TWI888859B - Floating mechanism unit - Google Patents

Abstract

[Topic] A floating mechanism unit is provided that can absorb the positional deviation between a power tool and a front end tool and can appropriately replace the front end tool. [Solution] The floating mechanism unit (100) comprises: a fixed part (104), a movable part (106) movable relative to the fixed part, a concave receiving part (122) provided on the fixed part, a ball (128) provided on the movable part opposite to the concave receiving part, and a coil spring (138) that biases the movable part (106) relative to the fixed part (104) in such a manner that the concave receiving part (122) and the ball (128) press against each other. Through the action of the coil spring (138), the movable part (106) becomes the initial position where the ball (128) and the bottom (122a) of the concave receiving part (122) are arranged in the direction of the length axis (L) of the coil spring (138). The movable part (106) is moved by the pressure received from the power tool or the front end tool, and when the pressure is released, it returns to the initial position through the biasing force of the coil spring (138).

Description

Floating mechanism unit

The present invention relates to a floating mechanism unit used for replacing a front end tool of a power tool mounted on a robot arm in a robot system.

A robot system is known in which a power tool is installed at the front end of a robot arm, etc., and various processing or assembly operations are automatically performed using the power tool. For example, Patent Document 1 discloses a robot system in which a power tool for deburring is installed at the front end of a robot arm, and deburring operations are automatically performed. In the robot system, the tool (front end tool) that is detachably mounted on the spindle of the power tool is automatically replaced. The tool is replaced using a tool magazine. The tool magazine has a plurality of accommodating recesses for accommodating tools and inclined surfaces extending along both sides of each accommodating recess, and replacement tools are pre-accommodated in some of the accommodating recesses. The tool is replaced by removing the used tool from the spindle using the tool magazine, and then installing the replacement tool that was previously stored on the spindle. Specifically, the processing tool with the used tool installed is inserted from the side into the storage recess of the tool magazine, and the clamp sleeve of the processing tool is pushed upward through the inclined surface of the tool magazine. Since the connection between the spindle and the tool is released by the rise of the clamp sleeve, when the processing tool is moved upward in this state, the tool is detached from the spindle and remains in the storage recess of the tool magazine. Then, the processing tool is moved to the top of the replacement tool that was previously stored in another storage recess, and the processing tool is lowered so that the tool can be inserted into the spindle. In this way, when the tool is inserted, the clamping sleeve is pushed up by the inclined surface of the tool magazine. When the processing tool is moved in the side direction in this state, the clamping sleeve gradually descends along the inclined surface to clamp and fix the tool. In this way, a new tool is installed. [Prior technical literature] [Patent literature]

[Patent Document 1] Japanese Patent No. 6650171

[The problem that the invention wants to solve]

When a robot automatically performs the replacement operation of the front end tool such as the above-mentioned tool, if the power tool is not correctly positioned relative to the tool magazine or the replacement tool, an unnecessary force will be applied to the power tool or the front end tool, and the front end tool cannot be properly installed or removed, and there is a risk of failure of the power tool or the machine arm, etc., depending on the situation. Therefore, it is necessary to position the power tool with a precision of less than several millimeters, preferably less than 1 millimeter. The position or movement of the machine arm when replacing the front end tool is sometimes performed by a human while visually confirming it and instructing the robot, but it takes a lot of time and labor to achieve the high precision mentioned above in such human instruction, which is a great burden for the operator. Furthermore, even if the correct alignment is performed, the power tool may be reinstalled and its position may shift slightly, or the front end tool may intersect or shift when the front end tool is installed in the tool magazine, causing the relative position of the power tool and the front end tool to shift. In this case, there is a risk that the front end tool may not be properly replaced.

