Robot casting machining fixing device with limiting structure

Abstract

The application relates to the technical field of machining clamps, in particular to a robot casting machining fixing device with a limiting structure, which comprises a base platform, a positioning pin and a corresponding support are installed on the base platform, and a floating support unit is also installed, the floating support unit comprises a support cylinder and a support pin, a floating frame is installed in the support cylinder, and the support pin is slidingly installed on the floating frame; an axial hollow cavity is arranged in the support pin, an open slot is formed in the outer peripheral wall of the support pin, a wedge-shaped shaft is arranged in the hollow cavity, a tension spring and an air pipe are connected to the two ends of the wedge-shaped shaft respectively, a pressing block is slidingly installed on the wedge-shaped surface of the wedge-shaped shaft, the pressing block corresponds to the open slot, through the combined motion mechanism of the swing arm swinging in the floating frame, the rotation plate rotating and the slide rail guiding, and the pre-tightening reset force provided by the spring piece, the large-stroke multi-dimensional self-adaptive floating of the support pin is realized, the shape and position tolerances generated due to the uneven casting shrinkage and the parting surface deviation of the casting are effectively absorbed, and rigid interference is avoided.

Description

Technical Field

[0001] This invention relates to the field of machining fixture technology, specifically to a robot casting machining fixing device with a limit structure. Background Technology

[0002] As the core load-bearing component of industrial robots, articulated arms are mostly made of aluminum alloy or ductile iron. They have long, asymmetrical, thin-walled, multi-cavity structural features. During the machining process, these castings require extremely high clamping and positioning accuracy and clamping stability, which directly affects the motion accuracy and service life of the robot joints.

[0003] Robot castings are mostly sand castings, and the dimensional variation on the surface of the blank is relatively large. Traditional fixtures mostly use rigid support and rigid clamping structures to directly press the casting blank onto the fixed support block. Due to the lack of self-adjustment capability of the fixture, during the forced clamping process, the support pin is prone to rigid interference with the hole wall, which not only damages the inner surface of the workpiece, but may also cause the entire workpiece to warp, resulting in clamping failure. Summary of the Invention

[0004] The purpose of this invention is to provide a robot casting machining fixing device with a limit structure to solve the problem that in the prior art, due to the lack of adaptive adjustment capability of the fixture, the support pin is prone to rigid interference with the hole wall during the forced clamping process, which not only damages the inner surface of the workpiece, but may also cause the entire workpiece to warp, resulting in clamping failure.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A robot casting machining fixing device with a limiting structure includes a base platform for supporting the robot casting body to be processed. At least two positioning pins and corresponding support components are installed on the base platform, and at least one floating support unit is also installed to limit the displacement of the robot casting body in the Z direction and compensate for the form and position tolerances of the casting blank. The floating support unit includes a support cylinder and a support pin. A floating frame is installed inside the support cylinder, and the support pin is slidably mounted on the floating frame. The support pin has an axially penetrating hollow cavity inside, and at least one opening groove communicating with the hollow cavity is opened on its outer peripheral wall. A wedge-shaped shaft is provided inside the hollow cavity. A tension spring is fixedly connected between one end of the wedge-shaped shaft and the inner top surface of the support pin. An air pipe is provided at the other end of the wedge-shaped shaft for connecting to an external air source. A pressure block is slidably mounted on the wedge-shaped surface of the wedge-shaped shaft, and the pressure block corresponds to the opening groove.

[0006] Preferably, the floating frame includes a rotating plate installed inside a support cylinder, a swing arm rotatably mounted on the rotating plate, a support pin slidably mounted on the swing arm, and the opening radius of the support cylinder is smaller than the swing arm's rotation radius, so that the support pin is always contained within the opening range of the support cylinder.

[0007] Preferably, the floating frame further includes multiple slide rails fixedly installed on the bottom surface of the support cylinder. Contact rods are slidably fitted on the slide rails, and sliding pins are fixedly installed on the contact rods. The rotating plate has arc-shaped slots corresponding to the number of sliding pins, and the sliding pins are slidably fitted in the arc-shaped slots. The bottom surface of the support cylinder has an upwardly extending enclosure. A central shaft is fixedly installed on the side of the rotating plate opposite to the support pins. The central shaft is rotatably installed in the enclosure, and a spring is installed between the central shaft and the inner wall of the enclosure.

