Positioning fixture for machining parts of a robot joint

Abstract

This invention discloses a positioning fixture for machining robot joint parts, relating to the field of robot parts manufacturing technology. It includes a base with pressing mechanisms on both sides. Each pressing mechanism includes a first telescopic component embedded in the base, a second telescopic component fixedly connected to the movable part of the first telescopic component, and the first and second telescopic components being perpendicular to each other. A pressing block is fixedly connected to the movable part of the second telescopic component, and the pressing block is used to press the upper surface of the robot joint part. A clamping mechanism is evenly arranged in a ring on the upper surface of the base, and the clamping mechanism includes a third telescopic component fixedly mounted on the base. A clamping plate is fixedly connected to the movable part of the third telescopic component. This invention improves applicability and processing efficiency.

Description

Technical Field

[0001] This invention relates to the field of robot parts manufacturing technology, and in particular to a positioning fixture for machining robot joint parts. Background Technology

[0002] As a core component of a robot, the quality and performance of robot joints have a significant impact on the robot's accuracy, reliability, and stability. During the overall operation of a robot, the precise movements and stable performance of its joints are fundamental prerequisites for ensuring the robot can efficiently and accurately complete various tasks. Therefore, improving the quality and performance of robot joints has always been a key objective in the field of robot research and development.

[0003] With the powerful support of data-driven and large-scale modeling technologies, the iteration cycle of new products has been significantly shortened, and the update speed of humanoid robots is accelerating. In this context, high-precision fixtures are crucial for the machining of robot joint components. Only by machining high-precision parts can the overall performance of the robot be fully realized. The machining of robot joint components is characterized by high precision and high complexity. These parts often require multiple processes such as milling, turning, grinding, and drilling to achieve complex shapes and high precision requirements. However, the overall time required for customizing high-precision fixtures is relatively long for the rapid updates of robots, and such fixtures are only suitable for specific parts, lacking versatility and adaptability. For the diverse range of robot joint components, a large number of specific fixtures are needed. Considering factors such as production cost, production cycle, and practicality, these fixtures clearly cannot meet the current demands of rapidly updating robot components. Furthermore, robot joint fixtures commonly used both domestically and internationally also suffer from high inertia and long dynamic response times.

[0004] In summary, existing fixtures for machining joint-like parts of robots generally suffer from limited applicability and low machining efficiency. (Invention Content)

[0005] In order to at least solve one of the above-mentioned technical problems, the present invention aims to provide a positioning fixture for machining robot joint parts, thereby improving applicability and machining efficiency.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A positioning fixture for machining robot joint parts includes a base. Pressing mechanisms are provided on both sides of the base. Each pressing mechanism includes a first telescopic component embedded in the base. A second telescopic component is fixedly connected to the movable portion of the first telescopic component. The first and second telescopic components are perpendicular to each other. A pressing block is fixedly connected to the movable portion of the second telescopic component. The pressing block is used to press the upper surface of the robot joint part. A clamping mechanism is uniformly arranged in a ring on the upper surface of the base. The clamping mechanism includes a third telescopic component fixedly mounted on the base. A clamping plate is fixedly connected to the movable portion of the third telescopic component.

[0008] Preferably, the first telescopic component, the second telescopic component, and the third telescopic component are electric cylinders.

[0009] Preferably, the clamping plate has a vertical strip-shaped movable hole, and a movable rod is movably connected in the movable hole. A limit plate is fixedly connected to the movable rod at the center axis of the base. A threaded rod is fixedly provided at the end of the movable rod away from the limit plate. An internal threaded ring is threadedly connected to the threaded rod. An operating handle is fixedly provided on the internal threaded ring. The diameter of the internal threaded ring is larger than the width of the movable hole.

[0010] Preferably, the side of the internal threaded ring facing the clamping plate is provided with anti-slip protrusions.