Therefore, the present invention aims to provide a floating mechanism unit that can absorb the misalignment and properly replace the front end tool even if some positional deviation occurs between the power tool and the front end tool. [Means for solving the problem]

In other words, the present invention provides a floating mechanism unit, The floating mechanism unit is used for replacing the front end tool of the power tool, and has: A fixed part; A movable part, which has a tool engagement portion for engaging with the power tool or the front end tool, and is movable relative to the aforementioned fixed part; At least one convex engagement portion, which is provided on one of the aforementioned fixed part and the aforementioned movable part; At least one concave receiving portion, which is provided in a manner opposite to the aforementioned convex engagement portion on the other of the aforementioned fixed part and the aforementioned movable part; and At least one coil spring, which biases the aforementioned movable part relative to the aforementioned fixed part in a manner that the aforementioned convex engagement portion and the aforementioned concave receiving portion are pressed against each other, so that the aforementioned movable part is in an initial position where the bottom of the aforementioned convex engagement portion and the aforementioned concave receiving portion are arranged in the direction of the length axis of the coil spring; The movable member is movable from the initial position to the longitudinal axis of the coil spring and in a direction orthogonal to the longitudinal axis by the pressure force received from the power tool or the front end tool, and returns to the initial position by the biasing force of the coil spring when the pressure force is released.

In the floating mechanism unit, the movable part moves when receiving a pressure from the power tool or the front end tool. Therefore, for example, when the front end tool is mounted on the movable part and the front end tool is mounted on the power tool, even if the position of the power tool is slightly offset relative to the front end tool, the movable part can be displaced (shifted) together with the front end tool to absorb the positional offset. In addition, when the tool mounting portion of the power tool on which the front end tool is mounted is pressed against the movable part to remove the front end tool, even if the power tool is slightly offset from the specified position, the movable part can be displaced by being pressed by the power tool, thereby absorbing the positional offset. Therefore, even if some deviation occurs in the positioning of the power tool performed by the robot, the positional offset can be absorbed and the front end tool can be appropriately replaced.

Furthermore, the coil spring may be a conical coil spring, one end of which is fixedly held relative to the fixed member, and the other end of which is fixedly held relative to the movable member.

When a conical coil spring is deformed in a direction perpendicular to its longitudinal axis, the restoring force to return to its original shape is generally greater than that of a cylindrical coil spring. Therefore, when the movable part is displaced in a direction perpendicular to the longitudinal axis of the coil spring, the movable part receives a greater force from the conical coil spring in the direction in which it returns to its initial position in the perpendicular direction. This allows the movable part to return to its initial position more reliably.

Furthermore, it may be that the at least one convex joint portion is three convex joint portions consisting of first to third convex joint portions, the at least one concave receiving portion is three concave receiving portions consisting of first to third concave receiving portions, and the first to third convex joint portions and the first to third concave receiving portions are respectively configured to be located at the vertices of an isosceles triangle, and the at least one coil spring is two coil springs arranged on a straight line parallel to the base of the isosceles triangle.

Moreover, it may be that the first concave supporting portion is located at the vertex shared by the two equal sides of the isosceles triangle, and has a conical surface, the conical surface has a first vertex angle, and the second and third concave supporting portions are located at the vertices at both ends of the base of the isosceles triangle, respectively have conical surfaces, the conical surfaces have a second vertex angle, and the first vertex angle is smaller than the second vertex angle.

More specifically, the distance between the two coil springs may be substantially the same as the distance between the second concave receiving portion and the third concave receiving portion.

These structures enable the movable parts to be displaced more stably.

Furthermore, the tool engaging portion of the movable member may be a tool holding portion, and the tool holding portion holds the front end tool for replacement at a middle position between the two coil springs in a manner extending in the direction of the longitudinal axis.

In this case, the movable part may have a passage, and the passage extends from the side of the base to the tool holding portion along a vertical line passing through the common vertex of the equilateral sides of the isosceles triangle and perpendicular to the base, and the front end tool is loaded and unloaded relative to the tool holding portion through the passage.