[0008] Preferably, the wedge-shaped shaft includes a coaxially arranged end and a hollow shaft body. The hollow shaft body is fixedly installed at the bottom of the hollow cavity of the support pin. The end is sleeved on the outside of the hollow shaft body. An axially extending air chamber is opened inside the end. The end of the hollow shaft body away from the bottom of the support pin is slidably inserted into the air chamber and sealed with the inner wall of the air chamber to form a sealed cavity in the air chamber.

[0009] Preferably, the support pin includes a pin head and a pin seat. The pin seat is slidably mounted on the rocker arm, and the pin head is slidably mounted axially within the pin seat. The hollow shaft is fixedly mounted at the bottom of the hollow cavity of the pin seat. A pad is fixedly mounted inside the pin head. A through hole is provided at the center of the pad. The hollow shaft passes through the through hole. An I-beam is provided between the hole wall of the through hole and the outer circumferential surface of the hollow shaft. The I-beam is fixedly connected to the end.

[0010] Preferably, the pin seat has an air hole, and a sealing head is fixedly installed in the air hole. One end of the sealing head is connected to the air pipe through a pipe connector, and the other end of the sealing head is fixedly connected to a corrugated hose. The other end of the corrugated hose passes through the support cylinder and is connected to an external air source. The external air source is connected to the hollow shaft in sequence through the corrugated hose, the sealing head, and the air pipe, and finally enters the air chamber inside the end.

[0011] Preferably, the support includes a fixed block and an adjusting block. The fixed block is bolted to the base platform, and the adjusting block is slidably mounted on the fixed block in the vertical direction. The top surface of the adjusting block is provided with a contour support surface that conforms to the bottom surface of the robot casting body. A knob is rotatably mounted on the fixed block. The knob has a threaded hole, and an adjusting screw is threaded into the threaded hole. The top end of the adjusting screw is fixedly connected to the bottom surface of the adjusting block. By rotating the knob, the adjusting screw is driven to move axially to adjust the height position of the adjusting block.

[0012] Preferably, the base platform is also equipped with a clamping unit, which includes a cylinder. A lateral contouring pressure head is fixedly installed at the output end of the cylinder to limit the displacement of the robot casting body in the X and Y directions.

[0013] Compared with the prior art, the beneficial effects of the present invention are: 1. Through the combined motion mechanism of swing arm swing and rotary plate rotation in the floating frame, and guided by slide rail, and with the pre-tightening and reset force provided by the spring, the large stroke multi-dimensional adaptive floating of the support pin is realized. It effectively absorbs the form and position tolerances caused by uneven casting shrinkage and parting surface deviation of the casting, avoids rigid interference, and ensures that the support pin can be smoothly guided into the non-coplanar hole, thus solving the problems of small adjustment range and easy jamming of traditional floating mechanisms.

[0014] 2. Through the linkage design of the split wedge shaft and the I-beam plate, the dual locking effect of radial expansion and axial compression is realized simultaneously. The downward movement of the wedge shaft not only drives the pressure block to radially expand and tighten the hole wall, but also drives the pin head to move down as a whole through the I-beam plate. The stepped surface of the pressure block is used to press against the edge of the hole. While restricting radial displacement, it effectively suppresses the lifting and vibration of the thin-walled casting in the Z direction, and greatly improves the machining rigidity. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the robot casting body structure of the present invention; Figure 2 This is a schematic diagram of the overall structure of the present invention; Figure 3 This is a schematic diagram of the basic platform structure of the present invention; Figure 4 This is a schematic diagram of the floating support unit structure of the present invention; Figure 5 This is a schematic diagram of the internal structure of the floating support unit of the present invention; Figure 6 This is an exploded view of the internal structure of the floating support unit of the present invention; Figure 7 This is a schematic diagram of the internal structure of the support pin of the present invention; Figure 8 This is a schematic diagram of the wedge-shaped shaft structure of the present invention.

