JPH03239430A - Floating device - Google Patents

Abstract

PURPOSE:To make the phase shifts in multi-directions absorbable by enabling the floating of a floating base in the X - Y axial direction and revolving direction as well, in a floating device absorbing the phase shift of an automobile part assembling time. CONSTITUTION:This device is composed of a lower base 10 and floating base 11 and the lower base 10 is provided with a square cone like lock pin 12 lifted by a cylinder 13 at the center of the upper face thereof. At the time when this lock pin 12 is moved to the descent end by the cylinder 13, the lock pin 12 and lock receiver 18 become in an unlocking state. So, the floating base 11 interposed by a lower part ball support 15 and an upper part ball support 16 is energized at the centering position at all times with centering rods 21, 23 allowing the rocking in X - Y axial direction and revolving direction by their centering motions elastically abutting on centering plates 19, 20.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a floating device used for absorbing phase shifts, etc. in assembling parts.

<Conventional technology> In the automobile assembly process, parts are automatically tightened, installed,
When installing and removing the injection gun for liquid EL (antifreeze, brake fluid, etc.), there are variations in the body, the overhead hanger that supports it, the transport equipment such as the slat conveyor receiving part, and the above parts and equipment. This needs to be absorbed.

Conventionally, floating devices have been used to absorb this variation. As shown in FIGS. 6 to 8, the structure includes an intermediate base 3 guided by a linear guide 2 in the X-axis direction in the plane on the upper surface of the lower base 1, and an intermediate base 3 guided in the Y-axis direction in the plane on the upper surface of the intermediate base 3. An upper base 5 guided by a linear guide 4 is provided, a centering plate 6 having a surface in the Y-axis direction is provided protruding from the lower surface of the intermediate base 3, and both surfaces of the centering plate 6 are provided on the lower base l. spring 7
In addition, a centering plate 8 having a surface in the X-axis direction is protruded from the lower surface of the upper base 5, and both sides of the centering plate 8 are pinched by a spring 9 provided on the intermediate base 3, so that the upper The structure is such that the base 5 is allowed to swing in the X-Y axis direction via the intermediate base 3 and is always biased toward centering.

<Problems to be Solved by the Invention> In the conventional device described above, the swinging direction of the upper base 5 is limited to only two directions of the X-Y axis defined by the linear guide 2.4.

When assembling parts, etc., the turning direction θ in the plane
However, with the above device, it was impossible to absorb the deviation in the turning direction θ.

In addition, the overall configuration has a three-layer structure of the lower base 1, the intermediate base 3, and the upper base 5, which increases the height and has the problem of making it impossible to make the device compact.

Means for Solving the Problems> 41 of the floating device according to the present invention! Kaiha consists of a square lower base and a floating base, and the lower base has a square pyramid-shaped lock bin that is moved up and down by an actuator in the center of its upper surface, and lower ball supports and upper ball supports are arranged at the four corners. , the floating base has a lock receiver having a tapered square hole corresponding to the lock bin at the center of its lower surface, and four locations parallel to the axis of the floating base on the X-Y@ line in a plane that intersects with the lock receiver. The 70-ting base is swingably held on the lower base by a lower ball support and an upper ball support. .

Effect> According to the present invention, in the unlocked state where the lock bin is lowered by the actuator, the floating base is always centered by the centering rod and the centering plate, and the floating base is always centered by the centering rod and the centering plate.
- It allows rocking in the Y-axis direction and the turning direction, and locks the floating base at the centering position by locking by raising the lock bin.

<Example> Hereinafter, an example of the present invention will be described based on the drawings. 1st~
In FIG. 3, 10 is a lower base and 11 is a floating base.

The lower base 1 is provided with a square pyramid-shaped lock bin 12 that is moved up and down by a cylinder 13 at the center of its upper surface. 14 is a guide member for the lock bin 12.

Furthermore, lower ball supports 15 are provided at the four corners. A bracket 17 is fixed to the lower base 10 near the position of the lower ball support 15, and an upper ball support 16 is attached to the bracket 11 so as to face the lower ball support 15.

The floating base 11 is provided with a lock receiver 18 having a tapered square hole corresponding to the lock bin 12 at the center of its lower surface. Further, on the lower surface of the floating base 11, a centering plate 19.20 having a surface parallel to the axis on the X-Y axis in the plane intersecting the lock receiver 18 at a portion near each of the four sides thereof. is installed protrudingly. That is, the centering plate 19 has a surface in the X-axis direction, and the centering plate 20 has a surface in the Y-axis direction.

The floating base 11 is swingably held between the lower ball support 15 and the upper ball support 16.

The clamped floating base 11 is always biased to the centering position. The mechanism has a structure in which a pair of centering rods 21.23 are installed on the lower base 10, each pair of centering rods 21.23 coming into contact with both sides of each centering plate 19.20 by the elastic force of a sedge ring 21.24.

Next, the operation of the device of the present invention will be explained. lock bin 1
2 is moved to the lower end by the cylinder 13, as shown in FIG.
They face each other with a gap and are in an unlocked state. Therefore, the floating base 11 held between the lower ball support 15 and the upper ball support 16 is
- It is always biased to the centering position by allowing rocking in the Y-axis direction and the turning direction θ.

As a result, the floating base 11 not only floats in the XY-axis directions but also floats in the turning direction θ, thereby absorbing variations in components in multiple directions when assembling the components.

Note that floating in the turning direction θ is allowed by the clearance between the square pyramid surface of the lock bin 12 and the tapered square hole of the lock receiver 18, but is regulated by the contact between the square pyramid surface and the tapered square hole.

In addition, the lock bin 12 is operated to the upper end and the lock receiver 1 is moved to the upper end.
8, the floating base 11 is locked at the centering position, and floating in the X-Y-θ directions is restricted.

<Effects of the Invention> As described above, according to the present invention, the floating base can float in the rotation direction θ in addition to the X-Y axis direction within a plane, and phase shifts in multiple directions can be absorbed. In addition, the overall structure has a two-layer structure of a lower base and a floating base, and the height of the device is reduced to 1/3 to 1/2 compared to the conventional device, and the weight is also reduced.

Therefore, by making the present device more compact, the installation space becomes advantageous, and the degree of freedom in designing equipment in which eight of the present devices are installed is expanded, making it effective for application to grasping hands such as robots.

[Brief explanation of drawings]

Fig. 1 is a plan view of the device of the present invention, Fig. 2 is a view taken in the direction of the arrow in Fig. 1, Fig. 3 is a sectional view taken along the line 11 in Fig. 1 with the floating base in the locked state, and Fig. 4 is a plan view in the floating state. , FIG. 5 is a sectional view of the floating base in an unlocked state, FIG. 6 is a plan view of the conventional device, FIG. 7 is a view taken in the direction of the ■ arrow in FIG. . 10... Lower base, 11... Floating base, 12... Lock bin, 13... Cylinder, 15
...Lower ball support, 16...Upper ball support, 18...Lock receiver, 19.20...Centering plate, 21.23...Centering rod, 22.24...Spring. Figure 1

Claims (1)

[Claims] Consisting of a square lower base and a floating base,
The lower base has a square pyramid-shaped lock pin that is moved up and down by an actuator in the center of its upper surface, and a lower ball support and an upper ball support are arranged at the four corners, and the floating base has the lock pin and the lock pin in the center of its lower surface. A lock receiver with a corresponding tapered square hole,
4 on the X-Y axis in the plane with this lock receiver as the intersection
The floating base is swingably held on the lower base by a lower ball support and an upper ball support. A floating device consisting of