Aluminum alloy humanoid robot joint part machining positioning and clamping composite tool

Abstract

The invention provides an aluminum alloy humanoid robot joint part machining positioning and clamping composite tool, and relates to the technical field of joint part machining positioning, the aluminum alloy humanoid robot joint part machining positioning and clamping composite tool comprises a fixing frame and a center clamping plate, servo motors are installed in the middles of the tops of the two ends of the fixing frame, and a fixing supporting plate is installed at the included angle position of the edge of the top of the fixing frame; a positioning ring is mounted at the top of the fixed support plate; rotary transmission rods are rotationally mounted in the central clamping plate and the lateral clamping plates; a guide wheel is installed on the rotary transmission rod, and the outer side face of the guide wheel is located on the inner side of the center clamping plate and the inner side of the lateral clamping plate. The guide wheel drives the joint part to be adjusted at different angles, traditional manual disassembly, turnover and installation operation is completely replaced, the machining efficiency of the joint part is further improved, and the problem that after a single-side machining face is completed, the clamping state must be completely relieved, a workpiece needs to be turned over to be fixed again, and labor hours are wasted due to repeated disassembly and positioning operation is solved.

Description

Technical Field

[0001] The invention relates to the technical field of joint component processing and positioning, and in particular to a composite tool for processing, positioning and clamping joint components of an aluminum alloy humanoid robot. Background Art

[0002] Humanoid robots need to achieve similar degrees of freedom of movement as the human body, so each joint component can still maintain stable movement performance when bearing a large load. Therefore, when processing the joint components, it is necessary to use positioning and clamping composite tooling to stably fix the joint components to ensure the stability and accuracy of the joint components during processing or assembly.

[0003] In the prior art, when the composite tooling is used to position and clamp the joint parts, a certain blocking area will be generated when the tooling is used to position and clamp the joint parts, resulting in the inability of the processing equipment to achieve multi-station continuous operation. After completing the single-side processing surface, the clamping state must be completely released and the workpiece must be turned over and re-fixed. Repeated disassembly and positioning operations not only waste working time, but also cause errors in the positioning reference surface, affecting the accuracy and efficiency of the processing of the joint parts of the aluminum alloy humanoid robot. Summary of the invention

[0004] The disclosed embodiments relate to a composite tooling for positioning and clamping the joint components of an aluminum alloy humanoid robot, so as to solve the problem that a certain blocking area will be generated when the tooling is used to position and clamp the joint components, resulting in the inability of the processing equipment to achieve multi-station continuous operation. After completing the single-side processing surface, the clamping state must be completely released and the workpiece must be turned over and re-fixed. Repeated disassembly and positioning operations not only waste working time, but also cause errors in the positioning reference surface, affecting the processing accuracy and efficiency of the joint components.

[0005] In a first aspect of the present disclosure, a composite tooling for machining, positioning and clamping of joint components of an aluminum alloy humanoid robot is provided, which specifically comprises: a fixed frame and a central clamping plate, wherein the fixed frame is a rectangular frame structure, and a servo motor is installed at the middle position of the top of both ends of the fixed frame, a gear is installed on the output end of the servo motor, and a fixed support plate is installed at the position of the angle of the top edge of the fixed frame; a positioning ring is installed at the top of the fixed support plate; the positioning ring is an annular structure, and a guide ring is rotatably installed on the inner side of the positioning ring; a serrated structure is provided on the outer side of the guide ring, and the serrated structure on the outer side of the guide ring is meshed with the gears at the output end of the servo motor at the top of both ends of the fixed frame; lateral clamping plates are rotatably installed on both sides of the central clamping plate, wherein the outer bottom of the central clamping plate and the outer top of the lateral clamping plate are both installed with a driving motor, and a gear is installed on the output end of the driving motor; a rotating transmission rod is rotatably installed inside the central clamping plate and the lateral clamping plate; a guide wheel is installed on the rotating transmission rod, wherein the outer side surface of the guide wheel is located on the inner side of the central clamping plate and the lateral clamping plate.

[0006] Furthermore, guide slots are provided on the front and rear sides of the top of the fixed frame; a guide slide is slidably installed inside the guide slot; a guide slide rod is installed between the two guide slides, and a driving rod is rotatably installed in the middle position of the side of the guide slide.