[0016] Figure 9 This is a schematic diagram of the support structure of the present invention.

[0017] In the attached diagram, the components represented by each number are as follows: 10. Base platform; 11. Positioning pin; 12. Support component; 121. Fixing block; 122. Adjusting block; 123. Knob; 124. Adjusting screw; 20. Robot casting body; 21. Flange mounting part; 211. Flange mounting hole; 22. Large hole structure; 30. Floating support unit; 31. Support cylinder; 311. Enclosure; 32. Support pin; 301. Opening slot; 321. Pin head; 322. Pin seat; 304. Air hole; 323. Pad; 305. Through hole; 324. I-beam; 325. Sealing head; 326. Corrugated hose; 33. Floating frame; 331. Rotating plate; 302. Arc-shaped groove; 332. Swing arm; 333. Slide rail; 334. Contact rod; 335. Sliding pin; 336. Central shaft; 337. Spring; 34. Wedge shaft; 341. End; 303. Air chamber; 342. Hollow shaft; 35. Tension spring; 36. Air pipe; 37. Pressure block; 40. Clamping unit; 41. Cylinder; 42. Lateral contouring pressure head. Detailed Implementation

[0018] 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.

[0019] Example: Figures 1-9 The illustrated robotic casting machining fixture includes a base platform 10 for supporting the robotic casting body 20 to be machined. Figure 1 As shown, the robot casting body 20 has two flange mounting parts 21, and flange mounting holes 211 are provided on the flange surface. The bottom surface of the robot casting body 20 that is in contact with the support member 12 is non-coplanar and there is a significant height difference between the two sides. In addition, a large hole structure 22 extending along the thickness direction is provided through the robot casting body 20.

[0020] At least two positioning pins 11 and corresponding support members 12 are installed on the base platform 10. At the same time, at least one floating support unit 30 is also installed on the base platform 10 to limit the displacement of the robot casting body 20 in the Z direction and compensate for the form and position tolerances of the robot casting body 20 blank.

[0021] Specifically, the floating support unit 30 includes a support cylinder 31 and a support pin 32. A floating frame 33 is installed inside the support cylinder 31, and the support pin 32 is slidably installed on the floating frame 33. The support pin 32 has an axially penetrating hollow cavity inside, and at least one opening groove 301 communicating with the hollow cavity is opened on its outer peripheral wall. A wedge-shaped shaft 34 is provided inside the hollow cavity. A tension spring 35 is fixedly connected between one end of the wedge-shaped shaft 34 and the inner top surface of the support pin 32. An air pipe 36 is provided at the other end of the wedge-shaped shaft 34 for connecting to an external air source. A pressure block 37 is slidably installed on the wedge-shaped surface of the wedge-shaped shaft 34, and the pressure block 37 corresponds to the opening groove 301.

[0022] In actual assembly and application, the height of the support 12 is first adjusted according to the bottom contour of the robot casting body 20 so that its contour support surface is in contact with the high side and low side of the bottom surface of the robot casting body 20, providing a stable initial Z-axis reference for the robot casting body 20. Then, the robot casting body 20 is placed on the base platform 10, and multiple positioning pins 11 are inserted into the corresponding flange mounting holes 211 to complete the coarse positioning and anti-rotation limit of the robot casting body 20 in the plane.

[0023] At this time, the support pin 32 of the floating support unit 30 is in a free suspension state under the constraint of the floating frame 33. Due to the height difference and blank tolerance on the bottom surface of the robot casting body 20, the center of the large hole structure 22 of the robot casting body 20 may deviate from the theoretical center. Thanks to the degree of freedom provided by the floating frame 33, the support pin 32 can automatically adjust its posture so that it can be smoothly inserted into the large hole structure 22, avoiding rigid interference.

[0024] Next, air is supplied to the hollow shaft 342 through an external air source, corrugated hose 326, sealing head 325, and air pipe 36 to create negative pressure by evacuating the air chamber 303 inside the end 341. The pressure difference in the air chamber 303 drives the end 341 to move downward along the axial direction of the hollow shaft 342. During this process, the wedge-shaped surface of the wedge shaft 34 interacts with the pressure block 37, forcing the pressure block 37 to slide radially outward along the support pin 32 and extend through the opening slot 301, finally pressing tightly against the inner wall of the large hole structure 22.

