A positioning device for robot casting machining

Abstract

The application relates to the technical field of robot casting machining, in particular to a positioning device for robot casting machining, which comprises a positioning moving guide rail, a casting positioning plate main body and a rotating frame. A rotating cylinder is rotatably installed on the rotating frame. A fixed ring-shaped frame is rotatably installed at one end of the rotating cylinder. A plurality of rotating rods are rotatably connected to the outer wall of the fixed ring-shaped frame and are uniformly distributed in a ring shape. The outer wall of the rotating rod is fixedly connected with a pushing crank. When the pressing guide rod and the third rolling ball are removed from the contact with the ring-shaped contact arc surface, the second reset spring drives the pressing guide rod and the third rolling ball to move in the direction away from the pressing sleeve frame, so that the pressing guide rod and the third rolling ball press the casting flange part at the casting positioning plate main body, the casting flange protruding part is pressed between the casting positioning plate main body and the third rolling ball, and the casting is further subjected to multi-point clamping.

Description

Technical Field

[0001] This invention relates to the field of robotic casting processing technology, specifically a positioning device for robotic casting processing. Background Technology

[0002] In the manufacturing process of industrial robots, core components such as the robot body's base, joints, and arms are mostly cast, and their ends are generally integrated with docking flange structures for high-precision docking during subsequent assembly. After rough casting, these robot castings need to undergo finishing processes such as milling, drilling, and boring. During processing, positioning fixtures are used to clamp and fix the castings to ensure that the processed dimensions and geometric tolerances meet design requirements. Currently, the industry mostly uses general-purpose rigid clamps for clamping robot castings with docking flanges. However, these clamps have revealed many shortcomings in actual production applications and are prone to causing surface damage to the castings. Existing fixtures typically have hard metal contact surfaces at their clamping ends, resulting in rigid contact with the casting surface and a small effective contact area. This concentrates the clamping force in a localized area. During clamping, indentations and scratches are easily formed on the flange mating surfaces and outer wall reference surfaces of the casting, damaging the surface quality and directly affecting the sealing performance and assembly accuracy of subsequent flange connections. For thin-walled castings, rigid clamping can also cause plastic deformation, leading to casting scrap. Furthermore, they lack multi-directional anti-detachment capabilities. Conventional fixtures typically apply clamping force only radially, limiting displacement in only one direction and failing to provide comprehensive displacement constraint. When the casting is subjected to continuous cutting impact and equipment vibration loads during processing, it is prone to axial movement and circumferential deflection, and in severe cases, it may even slip out of the fixture. This can lead to dimensional errors, workpiece scrap, and safety risks for operators. Concentrated clamping points also result in uneven stress distribution. Traditional clamps generally use a centralized clamping point to transmit clamping force, concentrating all clamping loads on a few points. This not only increases the risk of local deformation of castings, but also makes it difficult to adapt to the clamping requirements of irregular flanges and large-size flange castings, resulting in poor clamp versatility. At the same time, excessive single-point loads will also accelerate the wear of the clamping surface of the clamp and reduce the service life of the clamp. Summary of the Invention

[0003] The purpose of this invention is to provide a positioning device for robotic casting processing, which solves the problem mentioned in the background art that during the clamping process, the flange mating surface of the casting is easily scratched, damaging the surface quality of the casting. Traditional fixtures generally use centralized clamping points to transmit clamping force, concentrating all clamping loads on a few points, which not only exacerbates the risk of local deformation of the casting, but also makes it difficult to adapt to the problem of irregular flanges.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a positioning device for robot casting processing, comprising a positioning moving guide rail, a casting positioning plate body, and a rotating frame. A rotating cylinder is rotatably mounted on the rotating frame, and a fixed annular frame is rotatably mounted on one end of the rotating cylinder. A plurality of evenly distributed annular rotating rods are rotatably connected to the outer wall of the fixed annular frame. A crank is fixedly connected to the outer wall of the rotating rod, and a pressing sleeve is fixedly connected to the outer wall of the crank. A second return spring is fixedly connected to the inner wall of the pressing sleeve, and a pressing guide rod is fixedly connected to the other end of the second return spring. A third rolling ball is rotatably mounted on the end of the pressing guide rod. A transmission gear is fixedly sleeved on the outer wall of the rotating rod, and a plurality of evenly distributed annular transmission gear rings are fixedly connected to the outer wall of the rotating frame. The transmission gear and the transmission gear rings mesh with each other.