Alternatively, the tool engaging portion of the movable component may include a power tool receiving portion, which is a tool mounting portion of the power tool with the front end tool mounted thereon and is pressed in the direction of the length axis in order to remove the front end tool, and the power tool receiving portion is arranged in the middle position of the two coil springs.

Furthermore, it may be that it comprises: a ball (roller) retaining member fixed to the aforementioned one of the aforementioned fixed member and the aforementioned movable member; and a ball (roller) rotatably retained in the aforementioned ball retaining member, and the aforementioned convex engaging portion is constituted by the aforementioned ball.

The following is an explanation of the implementation of the floating mechanism unit according to the present invention based on the drawings.

As described later, the floating mechanism unit 100 according to an embodiment of the present invention shown in FIG. 1 is an installation unit, which is used to hold the front end tool and assist the installation action when the front end tool is installed on a power tool installed on a robot arm of a robot system.

As shown in Figures 1 and 2, the floating mechanism unit 100 includes: a fixed component 104, which is fixed to a frame or housing of a robot system by screws 102; and a movable component 106, which is movable relative to the fixed component 104. A tool holding portion (tool engaging portion) 108 is provided on the movable component 106, which is used to store a replacement front end tool at a specified position. The tool holding portion 108 is formed by a resin tool abutment component 110 formed as a different component from the movable component 106. The tool abutment component 110 is replaceably mounted on the movable component 106 by screws 112. As shown in Figure 3, an elastic holding component 114 is also installed on the movable component 106, which is fixed to its back side by screws 113. As shown in FIG2 , the elastic holding member 114 has a bent portion 116 protruding from the tool abutment member 110, and when the front end tool is mounted on the tool holding portion 108, the bent portion 116 engages with the front end tool to hold the front end tool on the tool holding portion 108. A passage 118 extending to the tool holding portion 108 is formed on the tool abutment member 110 of the movable member 106, and as described later, the front end tool is loaded and unloaded relative to the tool holding portion 108 through the passage 118.

As shown in FIG. 3 and FIG. 4 , an alignment bearing component 120 is mounted on the fixed component 104. The alignment bearing component 120 has a concave bearing portion 122 which is a conical surface. In addition, an alignment ball component 124 is mounted on the movable component 106 at a position opposite to the alignment bearing component 120. The alignment ball component 124 is composed of a ball retaining component 126 fixed on the movable component 106, and a ball (convex engaging portion) 128 rotatably retained thereon, and the ball 128 is engaged with the conical concave bearing portion 122. On the fixed component 104, a spring post 132 is mounted which is fixed in a manner extending downward through a spring hole 130 of the movable component 106, and a spring retaining ring 134 is provided at its lower end. In addition, a spring retaining ring 136 is also arranged in the step portion of the spring hole 130 of the movable part 106. A coil spring 138 is arranged between these spring retaining rings 134 and 136. The coil spring 138 is a conical coil spring whose diameter decreases from the upper end 138a to the lower end 138b. The upper end 138a is fixedly held relative to the movable part 106, and the lower end 138b is fixedly held relative to the fixed part 104. The coil spring 138 biases the movable part 106 toward the fixed part 104 in a manner that the ball 128 of the center-aligning ball part 124 and the concave receiving part 122 of the center-aligning receiving part 120 are pressed against each other. Thus, as shown in the figure, the movable member 106 is in the initial position where the ball 128 and the bottom 122a of the concave receiving portion 122 are aligned in the direction of the longitudinal axis L of the coil spring 138 (vertical direction).