[0025] Reference Figure 5 and Figure 6 The floating frame 33 includes a rotating plate 331 installed inside the support cylinder 31. A swing arm 332 is rotatably mounted on the rotating plate 331. A support pin 32 is slidably mounted on the swing arm 332. The opening radius of the support cylinder 31 is smaller than the rotation radius of the swing arm 332, ensuring that during the swinging process, the support pin 32 is not only always constrained within the opening range of the support cylinder 31 to avoid motion interference, but can also rotate at any angle.

[0026] Furthermore, to achieve automatic centering and floating reset of the rotating plate 331, the floating frame 33 also includes multiple slide rails 333 fixedly installed on the bottom surface of the support cylinder 31. Contact rods 334 are slidably fitted on the slide rails 333, and sliding pins 335 are fixedly installed on the contact rods 334. Correspondingly, the rotating plate 331 has arc-shaped slots 302 corresponding to the number of sliding pins 335. The sliding pins 335 are slidably fitted within the arc-shaped slots 302. In this embodiment, the number of slide rails 333 is preferably four, and the four slide rails 333 are evenly distributed in a cross shape around the axis of the support cylinder 31. The contact rods 334 are arranged on the inner bottom surface of the support cylinder 31 to ensure that the rotating plate 331 can effectively transmit force and provide support when subjected to eccentric loads in any direction. For example, when the support pin 32 is subjected to a lateral force to the right, the rotating plate 331 rotates counterclockwise. At this time, the sliding pins 335 at the upper left and lower right corners slide along the corresponding arc-shaped slots 302, driving the contact rods 334 at the corresponding positions to move outward along the slide rails 333. This smoothly converts the rotational torque of the rotating plate 331 into linear components in four directions, which are then borne by the four slide rails 333.

[0027] In this way, regardless of the direction of the external load, the four contact rods 334 can provide uniform circumferential constraint on the rotating plate 331 through the cooperation of the sliding pin 335 and the arc-shaped slot 302, which greatly improves the motion stability of the floating frame 33 during swinging and rotation.

[0028] It should be noted that the bottom surface of the support cylinder 31 has an upwardly extending enclosure 311. A central shaft 336 is fixedly installed on the side of the rotating plate 331 opposite to the support pin 32. The central shaft 336 is rotatably installed inside the enclosure 311. A spring 337 is installed between the central shaft 336 and the inner wall of the enclosure 311. The spring 337 is a spiral torsion spring, which is used to provide the preload torque for the rotating plate 331 to reset.

[0029] During the installation and commissioning phase, the spring 337 is first pre-installed between the central shaft 336 and the surrounding part 311, so that it is in a torsional state, thereby providing a restoring force to the rotating plate 331 that tends to the initial zero position. Then, the assembled rotating plate 331 is installed into the surrounding part 311 of the support cylinder 31 through the central shaft 336.

[0030] Next, the positions of the contact rods 334 on each slide rail 333 are adjusted so that the sliding pins 335 on the contact rods 334 are accurately embedded in the arc-shaped slots 302 corresponding to the rotating plate 331. When the support pin 32 is subjected to a non-central load from the inner wall of the robot casting body 20, the swing arm 332 drives the support pin 32 to swing. At the same time, the rotating plate 331 rotates slightly around the central axis 336. The rotation of the rotating plate 331 squeezes the sliding pins 335 through the inner wall of the arc-shaped slots 302, thereby driving the contact rods 334 to make linear reciprocating motion along the slide rail 333, thus converting the rotational motion into linear motion, and the slide rail 333 absorbs part of the impact energy.

[0031] When there is a radial deviation in the position of the inner hole of the robot casting body 20, the support pin 32 will be subjected to a lateral thrust. Since the support pin 32 is rotatably mounted on the swing arm 332, this lateral force will cause the swing arm 332 to swing at a small angle around its mounting axis on the rotating plate 331. This swing changes the horizontal projection position of the support pin 32, enabling it to conform to the actual position of the inner hole of the robot casting body 20 and avoid rigid interference.