[0007] Furthermore, the guide slide rod is a cylindrical structure, and a slider is slidably installed on the outer side of the guide slide rod; the slider is also installed on the outer side of the driving rod, and a driving cylinder is installed on the top of the slider, and a movable carrier plate is installed on the output end of the driving cylinder.

[0008] Furthermore, a plurality of evenly distributed mounting holes are provided on the top of the movable carrier plate; the mounting holes are cylindrical structures that are wide at the top and narrow at the bottom, and positioning rods are installed inside the mounting holes.

[0009] Furthermore, the guide ring is an annular structure, and a positioning plate is installed at the middle position of the inner side of the guide ring; a through-type guide groove is opened on the side of the positioning plate; and a rotating rod is rotatably installed inside the guide groove.

[0010] Furthermore, driving handles are provided at both ends of the rotating rod, and the driving handles are rotatably installed on the two ends of the positioning plate; a guide block is slidably installed inside the guide groove; the guide block is also installed on the outside of the rotating rod; a guide movable plate is slidably installed on the inner side of the guide block, wherein a slot is provided on the top of the guide movable plate, and the inner end of the guide movable plate is connected to the outer side of the center splint.

[0011] Furthermore, the rotating rod is located in a slot at the top of the guide movable plate; a driving cylinder is installed at a relative position on the side of the guide ring, and a traction rod is installed on the output end of the two driving cylinders; the traction rod is a cylindrical structure, and the traction rod is slidably installed on the outer end of the guide movable plate.

[0012] Furthermore, a gear is installed at the side end of the rotating transmission rod, and the gear is meshed with the gear at the output end of the driving motor on the outer side of the center clamp and the lateral clamp; a positioning piece is installed on the outer side of the lateral clamp; a driving cylinder is installed at the bottom of the inner end of the guide movable plate, and a traction plate is installed on the output end of the driving cylinder; the traction plate is a U-shaped structure, and a traction protrusion is installed on the side end of the traction plate.

[0013] Furthermore, the traction protrusion is slidably installed on the inner side of the positioning piece; a driving cylinder is installed on the inner top of the guide movable plate, and a positioning tube is installed on the output end of the driving cylinder; an air pump is installed on the side of the positioning plate, and a telescopic tube is installed on the output end of the air pump.

[0014] Furthermore, a guide pipe is connected to the side end of the telescopic tube; the guide pipe is installed through the inner side of the positioning tube, and the side end of the guide pipe is connected to the injection pipe; a guide groove is opened on the side of the injection pipe, wherein the guide groove is inclined downward.

[0015] The present invention provides a composite tool for machining, positioning and clamping of aluminum alloy humanoid robot joint parts, which has the following beneficial effects: When the present invention is in use, after the unilateral processing of the joint component is completed, the driving motor on the outer side of the central splint and the lateral splint drives the rotating transmission rod to rotate synchronously to drive the guide wheel to rotate on the inner side of the central splint and the lateral splint, so that the guide wheel drives the joint component to adjust at different angles, completely replacing the traditional manual disassembly and flipping installation operations, further improving the efficiency of joint component processing, and at the same time always staying on the same clamping reference plane during the adjustment process, reducing the processing error caused by position adjustment, further improving the accuracy of joint component processing, providing reliable guarantee for batch processing of joint components of humanoid robots, and ensuring the smooth movement of humanoid robots.

[0016] In addition, the height of the guide block is adjusted by driving the rotating rod, and the servo motor drives the guide ring to rotate for adjustment at different angles, so that the same tooling can be adapted to different process scenarios such as milling, grinding, and inspection, significantly reducing tooling switching time and cost. The structure is simple, the operation is convenient, and the efficiency of joint component processing is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings of the embodiment are briefly introduced below.

[0018] The drawings described below are only related to some embodiments of the present invention, but are not intended to limit the present invention.