As shown in FIG. 2 , three alignment bearing components 120 are arranged at positions corresponding to the vertices P of the isosceles triangle T. Specifically, the first alignment bearing component 120-1 is arranged at the first vertex P1 shared by the two equilateral sides S1 and S2 of the isosceles triangle T, and the second alignment bearing component 120-2 and the third alignment bearing component 120-3 are arranged at the second vertex P2 and the third vertex P3 at both ends of the base S3. The alignment ball component 124 arranged in a manner opposite to the alignment bearing component 120 is also arranged at the same position. In addition, two coil springs 138 are arranged on a straight line M parallel to the base S3 of the isosceles triangle T. The distance between the two coil springs 138 is roughly equal to the distance between the second alignment bearing component 120-2 and the third alignment bearing component 120-3. The tool holding portion 108 is arranged at the middle position of the two coil springs 138, and the passage 118 extending to the tool holding portion 108 is formed as: along the vertical line N passing through the first vertex P1 and perpendicular to the base S3, extending from the side of the base S3 of the isosceles triangle T to the tool holding portion 108.

As shown in FIG5 , the movable part 106 is displaced downward relative to the fixed part 104 when receiving a downward pressure force along the longitudinal axis L of the coil spring 138. At this time, the coil spring 138 is compressed only by the amount of the downward displacement of the movable part 106. Therefore, when the downward pressure on the movable part 106 is released, the movable part 106 returns to the initial position where the center-aligning ball part 124 abuts against the center-aligning bearing part 120 through the biasing force of the coil spring 138. Furthermore, as shown in FIG6 , the movable part 106 is displaced in the horizontal direction relative to the fixed part 104 when receiving a pressure force in a direction (horizontal direction) perpendicular to the longitudinal axis L. At this time, the balls (first to third balls) 128 of the alignment ball components 124 (first to third alignment ball components 124-1, 124-2, 124-3) are respectively at positions offset from the bottom 122a of the center of the conical surface of each concave receiving portion 122 of the corresponding alignment receiving component 120 (first to third alignment receiving components 120-1, 120-2, 120-3), and are pressed by the concave receiving portion 122, and are respectively subjected to forces toward the center of the corresponding concave receiving portion 122. Therefore, when the pressing force in the horizontal direction is released, the movable component 106 is displaced in such a manner that each ball 128 is directed toward the bottom 122a of the center of each concave receiving portion 122, and returns to the initial position where the center of each ball 128 and the bottom 122a of each concave receiving portion 122 are aligned in the direction of the longitudinal axis L. In addition, when the movable member 106 is displaced in the horizontal direction, the coil spring 138 becomes a horizontally skewed shape along with the horizontal displacement of the movable member 106, so a horizontal biasing force is generated on the coil spring 138 to restore to the original shape. In particular, the coil spring 138 in the present embodiment is conical, so the horizontal restoring force will be larger than that of a cylindrical coil spring, and the force that returns the movable member 106 to the initial position will act more strongly. In this way, the movable member 106 can be displaced in the vertical direction and the horizontal direction relative to the fixed member 104 when a pressing force is applied from the outside, but when the pressing force is released, it returns to the original initial position through the biasing force of the coil spring 138.

As described above, the alignment support components 120 are arranged in three positions corresponding to the vertices P1, P2, and P3 of the isosceles triangle T, but the first vertex angle α of the conical surface of the first concave support portion 122-1 of the first alignment support component 120-1 arranged at the first vertex P1 is smaller than the second vertex angle β of the conical surface of the second concave support portion 122-2 of the second alignment support component 120-2 arranged at the second vertex P2. Specifically, the first vertex angle α is approximately 156 degrees, and the second vertex angle β is approximately 162 degrees. In addition, the third alignment support component 120-3 arranged at the third vertex P3 is a concave support portion having the same shape as the second concave support portion 122-2. In this embodiment, the two coil springs 138 are located at positions relatively close to the second alignment bearing member 120-2 and the third alignment bearing member 120-3, so the pressing force generated between the first alignment bearing member 120-1 and the first alignment ball member 124-1 is smaller than the pressing force generated between the second and third alignment bearing members 120-2, 120-3 and the second and third alignment ball members 124-2, 124-3, respectively. Therefore, when the size of each vertex angle is the same, when the movable member 106 moves in the horizontal direction, the resistance of the first alignment ball member 124-1 connected to the first alignment bearing member 120-1 is smaller than the resistance of the second and third alignment ball members 124-2, 124-3 connected to the second and third alignment bearing members 120-2, 120-3. If such a resistance difference occurs, when a horizontal pressing force acts on the movable member 106, a force in the rotational direction will act on the movable member 106, which may cause unnecessary rotation of the movable member 106. Therefore, in this embodiment, by making the first vertex angle α smaller than the second vertex angle β, the resistance generated between the first alignment receiving member 120-1 and the first alignment ball member 124-1 is increased, thereby reducing the difference in resistance generated between the second and third alignment receiving members 120-2, 120-3 and the second and third alignment ball members 124-2, 124-3.