[0005] Preferably, the fixed annular frame has an annular contact arc surface, the outer wall of the main body of the casting positioning plate is fixedly connected to a support frame, the outer wall of the support frame is fixedly connected to a square limiting rod, and the fixed annular frame is slidably sleeved on the square limiting rod.

[0006] Preferably, the inner wall of the rotating frame is provided with a second annular groove and a first annular groove, and a plurality of annularly evenly distributed second transmission cylinders are fixedly installed on the outer wall of the main body of the casting positioning plate.

[0007] Preferably, a second push rod is fixedly connected to the output end of the second transmission cylinder, and a first rolling ball is rotatably mounted on the end of the second push rod. The first rolling ball is slidably mounted on the inner wall of the second annular groove, and a sliding disc is fixedly sleeved on the outer wall of the second push rod. The sliding disc is slidably connected to the inner wall of the first annular groove.

[0008] Preferably, a fixing column is fixedly connected to the outer wall of the main body of the casting positioning plate, and an abutting guide rod is fixedly connected to the outer wall of the fixing column.

[0009] Preferably, a second rolling ball is rotatably mounted on the end of the abutting guide rod, and a spiral groove is formed on the outer wall of the rotating frame, with the second rolling ball slidably mounted in the spiral groove.

[0010] Preferably, the outer wall of the casting positioning plate body is provided with a placement through groove, and a plurality of annularly evenly distributed first transmission cylinders are fixedly connected to the outer wall of the casting positioning plate body. The output end of the first transmission cylinder is fixedly connected to a first push rod, and one end of the first push rod is fixedly connected to a first moving frame.

[0011] Preferably, a plurality of first return springs are fixedly connected to the inner wall of the first movable frame, and a rubber buffer plate is fixedly connected to one end of the first return spring. The rubber buffer plate is slidably connected to the inner wall of the first movable frame, and a plurality of rubber protrusions are fixedly connected to the outer wall of the rubber buffer plate.

[0012] Preferably, a movable slider is slidably mounted on the positioning guide rail, and a support base is fixedly connected to the movable slider.

[0013] Preferably, the main body of the casting positioning plate is fixedly connected to the movable slider, and two protective plates are fixedly connected to the outer wall of the main body of the casting positioning plate.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. In this invention, multiple second transmission cylinders are activated. When the rotating frame rotates, it drives the transmission gear ring to rotate synchronously. When the transmission gear ring rotates, it meshes with the transmission gear 28. When the transmission gear 28 rotates, it drives the rotating rod 27 to rotate. When the rotating rod rotates, it drives the crank to rotate. When the crank rotates, it drives the pressing sleeve frame and the pressing guide rod to move synchronously. When the pressing guide rod and the third rolling ball release their contact with the annular contact arc surface, the second reset spring resets and drives the pressing guide rod and the third rolling ball to move away from the pressing sleeve frame. This causes the pressing guide rod and the third rolling ball to press the casting flange part towards the casting positioning plate body, pressing the protruding part of the casting flange between the casting positioning plate body and the third rolling ball, further clamping the casting at multiple points.

[0015] 2. In this invention, as the rotating frame continues to move toward the main body of the casting positioning plate, the rotating frame drives the rotating cylinder and the fixed annular frame to move synchronously toward the surface of the main body of the casting positioning plate until the surface of the fixed annular frame applies annular force to the casting flange part. Together with multiple pressing guide rods and the third rolling ball, annular multi-point pressing clamping and limiting operation is performed to further disperse the clamping force on the casting and prevent concentrated clamping from damaging the casting.