[0019] In the attached picture: Figure 1 A schematic diagram showing the overall structure of the present application; Figure 2 A schematic diagram of the three-dimensional structure of the guide slide plate of the present application is shown; Figure 3 A schematic diagram of the cross-sectional structure of the movable carrier of the present application is shown; Figure 4 A schematic diagram of the cross-sectional structure of the positioning ring of the present application is shown; Figure 5 A schematic diagram of the three-dimensional structure of the positioning plate of the present application is shown; Figure 6 A schematic diagram of the three-dimensional structure of the guide movable plate of the present application is shown; Figure 7 A schematic diagram of the three-dimensional structure of the central splint of the present application is shown; Figure 8 A schematic diagram of the bottom three-dimensional structure of the traction plate of the present application is shown; Fig. 9 A schematic cross-sectional structure diagram of the lateral splint of the present application is shown; Reference numerals

[0020] 1. Fixed frame; 101. Fixed support plate; 102. Guide slide groove; 103. Guide slide plate; 104. Guide slide bar; 105. Drive rod; 106. Slider; 107. Movable carrier plate; 108. Mounting hole; 109. Positioning rod; 2. Positioning ring; 201. Guide ring; 202. Positioning plate; 203. Guide groove; 204. Rotating rod; 205. Guide block; 206. Guide movable plate; 207. Drawbar; 3. Center clamping plate; 301. Lateral clamping plate; 302. Rotating transmission rod; 303. Guide wheel; 304. Positioning piece; 305. Pulling plate; 306. Pulling protrusion; 307. Positioning tube; 308. Telescopic tube; 309. Guide tube; 3010. Injection tube; 3011. Guide groove. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] Please refer to Figures 1 to 9 : Embodiment 1: The present invention proposes a composite tooling for machining, positioning and clamping of joint parts of an aluminum alloy humanoid robot, comprising: a fixed frame 1 and a central clamping plate 3, wherein the fixed frame 1 is a rectangular frame structure, and a servo motor is installed at the middle position of the top of both ends of the fixed frame 1, a gear is installed on the output end of the servo motor, and a fixed support plate 101 is installed at the position of the included angle of the top edge of the fixed frame 1; guide grooves 102 are opened on the front and rear sides of the top of the fixed frame 1; a guide slide plate 103 is slidably installed inside the guide groove 102; a guide slide bar 10 is installed between the two guide slide plates 103 4, and a driving rod 105 is rotatably installed in the middle position of the side of the guide slide plate 103; the guide slide bar 104 is a cylindrical structure, and a slider 106 is slidably installed on the outer side of the guide slide bar 104; the slider 106 is also installed on the outer side of the driving rod 105, and a driving cylinder is installed on the top of the slider 106, and a movable carrier plate 107 is installed on the output end of the driving cylinder; a plurality of evenly distributed mounting holes 108 are opened on the top of the movable carrier plate 107; the mounting hole 108 is a cylindrical structure with a stepped distribution of a wide top and a narrow bottom, and a positioning rod 109 is installed inside the mounting hole 108.

[0023] In the disclosed embodiment, when positioning and clamping the processed humanoid robot joint components, multiple positioning rods 109 are adjusted according to the size of the joint components and inserted into the inside of the mounting hole 108, the joint parts are placed between the multiple positioning rods 109 for positioning, and the guide slide 103 is slid along the guide slide groove 102 to a suitable position. The driving rod 105 is rotated in the middle position of the guide slide 103 to drive the slider 106 to move along the guide slide rod 104. The slider 106 drives the top driving cylinder to a suitable position, and the output end of the driving cylinder drives the movable carrier plate 107 to move upward, so that the movable carrier plate 107 drives the joint component to a suitable position for easy clamping and fixing, thereby reducing the workload of lifting during the fixing process and allowing the joint component to be quickly loaded and unloaded.