The following will describe the installation operation of the tip tool 2 using the floating mechanism unit 100 according to the embodiment. As shown in FIG. 7 , the tip tool 2 (a brush in the embodiment) to be replaced is installed on the tool holding portion 108 through the passage 118 in advance. The tip tool 2 is held by the elastic holding member 114 in the tool holding portion 108 in a manner extending in the vertical direction (i.e., the direction of the length axis L of the coil spring 138). Then, the robot system is operated to position the tool mounting portion 3 of the power tool 1 mounted on the robot arm on the tip tool 2. In addition, in the illustrated case, the power tool 1 is positioned so as to be offset in the horizontal direction relative to the tip tool 2, and the center axis C1 of the tip tool 2 is slightly offset from the center axis C2 of the power tool 1.

Next, the power tool 1 is lowered, and the insertion shaft portion 4 of the front end tool 2 is inserted into the tool mounting portion 3. Here, three spirally formed guide grooves 5 and three connecting recesses 6 located below are formed on the insertion shaft portion 4 of the front end tool 2. The tool mounting portion 3 of the power tool 1 on which the front end tool 2 is mounted has a main shaft 7 and a sleeve 8 arranged around the main shaft 7. On the main shaft 7, a guide ball engaged with the guide groove 5 and a connecting ball engaged with the connecting recess 6 are retained. When the insertion shaft portion 4 is inserted into the main shaft 7, the guide ball is first engaged with the guide groove 5, and the front end tool 2 is inserted while rotating along the guide groove 5. Furthermore, when the connecting recess 6 reaches the position of the connecting ball, the position of the connecting recess 6 in the rotation direction becomes a position coordinated with the connecting ball, and each connecting ball is engaged with the corresponding connecting recess 6. In this way, the sleeve 8 is displaced downward to maintain the connecting ball in the position engaged with the connecting recess 6. Thereby, the front end tool 2 is maintained on the tool mounting portion 3 in a connected state. That is, no matter what the position of the front end tool 2 in the rotation direction relative to the tool mounting portion 3, it can be rotated to an appropriate connection position and connected to the tool mounting portion 3. As described above, the power tool 1 is positioned to be slightly offset in the horizontal direction relative to the front end tool 2. In this state, when the power tool 1 is lowered as shown in Figure 8, during the process of inserting the front end tool 2 into the tool mounting portion 3, the front end tool 2 is subjected to a force in the horizontal direction, and thus the movable part 106 is subjected to a pressing force from the front end tool 2 in the same direction. Due to the pressing force, the movable member 106 is displaced in the same direction as the tip tool 2, thereby absorbing the positional deviation of the power tool 1. In addition, the power tool 1 is further lowered than the position connected to the tip tool 2, so that the tip tool 2 is slightly displaced downward together with the movable member 106. That is, during the insertion process of the tip tool 2, due to the pressing force received from the tip tool 2, the movable member 106 is displaced in the vertical direction (the direction of the longitudinal axis L of the coil spring 138) and the horizontal direction (the direction orthogonal to the longitudinal axis L). Therefore, even if some deviation occurs in the positioning of the power tool 1 relative to the tip tool 2, the deviation can be absorbed by the displacement of the movable member 106 and the tip tool 2 can be properly installed.