[0016] 3. In this invention, multiple first transmission cylinders are activated, which drive the first push rod and the first moving frame at the output end to move. The first moving frame drives the rubber buffer plate to abut against the casting. Multiple rubber protrusions simultaneously abut against the outer wall of the casting, forming a strong frictional force with the outer wall of the casting to prevent the casting from shaking. Multiple rubber buffer plates apply a clamping force to the casting at the center of the placement slot, causing the rubber buffer plates to compress the first return spring and slide towards the inner wall of the first moving frame, serving as a clamping buffer to prevent deformation of the casting. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 This is a schematic diagram of the overall rear view structure of the present invention; Figure 3 This is a schematic diagram of the first transmission cylinder and its surrounding structure according to the present invention; Figure 4 This is a schematic cross-sectional view of the first movable frame structure of the present invention; Figure 5 This is a schematic diagram of the overall top cross-sectional structure of the present invention; Figure 6 For the present invention Figure 5 Enlarged structural diagram at point A in the middle; Figure 7 This is a schematic diagram of the main body of the casting positioning plate and its surrounding structure according to the present invention; Figure 8 This is a schematic cross-sectional view of the main body of the casting positioning plate of the present invention; Figure 9 For the present invention Figure 8 Enlarged structural diagram at point B.

[0018] In the attached diagram, the components represented by each number are as follows: 1. Positioning guide rail; 2. Moving slider; 3. Support base; 4. Guard plate; 5. Casting positioning plate body; 6. First transmission cylinder; 7. First push rod; 8. First moving frame; 9. First return spring; 10. Rubber buffer plate; 11. Rubber protrusion; 12. Second transmission cylinder; 13. Second push rod; 14. Rotating frame; 15. Sliding disc; 16. First annular groove; 17. First rolling ball; 18. Second annular groove ; 19. Fixed column; 20. Spiral groove; 21. Abutting guide rod; 22. Second rolling ball; 23. Transmission gear ring; 24. Rotating cylinder; 25. Fixed annular frame; 26. Annular abutting arc surface; 27. Rotating rod; 28. Transmission gear; 29. ​​Actuating crank; 30. Pressing sleeve frame; 31. Second return spring; 32. Pressing guide rod; 33. Third rolling ball; 34. Support frame; 35. Square limiting rod; 36. Placement through slot. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] This invention provides a technical solution: such as Figures 1-9The positioning device for robot casting processing shown includes a positioning moving guide rail 1, a casting positioning plate body 5, and a rotating frame 14. A rotating cylinder 24 is rotatably mounted on the rotating frame 14. A fixed annular frame 25 is rotatably mounted on one end of the rotating cylinder 24. Multiple evenly distributed rotating rods 27 are rotatably connected to the outer wall of the fixed annular frame 25. A crank 29 is fixedly connected to the outer wall of the rotating rod 27. A pressing sleeve 30 is fixedly connected to the outer wall of the crank 29. A second return spring 31 is fixedly connected to the inner wall of the pressing sleeve 30. A pressing guide rod 32 is fixedly connected to the other end of the second return spring 31. A third rolling ball 33 is rotatably mounted on the end of the pressing guide rod 32. A transmission gear 28 is fixedly sleeved on the outer wall of the rotating rod 27. Multiple evenly distributed annular transmission gear rings 23 are fixedly connected to the outer wall of the casting positioning plate body 5. The transmission gear 28 meshes with the transmission gear rings 23. An annular contact arc surface 26 is provided on the fixed annular frame 25. A support frame 34 is fixedly connected to the outer wall of the casting positioning plate body 5. A square limiting rod 35 is fixedly connected to the outer wall of the support frame 34. The fixed annular frame 25 is slidably sleeved on the square limiting rod 35. A second annular slide groove 18 and a first annular slide groove 16 are provided on the inner wall of the rotating frame 14. Multiple evenly distributed annular second transmission cylinders 12 are fixedly installed on the outer wall of the casting positioning plate body 5. When the multiple second transmission cylinders 12 are started, they drive the second push rod 13 and the sliding disc 15 at the output end to move towards the second transmission cylinder 12. As the sliding disc 15 moves, it drives the rotating frame 14 to move synchronously. The rotating frame 14 moves towards the casting positioning plate body 5. When the rotating frame 14 moves, the contact guide rod 21 and the second rolling ball 22 slide along the spiral groove 20 on the outer wall of the rotating frame 14. Due to the trajectory of the spiral groove 20, the rotating frame 14 rotates while moving towards the casting positioning plate body 5 under force. When the rotating frame 14 rotates, the first rolling ball 17 slides along the second annular groove 18. When the rotating frame 14 rotates, it drives the transmission gear ring 23 to rotate synchronously. When the transmission gear ring 23 rotates, it meshes with the transmission gear 28. When the transmission gear 28 rotates, it drives the rotating rod 27 to rotate. When the rotating rod 27 rotates, it drives the crank 29 to rotate. The pressing sleeve 30 and the pressing guide rod 32 move synchronously. When the pressing guide rod 32 and the third rolling ball 33 release their contact with the annular contact arc surface 26 on the surface of the fixed annular frame 25, the second return spring 31 resets and drives the pressing guide rod 32 and the third rolling ball 33 to move away from the pressing sleeve 30. This causes the pressing guide rod 32 and the third rolling ball 33 to press the casting flange part towards the casting positioning plate body 5, pressing the protruding part of the casting flange between the casting positioning plate body 5 and the third rolling ball 33, further clamping the casting at multiple points. As the rotating frame 14 continues to move towards the casting positioning plate body 5, the rotating frame 14 drives the rotating cylinder 24 and the fixed annular frame 25 to move synchronously towards the surface of the casting positioning plate body 5.The surface of the fixed annular frame 25 applies annular pressure to the flange portion of the casting, and together with multiple pressing guide rods 32 and the third rolling ball 33, performs annular multi-point pressing clamping and limiting operation, further dispersing the clamping force on the casting and preventing concentrated clamping from damaging it.