[0024] Embodiment 2, on the basis of embodiment 1, a positioning ring 2 is installed on the top of the fixed support plate 101; the positioning ring 2 is an annular structure, and a guide ring 201 is rotatably installed on the inner side of the positioning ring 2; a serrated structure is provided on the outer side of the guide ring 201, and the serrated structure on the outer side of the guide ring 201 is meshed with the gears at the output ends of the servo motors at the tops of both ends of the fixed frame 1; the guide ring 201 is an annular structure, and a positioning plate 202 is installed at the middle position of the inner side of the guide ring 201; a through guide groove 203 is provided on the side of the positioning plate 202; a rotating rod is rotatably installed inside the guide groove 203 204; driving handles are provided at both ends of the rotating rod 204, and the driving handles are rotatably mounted on both ends of the positioning plate 202; a guide block 205 is slidably mounted inside the guide groove 203; the guide block 205 is also mounted on the outside of the rotating rod 204; a guide movable plate 206 is slidably mounted on the inner side of the guide block 205, wherein a slot is provided on the top of the guide movable plate 206, and the inner end of the guide movable plate 206 is connected to the outer side of the center splint 3; the rotating rod 204 is in the slot on the top of the guide movable plate 206; a driving cylinder is installed at the relative position of the side of the guide ring 201, and the two driving cylinders A traction rod 207 is installed on the output end; the traction rod 207 is a cylindrical structure, and the traction rod 207 is slidably installed on the outer end of the guide movable plate 206. When the joint parts of the processed humanoid robot are positioned and clamped, after the joint parts move to a certain height, the two driving cylinders on the side of the guide ring 201 drive the traction rod 207 to move, and the traction rod 207 drives the guide movable plate 206 to slide on the inner side of the guide block 205, so that the inner ends of the two guide movable plates 206 drive the central clamping plate 3 and the lateral clamping plate 301 to clamp and fix the workpiece, and the side end of the positioning plate 202 is rotated and driven The handle drives the rotating rod 204 to rotate, and the rotating rod 204 drives the guide block 205 to move along the guide groove 203, and the guide block 205 drives the guide movable plate 206 to move at different heights. The fixed support plate 101 fixes the position of the positioning ring 2, and the gear at the output end of the servo motor at the middle position of the top of both ends of the fixed frame 1 drives the guide ring 201 to rotate on the inner side of the positioning ring 2. The rotation of the guide ring 201 can drive the clamped joint components to adjust at different angles, so that the joint components can complete the adjustment of different directions during the clamping and fixing process, so as to adapt to different processing equipment.

[0025] Embodiment 3, on the basis of embodiment 1, lateral clamping plates 301 are rotatably installed on both sides of the center clamping plate 3, wherein the outer bottom of the center clamping plate 3 and the outer top of the lateral clamping plate 301 are both installed with driving motors, and gears are installed on the output end of the driving motor; the interior of the center clamping plate 3 and the lateral clamping plate 301 are both rotatably installed with rotating transmission rods 302; guide wheels 303 are installed on the rotating transmission rods 302, wherein the outer side surface of the guide wheel 303 is on the inner side of the center clamping plate 3 and the lateral clamping plate 301; gears are installed on the side ends of the rotating transmission rods 302, and the gears are meshed with the gears on the output ends of the driving motors on the outer sides of the center clamping plate 3 and the lateral clamping plate 301; Positioning member 304; a driving cylinder is installed at the bottom of the inner end of the guide movable plate 206, and a traction plate 305 is installed on the output end of the driving cylinder; the traction plate 305 is a U-shaped structure, and a traction protrusion 306 is installed on the side end of the traction plate 305; the traction protrusion 306 is slidably installed on the inner side of the positioning member 304; a driving cylinder is installed at the top of the inner end of the guide movable plate 206, and a positioning tube 307 is installed on the output end of the driving cylinder; an air pump is installed on the side of the positioning plate 202, and a telescopic tube 308 is installed on the output end of the air pump; a guide tube 309 is connected to the side end of the telescopic tube 308; the guide tube 309 is installed through the inner side of the positioning tube 307, and the side end of the guide tube 309 is connected to the injection tube 3010;A guide groove 3011 is provided on the side of the injection pipe 3010, wherein the guide groove 3011 is inclined downward. When the joint parts of the humanoid robot to be processed are positioned and clamped, before the center splint 3 and the lateral splint 301 clamp the joint parts, the driving cylinder at the top of the inner end of the guide movable plate 206 drives the positioning tube 307 to adjust to different heights, so that the positioning tube 307 drives the guide tube 309 to adjust the height. The airflow generated by the air pump on the side of the positioning plate 202 enters the guide tube 309 through the telescopic tube 308 and then enters the interior of the injection pipe 3010, and is ejected through the guide groove 3011 to clean the processing debris remaining on the center splint 3 and the lateral splint 301 on the other side. With the adjustment of the height of the injection pipe 3010, the center splint 3 and the lateral splint 301 can be cleaned in all aspects to prevent the residual debris from causing wear on the surface of the joint parts clamped later. The angles of the two lateral splints 301 are adjusted according to the needs of different joint parts. The driving cylinder at the bottom of the inner end of the movable plate 206 drives the traction plate 305 to move, and the traction plate 305 drives the traction protrusion 306 to move inside the positioning member 304, and the positioning member 304 drives the lateral clamping plate 301 to rotate on both sides of the central clamping plate 3, so that the two lateral clamping plates 301 and the central clamping plate 3 are at a suitable angle, which is convenient for fixing different joint components and processing the joint components. After processing one surface of the joint component, the driving motor at the bottom of the outer side of the central clamping plate 3 and the driving motor at the top of the outer side of the lateral clamping plate 301 rotate synchronously, and the driving motor drives the rotating transmission rod 302 to rotate, and the guide wheel 303 on the side of the rotating transmission rod 302 rotates inside the lateral clamping plate 301 and the central clamping plate 3, so that the guide wheel 303 can drive the joint component to rotate and adjust, so that the obstructed side is exposed for processing, reducing the workload of manual adjustment, and adjusting on the same reference surface at the same time, reducing the error existing during adjustment, and improving the efficiency and precision quality of joint component processing. ;