[0032] When the rotating plate 331 rotates, the spring 337 undergoes elastic deformation, storing elastic potential energy. When the external clamping force is removed, the spring 337 releases the stored elastic potential energy, driving the central shaft 336 to rotate in the opposite direction, causing the rotating plate 331 to return to its initial equilibrium position. At the same time, the arc-shaped slot 302 reverses the sliding pin 335, and the auxiliary contact rod 334 slides inward along the slide rail 333 to reset. The contact rods 334 together press the support pin 32 back to its initial zero point position.

[0033] Reference Figure 7 and Figure 8 The wedge-shaped shaft 34 includes an end 341 and a hollow shaft 342 arranged coaxially. The hollow shaft 342 serves as a fixed end and is fixedly installed at the bottom of the hollow cavity of the support pin 32. The end 341 is sleeved on the outside of the hollow shaft 342. An axially extending air chamber 303 is opened inside the end 341. The end of the hollow shaft 342 away from the bottom of the support pin 32 is slidably inserted into the air chamber 303 and seals with the inner wall of the air chamber 303 to form a closed cavity in the air chamber 303.

[0034] Reference Figure 7 The support pin 32 adopts a two-stage sliding structure, including a pin head 321 and a pin seat 322. The pin seat 322 serves as a load-bearing base and is slidably installed on the swing arm 332 of the floating frame 33. The pin head 321 is slidably installed in the pin seat 322 along the axial direction. The hollow shaft 342 is fixedly installed at the bottom of the hollow cavity of the pin seat 322. A pad 323 is fixedly installed inside the pin head 321. A through hole 305 is provided at the center of the pad 323. The hollow shaft 342 passes through the through hole 305 and a radial gap is left between them. An I-beam 324 is provided between the hole wall of the through hole 305 and the outer circumferential surface of the hollow shaft 342. The I-beam 324 is fixedly connected to the end head 341.

[0035] In addition, to solve the air circuit connection problem of the support pin 32 during the swing of the swing arm 332 and the sliding of the pin head 321, an air hole 304 is provided on the side wall of the pin seat 322. A sealing head 325 is fixedly installed in the air hole 304. One end of the sealing head 325 is connected to the air pipe 36 through a pipe joint. The other end of the sealing head 325 is fixedly connected to a corrugated hose 326. The other end of the corrugated hose 326 passes through the support cylinder 31 and is connected to an external air source.

[0036] During the assembly and debugging phase, the bottom end of the hollow shaft 342 is first firmly fixed to the bottom of the pin seat 322 to ensure that it serves as the static reference for the entire mechanism. Then, the end 341 is fitted onto the hollow shaft 342, and the upper end of the hollow shaft 342 is inserted into the air chamber 303 of the end 341, and the sealing ring between the two is installed in place to form a reliable sliding sealing pair.

[0037] Next, the assembled pin head 321 is inserted into the pin seat 322 from above. During this process, it is necessary to ensure that the I-beam plate 324 is correctly inserted into the gap between the through hole 305 of the pad plate 323 and the hollow shaft 342, and to ensure that the upper end face of the I-beam plate 324 is tightly connected to the lower end face of the end head 341. Finally, one end of the corrugated hose 326 is connected to the sealing head 325, and the other end is led out of the support cylinder 31 to complete the flexible connection of the air circuit.

[0038] In operation, when the pin 321 swings with the swing arm 332, the corrugated hose 326, due to its own flexibility, can be stretched, compressed or bent to maintain the air passage's unobstructed and sealed state, effectively avoiding the risk of breakage associated with traditional rigid pipe connections.

[0039] An external air source is connected to the air chamber 303 inside the end 341 through a corrugated hose 326, a sealing head 325, an air pipe 36, and a hollow shaft 342. When the air source performs a suction operation, the air pressure inside the air chamber 303 decreases. Due to the sealed fit between the hollow shaft 342 and the inner wall of the air chamber 303, the end 341 is drawn and moved axially along the hollow shaft 342. Conversely, when the air chamber 303 is depressurized, the end 341 returns to its original position under the action of the tension spring 35.