[0021] The output end of the second transmission cylinder 12 is fixedly connected to the second push rod 13. The end of the second push rod 13 is rotatably mounted with the first rolling ball 17. The first rolling ball 17 is slidably mounted on the inner wall of the second annular groove 18. The outer wall of the second push rod 13 is fixedly sleeved with a sliding disc 15. The sliding disc 15 is slidably connected to the inner wall of the first annular groove 16.

[0022] The outer wall of the main body 5 of the casting positioning plate is fixedly connected to a fixing column 19, and the outer wall of the fixing column 19 is fixedly connected to an abutment guide rod 21.

[0023] A second rolling ball 22 is rotatably mounted on the end of the abutting guide rod 21. A spiral groove 20 is provided on the outer wall of the rotating frame 14, and the second rolling ball 22 is slidably mounted in the spiral groove 20.

[0024] The outer wall of the casting positioning plate body 5 has a placement slot 36. Multiple annularly distributed first transmission cylinders 6 are fixedly connected to the outer wall of the casting positioning plate body 5. A first push rod 7 is fixedly connected to the output end of each first transmission cylinder 6. A first moving frame 8 is fixedly connected to one end of each first push rod 7. Multiple first return springs 9 are fixedly connected to the inner wall of the first moving frame 8. A rubber buffer plate 10 is fixedly connected to one end of each first return spring 9. The rubber buffer plate 10 is slidably connected to the inner wall of the first moving frame 8. Multiple rubber protrusions 11 are fixedly connected to the outer wall of the rubber buffer plate 10. The flange portion of the robot casting is aligned with the placement slot 36, and then... Using a robotic arm, the casting is pressed into the slot 36. The protruding part of the casting passes through the slot 36. At this time, multiple first transmission cylinders 6 are activated. The first transmission cylinders 6 drive the first push rod 7 and the first moving frame 8 at the output end to move. The first moving frame 8 drives the rubber buffer plate 10 to contact the casting. Multiple rubber protrusions 11 simultaneously contact the outer wall of the casting, forming a strong frictional force with the outer wall of the casting to prevent the casting from shaking. Multiple rubber buffer plates 10 apply a clamping force to the casting at the center of the slot 36, causing the rubber buffer plates 10 to compress the first return spring 9 and slide towards the inner wall of the first moving frame 8 as a clamping buffer to prevent deformation of the casting.