[0026] The working principle of this embodiment is as follows: the positions of the multiple positioning rods 109 are adjusted according to the size of the joint parts, the joint parts are placed between the multiple positioning rods 109, the guide slide 103 is pushed to the appropriate position along the guide slide 102, the driving rod 105 is rotated to drive the slider 106 to move to the appropriate position along the guide slide 104, the output end of the driving cylinder drives the joint parts on the movable carrier plate 107 to the appropriate height, the center clamping plate 3 and the lateral clamping plate 301 are driven to guide the top of the inner end of the movable plate 206 before clamping the joint parts The cylinder drives the positioning tube 307 to adjust the height of the guide tube 309. The airflow generated by the air pump enters the injection tube 3010 through the telescopic tube 308 and the guide tube 309, and is ejected through the guide groove 3011 to clean the processing debris remaining on the central clamping plate 3 and the lateral clamping plate 301 on the other side. Then, the angles of the two lateral clamping plates 301 are adjusted according to different joint components. The driving cylinder at the bottom of the inner end of the guide movable plate 206 drives the traction plate 305 to pull the traction protrusion 306 to move inside the positioning member 304, and the positioning member 30 4 drives the lateral clamping plates 301 to rotate at the appropriate angles on both sides of the central clamping plate 3, the two driving cylinders drive the traction rods 207 to pull the guide movable plate 206 to slide on the inner side of the guide block 205, the inner ends of the two guide movable plates 206 drive the central clamping plate 3 and the lateral clamping plates 301 to clamp and fix the workpiece, the driving handle is rotated at the side end of the positioning plate 202 to drive the rotating rod 204 to drive the guide block 205 to move along the guide groove 203, and the guide block 205 drives the guide movable plate 206 to adjust to different heights, and the two sides of the fixed frame 1 The servo motor at the top of the end drives the guide ring 201 to rotate on the inner side of the positioning ring 2, and the guide ring 201 drives the joint components to adjust at different angles to adapt to different processing equipment. After the joint components process one surface, the drive motor at the bottom of the outer side of the center splint 3 and the drive motor at the top of the outer side of the lateral splint 301 drive the rotating transmission rod 302 to rotate at the same time, and the guide wheel 303 on the side of the rotating transmission rod 302 drives the joint components to rotate and adjust to expose the obstructed side for processing, thereby improving the efficiency and precision quality of joint component processing.

[0027] In this article, there are a few points to note: 1. The drawings of the embodiments of the present disclosure only involve structures related to the embodiments of the present disclosure, and other structures may refer to general designs.

[0028] 2. In the absence of conflict, the embodiments of the present disclosure and the features therein may be combined with each other to obtain new embodiments.

[0029] The above are only specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. Aluminum alloy humanoid robot joint parts processing positioning and clamping composite tooling, including: A fixed frame (1) and a center clamping plate (3), wherein a servo motor is installed at the middle position of the top of both ends of the fixed frame (1), a gear is installed on the output end of the servo motor, and a fixed support plate (101) is installed at the position of the angle of the top edge of the fixed frame (1); it is characterized in that a positioning ring (2) is installed on the top of the fixed support plate (101); a guide ring (201) is rotatably installed on the inner side of the positioning ring (2); a sawtooth structure is provided on the outer side of the guide ring (201), and the sawtooth structure is aligned with the gears of the servo motor output ends at the top of both ends of the fixed frame (1). The central clamping plate (3) and the lateral clamping plate (301) are meshed with each other; lateral clamping plates (301) are rotatably mounted on both sides of the central clamping plate (3), wherein a driving motor is mounted on the outer bottom of the central clamping plate (3) and the outer top of the lateral clamping plate (301), and a gear is mounted on the output end of the driving motor; a rotating transmission rod (302) is rotatably mounted inside the central clamping plate (3) and the lateral clamping plate (301); a guide wheel (303) is mounted on the rotating transmission rod (302), wherein the outer side surface of the guide wheel (303) is located on the inner side of the central clamping plate (3) and the lateral clamping plate (301).

