the inner wall is gradually expanded from top to bottom to form the inner wall surface of the circular truncated cone-shaped structure (12), a chamfer (13) is arranged on the lower edge of the circular truncated cone-shaped structure (12), and when the clamping block (11) moves upwards until the inner wall surface of the circular truncated cone-shaped structure (12) is separated from the spherical ball (8), the lower edge of the clamping block is tangent to the exposed end of the spherical ball (8) along the chamfer (13).

4. A floating rotary joint mechanism for a truss robot and a servo turret as claimed in any one of claims 1 to 3 wherein:

the vertical linear reciprocating motion of the clamping block (11) is guided by a guide sleeve (14) fixedly arranged on the inner wall of the shell (4).

5. The floating rotary joint mechanism for a truss robot and a servo turret as claimed in claim 4 wherein: the guide sleeve (14) is an oilless bushing.

6. The floating rotary joint mechanism for a truss robot and a servo turret as claimed in claim 3 wherein:

the upper end face of the end cover (5) is provided with a ring of annular groove (9) at a position corresponding to the position right below the bottom edge of the clamping block (11), and the groove width is matched with the wall thickness of the bottom end part of the clamping block (11).

7. A floating rotary joint mechanism for a truss robot and a servo turret as claimed in claim 1 or claim 3 wherein:

the driving device (15) is an air cylinder and is fixedly arranged on the top wall of the inner cavity of the shell (4), and the end of the cylinder rod is fixedly connected with the middle part of the top end of the clamping block (11).

8. The floating rotary joint mechanism for a truss robot and a servo turret as claimed in claim 7 wherein:

and a pressure relief air hole (16) is formed in the shell (4).

9. The floating rotary joint mechanism for a truss robot and a servo turret as claimed in claim 1 wherein:

the lower end part of the rotating shaft (18) is provided with an annular protruding section (20) protruding outwards along the radial direction, an external thread is arranged on the annular protruding section (20), the adjusting nut (23) is sleeved on the annular protruding section (20) in a threaded mode, and the outer wall of the adjusting nut is close to the inner wall of the spring sheath (22) in the radial direction.

10. The floating rotary joint mechanism for a truss robot and a servo turret as claimed in claim 1 wherein:

the end face bearing (24) is a thrust ball bearing, a cylindrical inner cavity of the boss (6) extends outwards along the axial direction and is exposed outside the lower end face of the end cover (5) to form a ring of annular exposed end (10), the end cover (5) is coaxially assembled with an upper seat ring (25) of the end face bearing (24) through the annular exposed end (10), the spring sheath (22) is of a cylindrical structure, and the top of the spring sheath is provided with a step hole and is coaxially assembled with a lower seat ring (26) of the end face bearing (24).