JPH0724985B2 - Floating device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a floating device used for absorbing a phase shift or the like in assembly of parts or the like.

<Prior art> Automatically tightens and mounts parts during the automobile assembly process.
When attaching and detaching injection guns for liquids (antifreeze, brake fluid, etc.), there are variations in the above-mentioned parts and equipment as well as the transport equipment such as the overhead hanger that supports it, the receiving part of the slat conveyor, etc. It is necessary to absorb this.

Conventionally, a floating device has been used to absorb this variation. The structure is, as shown in FIGS. 6 to 8, an intermediate base 3 guided on the upper surface of the lower base 1 by a linear guide 2 in the in-plane X-axis direction, and an upper surface of the intermediate base 3 in the in-plane Y-axis direction. And an upper base 5 guided by the linear guide 4 of the centering plate 6 on the lower surface of the intermediate base 3.
, And both sides of the centering plate 6 are clamped in the Y-axis direction by springs 7 provided on the lower base 1. Further, a centering plate 8 is provided on the lower surface of the upper base 5 so as to project on both sides of the centering plate 8. Is squeezed in the X-axis direction by a spring 9 provided on the intermediate base 3, allowing the upper base 5 to float in the XY-axis direction via the intermediate base 3 and always biasing the centering.

<Problems to be Solved by the Invention> In the above conventional apparatus, the swinging direction of the upper base 5 is limited to only two directions of the XY axis defined by the linear guides 2 and 4.

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

In addition, the overall structure has a three-layer structure including the lower base 1, the intermediate base 3, and the upper base 5, and there is a problem that the height becomes large and the device cannot be made compact.

<Means for Solving the Problems> The structure of the floating device according to the present invention has a rectangular floating structure in which a lower ball support and an upper ball support arranged at four corners of a rectangular lower base are movably held on the lower base. Base,
A lock receiver of a tapered square hole provided on the lower surface of the central portion of the floating base, and a lock pin having a square pyramid shape that is provided to be movable up and down by an actuator on the upper surface of the central portion of the lower base and that is fitted into and removed from the lock receiver. A centering plate is provided at each of the four sides of the facing surface between the lower base and the floating base.
The centering plates on the sides are clamped in the X-axis direction, and the centering plates on the other two sides are clamped in the Y-axis direction, and are provided with centering rods that always bias the floating base to a fixed position.

<Operation> According to the present invention, the floating base is always centered at a fixed position by the centering rod and the centering plate in the unlocked state in which the lock pin is lowered by the actuator, and in the XY axis direction and the turning direction. Floating is allowed, and locking is done by raising the lock pin so that the floating base is locked so that it does not float at a fixed center position.

<Examples> Examples of the present invention will be described below with reference to the drawings. First to
In FIG. 3, 10 is a rectangular lower base. A lower ball support 15 and an upper ball support 16 are arranged at four corners of the lower base 10. The lower ball support 15 is fixedly mounted on the lower base 10, and the upper ball support 16 fixes a bracket 17 to the lower base 10 near the position where the lower ball support 15 is arranged. The lower ball support
It is installed opposite to 15.

11 is a rectangular floating base. The floating base 11 is held by the lower ball support 15 and the upper ball support 16 on the lower base 10 so that the floating base 11 can be rotated.

A lock receiver 18 having a tapered square hole is provided on the lower surface of the center of the floating base 11.

A cylinder 13 is provided on the upper surface of the central portion of the lower base 10.
A lock pin 12 having a quadrangular pyramid shape is provided which is moved up and down by the above and is fitted into and removed from the lock receiver 18. 14 is the lock pin 12
Is a guide member.

Means for constantly biasing the floating base 11 to a fixed position is provided between the lower base 10 and the lower surface of the floating base 11 facing each other.

This centering biasing means is the floating base 11
Centering plate on the lower surface of the part near each of the four sides
19, 20 are projected, and the lower base 10 is brought into contact with both sides of each centering plate 19, 20 by the elastic force of springs 22, 24 on the upper surfaces of the four sides near each side, and the centering plates of the two sides facing each other. Reference numeral 19 is a structure in which a pair of centering rods 21 and 23 that clamps in the X-axis direction and the other two sides of the centering plate 20 clamp in the Y-axis direction are installed.

Next, the operation of the device of the present invention will be described. Lock pin 12
When the cylinder is moving to the lower end by the cylinder 13,
As shown in the figure, the lock pin 12 and the lock receiver 18 face each other with a gap, and are in an unlocked state. Therefore, in the floating base 11 held between the lower ball support 15 and the upper ball support 16, the centering rods 21 and 23 squeeze the centering plates 19 and 20 in the X and Y axis directions, respectively, and always bias the centering to a fixed position. In addition, floating is allowed in the X-Y axis direction and the turning direction θ.

As a result, the floating base 11 floats not only in the X-Y axis direction but also in the turning direction .theta., And absorbs variations in parts when assembling parts in multiple directions. Floating of the floating base 11 in the turning direction θ is allowed within a range in which the floating base 11 contacts the bracket 17 of the upper ball support 16, and is regulated by the floating base 11 contacting the bracket 17.

Further, by operating the lock pin 12 at the rising end and fitting it into the lock receiver 18, the floating base 11 is locked at the centering position, and the floating in the XY-θ directions is restricted.

In the above-mentioned embodiment, as the centering biasing means of the floating base 11, the centering plates 19 and 20 are provided on the lower surface side of the floating base 11, and the centering rods 21 and 23 are installed on the upper surface side of the lower base 10. On the contrary, the centering plates 19 and 20 may be projectingly provided on the upper surface side of the lower base 10, and the centering rods 21 and 23 may be installed on the lower surface side of the floating base 11.

<Effects of the Invention> As described above, according to the present invention, the floating base can be floated not only in the X-Y axis direction but also in the turning direction θ in the plane, and absorption of phase shifts in multiple directions can be obtained. In addition, the overall structure is 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 as compared with the conventional one, and the weight is also reduced. Therefore, due to the compactness of the present device, the installation space becomes advantageous, the degree of freedom in designing the device in which the present device is installed is expanded, and it is effective for application to a gripping hand such as a robot.

[Brief description 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 arrow II of FIG. 1, FIG. 3 is a sectional view taken along the line III-III of FIG. 1 in a locked state of the floating base, and FIG. FIG. 5 is a plan view, FIG. 5 is a sectional view of the floating base in an unlocked state, FIG. 6 is a plan view of a conventional device, FIG. 7 is a view in the direction of arrow VII of FIG. 6, and FIG. 8 is a line VIII-VIII of FIG. FIG. 10 ... Lower base, 11 ... Floating base, 12 ...
… Lock pin, 13 …… Cylinder, 15 …… Lower ball support, 16 …… Upper ball support, 18 …… Lock receiver,
19, 20 …… Centering plate, 21,23 …… Centering rod, 22,24 …… Spring.

Claims (1)

[Claims] 1. A rectangular floating base that is held in a floating manner on the lower base by lower ball supports and upper ball supports arranged at four corners on the rectangular lower base, and provided on the lower surface of the central portion of the floating base. Between the lock base of the tapered square hole, a lock pin of a pyramid shape which is provided on the upper surface of the central portion of the lower base so that the lock base can be moved up and down by an actuator, and which engages and disengages with the lock base, and the facing surface of the lower base and the floating base. Centering plates on each of the four sides,
The centering plates on the two opposite sides are in contact with each other by the spring force on both sides of each centering plate.
A floating device, comprising: a centering rod which is pressed in the axial direction, and the centering plates on the other two sides are pressed in the Y-axis direction so as to always bias the floating base to a fixed position.