2. The aluminum alloy humanoid robot joint component processing positioning and clamping composite tooling according to claim 1 is characterized in that: The front and rear sides of the top of the fixed frame (1) are provided with guide slots (102); a guide slide plate (103) is slidably mounted inside the guide slot (102); a guide slide bar (104) is mounted between two guide slide plates (103), and a drive rod (105) is rotatably mounted in the middle of the side of the guide slide plate (103).

3. The aluminum alloy humanoid robot joint component processing positioning and clamping composite tooling according to claim 2 is characterized in that: A slider (106) is slidably mounted on the outer side of the guide slide bar (104); the slider (106) is also mounted on the outer side of the drive rod (105), and a drive cylinder is mounted on the top of the slider (106), and a movable carrier plate (107) is mounted on the output end of the drive cylinder.

4. The aluminum alloy humanoid robot joint component processing positioning and clamping composite tooling according to claim 3 is characterized in that: The top of the movable carrier plate (107) is provided with a plurality of evenly distributed mounting holes (108); positioning rods (109) are installed inside the mounting holes (108).

5. The aluminum alloy humanoid robot joint component processing positioning and clamping composite tooling according to claim 4 is characterized in that: A positioning plate (202) is installed at the middle position of the inner side of the guide ring (201); a through-type guide groove (203) is provided on the side of the positioning plate (202); and a rotating rod (204) is rotatably installed inside the guide groove (203).

6. The aluminum alloy humanoid robot joint component processing positioning and clamping composite tooling according to claim 5 is characterized in that: The rotating rod (204) is provided with driving handles at both ends, and the driving handles are rotatably mounted on the two ends of the positioning plate (202); a guide block (205) is slidably mounted inside the guide groove (203); the guide block (205) is also mounted on the outside of the rotating rod (204); a guide movable plate (206) is slidably mounted on the inside of the guide block (205), wherein a slot is provided on the top of the guide movable plate (206), and the inner end of the guide movable plate (206) is connected to the outer side of the central clamping plate (3).

7. The aluminum alloy humanoid robot joint component processing positioning and clamping composite tooling according to claim 6, characterized in that: The rotating rod (204) is located in a slot at the top of the guide movable plate (206); drive cylinders are installed at opposite positions on the side of the guide ring (201); and traction rods (207) are installed on the output ends of the two drive cylinders; the traction rods (207) are slidably installed on the outer end of the guide movable plate (206).

8. The aluminum alloy humanoid robot joint component processing positioning and clamping composite tooling according to claim 7 is characterized in that: A gear is mounted on the side end of the rotating transmission rod (302), and the gear meshes with the gears at the output end of the driving motor on the outside of the central clamping plate (3) and the lateral clamping plate (301); a positioning member (304) is mounted on the outside of the lateral clamping plate (301); a driving cylinder is mounted on the bottom of the inner end of the guide movable plate (206), and a traction plate (305) is mounted on the output end of the driving cylinder; and a traction bump (306) is mounted on the side end of the traction plate (305).

9. The aluminum alloy humanoid robot joint component processing positioning and clamping composite tooling according to claim 8, characterized in that: The traction protrusion (306) is slidably mounted on the inner side of the positioning member (304); a driving cylinder is mounted on the top of the inner end of the guide movable plate (206), and a positioning tube (307) is mounted on the output end of the driving cylinder; an air pump is mounted on the side of the positioning plate (202), and a telescopic tube (308) is mounted on the output end of the air pump.

10. The aluminum alloy humanoid robot joint component processing positioning and clamping composite tooling according to claim 9, characterized in that: The side end of the telescopic tube (308) is connected to a flow guide tube (309); the flow guide tube (309) is installed through the inner side of the positioning tube (307), and the side end of the flow guide tube (309) is connected to an injection tube (3010); a flow guide groove (3011) is provided on the side of the injection tube (3010).

Images