[0040] The axial displacement of the end 341 is transmitted to the pressure block 37 through its wedge-shaped surface, forcing the pressure block 37 to slide radially outward along the opening groove 301 on the pin head 321, thereby tightening it against the inner wall of the large hole structure 22 of the robot casting body 20. In particular, in this embodiment, the pressure block 37 has a limiting step surface. Since the I-beam 324 is rigidly connected to the end 341, after the end 341 moves downward, it directly drives the pin head 321 to slide downward along the pin seat 322, so that the step surface of the pressure block 37 presses against the edge of the large hole structure 22, effectively preventing the robot casting body 20 from lifting or sinking in the Z direction, thereby achieving high rigidity and anti-loosening fixation of the robot casting body 20.

[0041] Reference Figure 9 The support component 12 includes a fixed block 121 and an adjusting block 122. The fixed block 121 is installed on the base platform 10 by bolts. The adjusting block 122 is slidably installed on the fixed block 121 in the vertical direction. The top surface of the adjusting block 122 is provided with a contour support surface that conforms to the bottom surface of the robot casting body 20 to ensure that it can make surface contact with both the high and low bottom surfaces of the robot casting body 20 and avoid stress concentration.

[0042] To achieve precise adjustment of the height of the adjusting block 122, a knob 123 is rotatably mounted on the fixed block 121. The knob 123 has a threaded hole, and an adjusting screw 124 is threaded into the threaded hole. The top end of the adjusting screw 124 is fixedly connected to the bottom surface of the adjusting block 122. By rotating the knob 123, the adjusting screw 124 is driven to move axially to adjust the height position of the adjusting block 122.

[0043] During equipment debugging or production changeover, first loosen the connecting bolts between the fixing block 121 and the base platform 10 to adjust the position. Based on the actual height difference of the bottom surface of the robot casting body 20, the operator uses a special tool to rotate the knob 123. The internal threaded hole drives the adjusting screw 124 to rotate axially, pushing the adjusting block 122 up along the fixing block 121 until the contour support surface of the top surface of the adjusting block 122 makes slight contact with the lower side area of ​​the bottom surface of the robot casting body 20 or reaches the preset support height. After adjustment, due to the self-locking characteristic of the threaded connection, the adjusting block 122 can be firmly held at the set height without the need for an additional locking nut. At this time, the contour support surface of the adjusting block 122 is in close contact with the bottom surface of the robot casting body 20, compensating for the dimensional tolerance of the robot casting body 20 blank in the height direction, ensuring that all processed robot casting bodies 20 have a consistent Z-axis coordinate in the fixture, thereby improving the stability of processing accuracy.

[0044] Reference Figure 2 and Figure 3To further improve the rigidity of the robot casting body 20 during the machining process and prevent it from lateral displacement or vibration under the action of cutting force, it is mainly used to restrict the translational degrees of freedom of the robot casting body 20 in the X and Y axes.

[0045] The base platform 10 is also equipped with a clamping unit 40, which includes a cylinder 41. A lateral contouring pressure head 42 is fixedly installed at the output end of the cylinder 41 to limit the displacement of the robot casting body 20 in the X and Y directions.

[0046] The clamping unit 40 applies clamping force through the lateral contouring pressure head 42 to constrain the robot casting body 20 in a direction perpendicular to the axis of the positioning pin 11, effectively enhancing the system's resistance to disturbances in the horizontal direction.

[0047] Unlike general-purpose flat jaws, the lateral contouring clamping head 42 can conform to the complex contours of the side of the robot casting body 20, ensuring that the line of action of the clamping force passes through or is as close as possible to the rigidity center of the robot casting body 20, thereby reducing clamping deformation and improving clamping stability.