When the front end tool 2 is mounted on the power tool 1, as shown in FIG9, the power tool 1 is moved in the horizontal direction, and the front end tool 2 is removed from the tool holding portion 108 through the passage 118. Thus, the front end tool 2 for replacement is mounted on the power tool 1 of the robot system. The movable member 106 is such that when the pressing force received from the front end tool 2 is released, the ball (convex engaging portion) 128 and the concave receiving portion 122 are pressed again by the biasing force of the coil spring 138, and return to the initial position where the ball 128 and the bottom 122a of the concave receiving portion 122 are arranged in the direction of the longitudinal axis L.

The floating mechanism unit 200 according to another embodiment of the present invention shown in FIGS. 10 to 13 is a disassembly unit used for disassembling the tip tool 2 mounted on the power tool 1 mounted on the machine arm.

The floating mechanism unit 200 has a fixed part 204, a movable part 206, three centering bearing parts 220, three centering ball parts 224, and two conical coil springs 238. The basic structure of these parts is the same as the fixed part 104, the movable part 106, the three centering bearing parts 120, the three centering ball parts 124, and the two conical coil springs 138 of the above-mentioned floating mechanism unit 100 for installation, so the detailed description is omitted here. On the movable part 206 of the floating mechanism unit 200, a power tool receiving part 240 is provided, which is composed of a resin tool contact part 210 as a different part.

The following will describe the disassembly action of the front end tool 2 using the floating mechanism unit 200 for disassembly according to the embodiment. As shown in FIGS. 11 and 12, the power tool 1 with the front end tool 2 installed is inserted into the power tool receiving portion 240 through the passage 218. At this time, if the tool mounting portion 3 of the power tool 1 of the robot system contacts the power tool receiving portion 240, the movable component 206 is displaced in the horizontal direction due to the pressure received from the power tool 1. Then, as shown in FIG. 13, the power tool 1 is lowered, and the annular protrusion 9 on the sleeve 8 of the tool mounting portion 3 of the power tool 1 is brought into contact with the upper surface of the power tool receiving portion 240. When it is further lowered, the sleeve 8 is relatively displaced upward relative to the body of the power tool 1. As a result, the built-in connecting ball is released to release the connection of the front end tool 2, and the front end tool 2 is pushed downward and discharged from the spindle 7. Afterwards, when the power tool 1 is lifted and detached from the power tool receiving portion 240, the movable member 206 is pressed by the biasing force of the coil spring 238 through the ball (convex engaging portion) 228 and the concave receiving portion 222, and returns to the initial position where the ball 228 and the bottom 222a of the concave receiving portion 222 are aligned in the direction of the longitudinal axis L.

In a robot system according to an embodiment, a floating mechanism unit 100 as the above-mentioned installation unit and a floating mechanism unit 200 as a removal unit can be used in combination. In the robot system, if the front end tool 2 installed on the power tool 1 is worn out, the used front end tool 2 is removed by using the removal floating mechanism unit 200, and then a new front end tool 2 for replacement is installed by using the installation floating mechanism unit 100. In particular, the installation floating mechanism unit 100 can also be configured in multiple numbers, and by pre-installing the replacement front end tool 2 in each floating mechanism unit 100, it is possible to replace it with other front end tools 2 in sequence after the replaced front end tool 2 is worn out. In addition, a sensor mounting portion 142 (FIG. 1 and FIG. 2) is provided on the floating mechanism unit 100 for installation, and various sensors such as proximity sensors or photoelectric sensors (not shown) for detecting the presence of the front end tool 2 can be installed thereon. When installing the front end tool 2 for replacement, the robot system determines on which floating mechanism unit 100 the front end tool 2 for replacement is installed based on the output of the sensor, and selects one of the floating mechanism units 100 on which the front end tool 2 is installed, thereby performing the replacement operation of the front end tool 2.