[0025] A movable slider 2 is slidably mounted on the positioning guide rail 1. A support base 3 is fixedly connected to the movable slider 2. The main body 5 of the casting positioning plate is fixedly connected to the movable slider 2. Two protective plates 4 are fixedly connected to the outer wall of the main body 5 of the casting positioning plate. The setting of the support base 3 allows the large flanged robot casting to first abut against the support base 3 for initial position fixation, reducing the difficulty of the work before clamping.

[0026] After clamping is completed, the electric slide rail is activated, causing the moving slider 2 to move the casting positioning plate body 5 and the casting as a whole along the positioning moving guide rail 1 into the turning and milling machine for turning and milling and other processing measures.

[0027] Working principle: When using the positioning device for robot casting processing, first align the flange part of the robot casting with the placement slot 36, and then use the robotic arm to press it into the slot 36 opening. The protruding part of the casting passes through the placement slot 36. At this time, multiple first transmission cylinders 6 are activated. The first transmission cylinders 6 drive the first push rod 7 and the first moving frame 8 at the output end to move. The first moving frame 8 drives the rubber buffer plate 10 to abut against the casting. Multiple rubber protrusions 11 simultaneously abut against the outer wall of the casting, forming a strong frictional force with the outer wall of the casting to prevent the casting from shaking. Multiple rubber buffer plates 10 apply clamping force to the casting at the center of the placement slot 36, causing the rubber buffer plates 10 to compress the first return spring 9 and slide towards the inner wall of the first moving frame 8 as a clamping buffer to prevent deformation of the casting.

[0028] Subsequently, multiple second transmission cylinders 12 are activated. After the second transmission cylinders 12 are activated, they drive the second push rod 13 and the sliding disk 15 at the output end to move towards the position close to the second transmission cylinders 12. During the movement of the sliding disk 15, the rotating frame 14 moves synchronously. The rotating frame 14 moves towards the casting positioning plate body 5. When the rotating frame 14 moves, the abutting guide rod 21 and the second rolling ball 22 slide along the spiral groove 20 on the outer wall of the rotating frame 14. Due to the trajectory of the spiral groove 20, the rotating frame 14 rotates while being subjected to force, moving towards the casting positioning plate body 5. When the rotating frame 14 rotates, the first rolling ball 17 slides along the second annular groove 18. When the rotating frame 14 rotates, it drives the transmission gear ring 23 to rotate synchronously. When rotating, the transmission gear 28 meshes with the transmission gear 28, which in turn drives the rotating rod 27 to rotate. The rotating rod 27 in turn drives the crank 29 to rotate, and the crank 29 in turn drives the pressing sleeve 30 and the pressing guide rod 32 to move synchronously. When the pressing guide rod 32 and the third rolling ball 33 release their contact with the annular contact arc surface 26 on the surface of the fixed annular frame 25, the second return spring 31 returns to its original position and drives the pressing guide rod 32 and the third rolling ball 33 to move away from the pressing sleeve 30. This causes the pressing guide rod 32 and the third rolling ball 33 to press the casting flange part towards the casting positioning plate body 5, pressing the protruding part of the casting flange between the casting positioning plate body 5 and the third rolling ball 33, further clamping the casting at multiple points.

[0029] As the rotating frame 14 continues to move toward the casting positioning plate body 5, the rotating frame 14 drives the rotating cylinder 24 and the fixed annular frame 25 to move synchronously toward the surface of the casting positioning plate body 5 until the surface of the fixed annular frame 25 applies annular force to the casting flange part. Together with multiple pressing guide rods 32 and the third rolling ball 33, it performs annular multi-point pressing clamping and limiting operation, further dispersing the clamping force on the casting and preventing concentrated clamping from damaging the casting.

[0030] The support base 3 allows large flanged robot castings to be initially fixed in position by first contacting the support base 3, reducing the difficulty of the work before clamping.