[0048] Working principle: First, based on the height difference between the two sides of the bottom surface of the robot casting body 20, the adjusting screw 124 is driven by rotating the knob 123, which drives the adjusting block 122 to move vertically along the fixed block 121. This makes the contour support surface of the top surface of the adjusting block 122 make surface contact with the high side and low side of the bottom surface of the robot casting body 20, respectively, providing a stable and consistent Z-axis reference for the robot casting body 20 and compensating for the dimensional tolerance of the blank in the height direction. Then, the robot casting body 20 is placed on the base platform 10, and at least two positioning pins 11 are inserted into the flange mounting holes 211, respectively, to complete the coarse positioning of the robot casting body 20 in the plane and the anti-rotation limit around the Z-axis.

[0049] During the placement of the robot casting body 20, the support pin 32 of the floating support unit 30 is in a free-floating state under the constraint of the floating frame 33. Due to the form and position tolerances of the robot casting body 20 blank, the center of the large hole structure 22 may shift relative to the theoretical position. At this time, the support pin 32 can achieve multi-degree-of-freedom adaptive adjustment under the drive of the floating frame 33. Specifically, the swing arm 332 swings around its mounting axis on the rotating plate 331, changing the horizontal projection position of the support pin 32. The rotating plate 331 rotates slightly around the central axis 336. Through the cooperation of the arc-shaped slot 302 and the sliding pin 335, the rotational motion is converted into the linear displacement of the contact rods 334 on the four slide rails 333, thereby absorbing the eccentric load and smoothly guiding the support pin 32 into the large hole structure 22, avoiding rigid interference. During this process, the spring 337 is in a torsional energy storage state, providing the floating frame 33 with a pre-tightening torque for automatic return.

[0050] After the support pin 32 is accurately inserted into the large hole structure 22, the external air source is connected to the air chamber 303 in the end head 341 through the air pipe 36, sealing head 325 and corrugated hose 326 and performs air extraction. A negative pressure is formed in the air chamber 303. The external atmospheric pressure pushes the end head 341 to move axially downward along the hollow shaft 342, stretching the tension spring 35. The wedge-shaped surface of the end head 341 forces the pressure block 37 to slide radially outward along the opening groove 301 and tighten against the inner wall of the large hole structure 22. At the same time, the end head 341 drives the pad 323 and the pin head 321 to slide downward along the pin seat 322 through the rigidly connected I-beam plate 324, so that the axial limiting step surface of the pressure block 37 is pressed tightly against the edge of the large hole structure 22.

[0051] After processing, the air chamber 303 stops pumping air and returns to normal pressure. The end 341 resets upwards under the elastic restoring force of the tension spring 35, causing the pressure block 37 to retract and release the locking of the large hole structure 22. Simultaneously, the spring 337 releases its elastic potential energy, driving the rotating plate 331 to reverse. Through the cooperation of the arc-shaped slot 302 and the sliding pin 335, it drives each contact rod 334 to reset, causing the support pin 32 to return to its initial zero position. Subsequently, the cylinder 41 drives the lateral contouring pressure head 42 to retract, allowing the processed robot casting body 20 to be easily removed.

Claims

1. A robot casting machining fixing device with a limiting structure, comprising a base platform (10) for supporting the robot casting body (20) to be machined, characterized in that: The base platform (10) is equipped with at least two positioning pins (11) and corresponding support members (12), and at least one floating support unit (30) is also installed to limit the displacement of the robot casting body (20) in the Z direction and compensate for the form and position tolerances of the robot casting body (20) blank. The floating support unit (30) includes a support cylinder (31) and a support pin (32). A floating frame (33) is installed inside the support cylinder (31), and the support pin (32) is slidably installed on the floating frame (33). The support pin (32) has an axially penetrating hollow cavity inside, and at least one opening groove (301) communicating with the hollow cavity is opened on its outer peripheral wall. A wedge-shaped shaft (34) is provided inside the hollow cavity. A tension spring (35) is fixedly connected between one end of the wedge-shaped shaft (34) and the inner top surface of the support pin (32). An air pipe (36) is provided at the other end of the wedge-shaped shaft (34) for connecting to an external air source. A pressure block (37) is slidably installed on the wedge-shaped surface of the wedge-shaped shaft (34). The pressure block (37) corresponds to the opening groove (301).