In the floating mechanism units 100 and 200, even if there is a slight deviation in the positioning of the power tool 1 caused by the robot system, the movable parts 106 and 206 are displaced to absorb the position deviation, and the front end tool 2 can be properly installed and removed. In addition, when the replacement operation is completed, the movable parts 106 and 206 return to the initial position, so that the next replacement operation can also be properly performed.

The above describes the embodiments of the present invention, but the present invention is not limited to these embodiments. For example, the number or configuration of the convex engaging portion, the concave receiving portion and the coil spring can be changed arbitrarily. The convex engaging portion can also be arranged on the fixed component, and the concave receiving portion can be arranged on the movable component. The convex engaging portion can be a fixed ball or a convex portion of other shapes, rather than a rotatably held ball. The concave receiving portion can also be a surface of other shapes, such as a curved arc-shaped surface, rather than a conical surface. The coil spring can be cylindrical, rather than conical.

1: Power tool 2: Front end tool 3: Tool mounting part 4: Insertion shaft 5: Guide groove 6: Connecting recess 7: Spindle 8: Sleeve 9: Annular protrusion 100: Floating mechanism unit 102: Screw 104: Fixed part 106: Movable part 108: Tool holding part (tool engaging part) 110: Tool abutment part 112: Screw 113: Screw 114: Elastic holding part 116: Bending part 118: Passage 120: Alignment bearing part 120-1: First alignment bearing part 120-2: Second alignment bearing part 120-3: Third alignment bearing part 122: Concave bearing part 122-1: First concave receiving portion 122-2: Second concave receiving portion 122a: Bottom 124: Alignment ball component 124-1: First alignment ball component 124-2: Second alignment ball component 124-3: Third alignment ball component 126: Ball retaining component 128: Ball (convex engagement portion) 130: Spring hole 132: Spring column 134: Spring retaining ring 136: Spring retaining ring 138: Coil spring 138a: Upper end 138b: Lower end 142: Sensor mounting portion 200: Floating mechanism unit 204: Fixed component 206: Movable component 210: Tool contact component 218: Passage 220: Alignment bearing component 222: Concave bearing part 222a: Bottom 224: Alignment ball component 228: Ball (convex joint part) 238: Conical coil spring 238: Coil spring 240: Power tool bearing part α: First vertex angle β: Second vertex angle C1: Center axis C2: Center axis L: Length axis M: Straight line N: Vertical line P: Vertex P1: Vertex P1: First vertex P2: Vertex P2: Second vertex P3: Vertex P3: Third vertex S1: Equilateral S2: Equilateral S3: Base T: Isosceles triangle

[Figure 1] is a perspective view of a floating mechanism unit for installing a tip tool according to one embodiment of the present invention. [Figure 2] is a top view of the floating mechanism unit of Figure 1. [Figure 3] is a cross-sectional view of the A-A line of Figure 2. [Figure 4] is a cross-sectional view of the B-B line of Figure 2. [Figure 5] is a cross-sectional view of the B-B line of Figure 2 in a state where the movable part has been displaced in the vertical direction. [Figure 6] is a cross-sectional view of the B-B line of Figure 2 in a state where the movable part has been displaced in the horizontal direction. [Figure 7] is a first figure showing the installation action of the tip tool. [Figure 8] is a second figure showing the installation action of the tip tool. [Figure 9] is a third figure showing the installation action of the tip tool. [Figure 10] is a perspective view of a floating mechanism unit for removing a tip tool according to another embodiment of the present invention. [Figure 11] is a first diagram showing the disassembly action of the tip tool. [Figure 12] is a second diagram showing the disassembly action of the tip tool. [Figure 13] is a third diagram showing the disassembly action of the tip tool.