[0031] After clamping is completed, the electric slide rail is activated, causing the moving slider 2 to move the casting positioning plate body 5 and the casting as a whole along the positioning moving guide rail 1 into the turning and milling machine for turning and milling and other processing measures.

Claims

1. A positioning device for robotic casting processing, comprising a positioning moving guide rail (1), a casting positioning plate body (5), and a rotating frame (14), characterized in that: A rotating cylinder (24) is rotatably mounted on the rotating frame (14). A fixed annular frame (25) is rotatably mounted on one end of the rotating cylinder (24). A plurality of evenly distributed rotating rods (27) are rotatably connected to the outer wall of the fixed annular frame (25). A paddle crank (29) is fixedly connected to the outer wall of the rotating rod (27). A pressing sleeve frame (30) is fixedly connected to the outer wall of the paddle crank (29). A second return spring (31) is fixedly connected to the inner wall of the pressing sleeve frame (30). A pressing guide rod (32) is fixedly connected to the other end of the second return spring (31). A third rolling ball (33) is rotatably mounted on the end of the pressing guide rod (32). A transmission gear (28) is fixedly sleeved on the outer wall of the rotating rod (27). A plurality of evenly distributed transmission gear rings (23) are fixedly connected to the outer wall of the rotating frame (14). The transmission gear (28) and the transmission gear rings (23) mesh with each other. The fixed annular frame (25) has an annular contact arc surface (26), the outer wall of the casting positioning plate body (5) is fixedly connected to a support frame (34), the outer wall of the support frame (34) is fixedly connected to a square limiting rod (35), and the fixed annular frame (25) is slidably sleeved on the square limiting rod (35). The inner wall of the rotating frame (14) is provided with a second annular groove (18) and a first annular groove (16), and a plurality of annularly distributed second transmission cylinders (12) are fixedly installed on the outer wall of the casting positioning plate body (5). The output end of the second transmission cylinder (12) is fixedly connected to a second push rod (13), and the end of the second push rod (13) is rotatably mounted with a first rolling ball (17). The first rolling ball (17) is slidably mounted on the inner wall of the second annular groove (18), and the outer wall of the second push rod (13) is fixedly fitted with a sliding disc (15). The sliding disc (15) is slidably connected to the inner wall of the first annular groove (16). The outer wall of the casting positioning plate body (5) is provided with a placement through groove (36). Multiple annularly distributed first transmission cylinders (6) are fixedly connected to the outer wall of the casting positioning plate body (5). The output end of the first transmission cylinder (6) is fixedly connected to a first push rod (7). One end of the first push rod (7) is fixedly connected to a first moving frame (8).

2. The positioning device for robot casting processing according to claim 1, characterized in that: The outer wall of the main body (5) of the casting positioning plate is fixedly connected to a fixing column (19), and the outer wall of the fixing column (19) is fixedly connected to an abutment guide rod (21).

3. The positioning device for robot casting processing according to claim 2, characterized in that: The end of the abutting guide rod (21) is rotatably mounted with a second rolling ball (22), and the outer wall of the rotating frame (14) is provided with a spiral groove (20), and the second rolling ball (22) is slidably mounted in the spiral groove (20).

4. The positioning device for robot casting processing according to claim 1, characterized in that: The inner wall of the first movable frame (8) is fixedly connected with a plurality of first reset springs (9), one end of the first reset spring (9) is fixedly connected with a rubber buffer plate (10), the rubber buffer plate (10) is slidably connected to the inner wall of the first movable frame (8), and the outer wall of the rubber buffer plate (10) is fixedly connected with a plurality of rubber protrusions (11).

5. A positioning device for robot casting processing according to claim 1, characterized in that: A sliding block (2) is slidably mounted on the positioning guide rail (1), and a support base (3) is fixedly connected to the sliding block (2).

6. A positioning device for robot casting processing according to claim 1, characterized in that: The main body (5) of the casting positioning plate is fixedly connected to the movable slider (2), and two guard plates (4) are fixedly connected to the outer wall of the main body (5).

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