2. The robot casting processing fixing device with a limit structure according to claim 1, characterized in that: The floating frame (33) includes a rotating plate (331) installed in a support cylinder (31), a swing arm (332) is rotatably mounted on the rotating plate (331), and a support pin (32) is slidably mounted on the swing arm (332). The opening radius of the support cylinder (31) is smaller than the rotation radius of the swing arm (332), so that the support pin (32) is always contained within the opening range of the support cylinder (31).

3. The robot casting processing fixing device with a limit structure according to claim 2, characterized in that: The floating frame (33) also includes multiple slide rails (333) fixedly installed on the bottom surface of the support cylinder (31). Contact rods (334) are slidably fitted on the slide rails (333). Sliding pins (335) are fixedly installed on the contact rods (334). Arc-shaped slots (302) corresponding to the number of sliding pins (335) are opened on the rotating plate (331). The sliding pins (335) are slidably fitted in the arc-shaped slots (302). The inner bottom surface of the support cylinder (31) has an upwardly extending enclosure (311). A central shaft (336) is fixedly installed on the side of the rotating plate (331) away from the support pin (32). The central shaft (336) is rotatably installed inside the enclosure (311). A spring (337) is installed between the central shaft (336) and the inner wall of the enclosure (311).

4. The robot casting processing fixing device with a limit structure according to claim 1, characterized in that: The wedge-shaped shaft (34) includes a coaxially arranged end (341) and a hollow shaft body (342). The hollow shaft body (342) is fixedly installed at the bottom of the hollow cavity of the support pin (32). The end (341) is sleeved on the outside of the hollow shaft body (342). An axially extending air chamber (303) is opened inside the end (341). One end of the hollow shaft body (342) away from the bottom of the support pin (32) is slidably inserted into the air chamber (303) and seals with the inner wall of the air chamber (303) to form a closed cavity in the air chamber (303).

5. The robot casting processing fixing device with a limit structure according to claim 4, characterized in that: The support pin (32) includes a pin head (321) and a pin seat (322). The pin seat (322) is slidably mounted on the rocker arm (332). The pin head (321) is slidably mounted in the pin seat (322) along the axial direction. The hollow shaft (342) is fixedly mounted at the bottom of the hollow cavity of the pin seat (322). A pad (323) is fixedly installed inside the pin (321). A through hole (305) is provided at the center of the pad (323). The hollow shaft (342) passes through the through hole (305). An I-beam (324) is provided between the hole wall of the through hole (305) and the outer circumferential surface of the hollow shaft (342). The I-beam (324) is fixedly connected to the end (341).

6. The robot casting processing fixing device with a limiting structure according to claim 5, characterized in that: The pin seat (322) is provided with an air hole (304), and a sealing head (325) is fixedly installed in the air hole (304). One end of the sealing head (325) is connected to the air pipe (36) through a pipe joint, and the other end of the sealing head (325) is fixedly connected to a corrugated hose (326). The other end of the corrugated hose (326) passes through the support cylinder (31) and is connected to an external air source, so that the external air source is connected to the hollow shaft (342) in sequence through the corrugated hose (326), the sealing head (325), and the air pipe (36), and finally connected to the air chamber (303) inside the end (341).

7. The robot casting machining fixing device with a limit structure according to claim 1, characterized in that: The support component (12) includes a fixed block (121) and an adjusting block (122). The fixed block (121) is installed on the base platform (10) by bolts. The adjusting block (122) is slidably installed on the fixed block (121) in the vertical direction. The top surface of the adjusting block (122) is provided with a contour support surface that conforms to the bottom surface of the robot casting body (20). A knob (123) is rotatably mounted on the fixed block (121). The knob (123) has a threaded hole, and an adjusting screw (124) is threaded into the threaded hole. The top end of the adjusting screw (124) is fixedly connected to the bottom surface of the adjusting block (122). By rotating the knob (123), the adjusting screw (124) is driven to move axially to adjust the height position of the adjusting block (122).

8. The robot casting machining fixing device with a limit structure according to claim 1, characterized in that: The base platform (10) is also equipped with a clamping unit (40), which includes a cylinder (41). A lateral contouring pressure head (42) is fixedly installed at the output end of the cylinder (41) to limit the displacement of the robot casting body (20) in the X and Y directions.

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