100: Floating mechanism unit

102: Screws

104:Fixed parts

106: Movable parts

120: Centering bearing parts

120-1: The first centering bearing component

120-2: Second centering bearing component

122: Concave receiving portion

122-1: First concave receiving portion

122-2: Second concave receiving portion

122a: Bottom

124: Alignment ball parts

124-1: The first centering ball component

124-2: The second centering ball component

126: Ball retaining component

128: Ball (convex joint)

130: Spring hole

132: Spring column

134: Spring retaining ring

136: Spring retaining ring

138: Coil spring

138a: Top

138b: Lower end

L: Length axis

α: first vertex angle

β: Second vertex angle

Claims (9)

A floating mechanism unit is used for replacing the front end tool of a power tool, and comprises: a fixed part; a movable part having a tool engagement portion for engaging with a power tool or a front end tool, and movable relative to the aforementioned fixed part; at least one convex engagement portion, provided on one of the aforementioned fixed part and the aforementioned movable part; at least one concave receiving portion, provided on the other of the aforementioned fixed part and the aforementioned movable part in a manner opposite to the aforementioned convex engagement portion; and at least one coil spring, in a manner that the aforementioned convex engagement portion and the aforementioned concave receiving portion are pressed against each other, to bias the aforementioned movable part relative to the aforementioned fixed part, so that the aforementioned movable part is in an initial position where the bottom of the aforementioned convex engagement portion and the aforementioned concave receiving portion are arranged in the direction of the length axis of the coil spring; The movable member is movable from the initial position to the longitudinal axis of the coil spring and in a direction orthogonal to the longitudinal axis by the pressure force received from the power tool or the front end tool, and returns to the initial position by the biasing force of the coil spring when the pressure force is released. A floating mechanism unit as described in claim 1, wherein the coil spring is a conical coil spring, one end of which is fixedly held relative to the fixed component and the other end of which is fixedly held relative to the movable component. A floating mechanism unit as described in claim 1 or 2, wherein the at least one convex joint portion is three convex joint portions formed by first to third convex joint portions, the at least one concave receiving portion is three concave receiving portions formed by first to third concave receiving portions, and the first to third convex joint portions and the first to third concave receiving portions are respectively configured to be located at the vertices of an isosceles triangle, and the at least one coil spring is two coil springs arranged on a straight line parallel to the base of the isosceles triangle. A floating mechanism unit as described in claim 3, wherein the first concave supporting portion is located at the vertex shared by two equal sides of the isosceles triangle and has a conical surface, the conical surface has a first vertex angle, and the second and third concave supporting portions are located at the vertices at both ends of the base of the isosceles triangle and have conical surfaces respectively, the conical surfaces have a second vertex angle, and the first vertex angle is smaller than the second vertex angle. A floating mechanism unit as described in claim 4, wherein the distance between the two coil springs is substantially the same as the distance between the second concave receiving portion and the third concave receiving portion. A floating mechanism unit as described in claim 3, wherein the tool engaging portion of the movable component is a tool holding portion, and the tool holding portion holds the front end tool for replacement in a middle position between the two coil springs in a manner extending along the direction of the longitudinal axis. A floating mechanism unit as described in claim 6, wherein the movable component has a passage, and the passage extends from the side of the base to the tool holding portion along a vertical line passing through the vertex shared by the equilateral sides of the isosceles triangle and perpendicular to the base, and the front end tool is loaded and unloaded relative to the tool holding portion through the passage. A floating mechanism unit as described in claim 3, wherein the tool engaging portion of the movable component has a power tool receiving portion, and the power tool receiving portion is a tool mounting portion of a power tool with a front end tool mounted thereon, which is pressed in the direction of the length axis in order to remove the front end tool, and the power tool receiving portion is arranged in the middle position of the two coil springs. The floating mechanism unit as described in claim 1 or 2 comprises: a ball holding component fixed to one of the aforementioned fixed component and the aforementioned movable component; and a ball rotatably held in the aforementioned ball holding component, and the aforementioned convex joint portion is composed of the aforementioned ball.

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