[0011] Preferably, a first pressure sensor is provided between the first telescopic component and the second telescopic component, and a second pressure sensor is provided between the third telescopic component and the clamping plate. A control unit is provided on the base. The first pressure sensor and the second pressure sensor control the extension and retraction of the first telescopic component and the third telescopic component through the control unit and according to a preset pressure range.

[0012] Preferably, the pressing block has a flexible buffer layer on the side facing the robot joint parts.

[0013] The present invention has the following beneficial effects:

[0014] I. Multi-dimensional Clamping and Pressing: This positioning fixture features pressing mechanisms on both sides of the base. The first and second telescopic components of these mechanisms are perpendicular to each other. The pressing block connected to the movable part of the second telescopic component presses against the upper surface of the robot joint part. A clamping mechanism is evenly arranged in a ring on the upper surface of the base, and a clamping plate connected to the movable part of the third telescopic component clamps the part from the side. This multi-dimensional clamping and pressing method can adapt to robot joint parts of different shapes and sizes, overcoming the problems of existing fixtures being only suitable for specific parts and lacking versatility and adaptability. This greatly improves the applicability of the fixture, eliminating the need for numerous specific fixtures for a wide variety of robot joint parts and reducing production costs.

[0015] II. Adjustable Limiting Structure: The clamping plate has vertical strip-shaped movable holes, within which a movable rod is connected. The movable rod connects to the limiting plate, and the position of the limiting plate can be adjusted through the cooperation of the threaded rod, the internal threaded ring, and the operating handle. This allows the fixture to flexibly adjust the limiting position according to the specific size and shape of different parts, further enhancing its adaptability to different parts and meeting diverse processing needs.

[0016] III. Automated Pressure Control: A first pressure sensor is installed between the first and second telescopic components, and a second pressure sensor is installed between the third telescopic component and the clamping plate. A control unit is installed on the base. The pressure sensors, through the control unit and based on a preset pressure range, control the extension and retraction of the first and third telescopic components. This automated pressure control method can quickly and accurately adjust the clamping and pressing pressure to the appropriate range, avoiding the tediousness and errors of manual adjustment, reducing adjustment time, and thus improving processing efficiency.

[0017] IV. Rapid-response telescopic components: The first, second, and third telescopic components are designed as electric cylinders, which feature rapid response and high motion precision. During processing, they can quickly clamp and press the parts, and adjust their positions promptly according to processing requirements, reducing processing waiting time caused by slow fixture movements and effectively improving overall processing efficiency.

[0018] V. Synergy of Pressure Control and Flexible Buffering: On the one hand, precise pressure control is achieved through pressure sensors and control units to ensure appropriate clamping and pressing force; on the other hand, a flexible buffer layer is set on the side of the pressing block facing the robot joint parts. The flexible buffer layer can ensure sufficient pressing force while avoiding damage to the parts due to excessive pressure or local pressure concentration. The synergistic effect of the two ensures both processing quality and improves the reliability and stability of the fixture.

[0019] VI. Coordination of Limiting Structure and Anti-slip Design: The adjustable limiting structure on the clamping plate can precisely limit the position of the part, while the anti-slip protrusions on the side of the internal threaded ring facing the clamping plate increase the friction between the internal threaded ring and the clamping plate, preventing the limiting structure from loosening due to vibration or other reasons during processing, ensuring the accuracy and stability of the limiting, and thus providing a reliable guarantee for high-precision machining. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a top view of an embodiment of the present invention.

[0022] Figure 2 This is a schematic diagram of the pressing mechanism structure according to an embodiment of the present invention.

[0023] Figure 3 This is a schematic diagram of the clamping plate structure according to an embodiment of the present invention.

[0024] In the diagram: 1. Base; 201. First telescopic component; 202. Second telescopic component; 203. Pressing block; 301. Third telescopic component; 302. Clamping plate; 401. Movable rod; 402. Limiting plate; 403. Threaded rod; 404. Internal threaded ring; 405. Operating handle; 501. First pressure sensor; 502. Second pressure sensor; 6. Control unit. Detailed Implementation

[0025] 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.

[0026] like Figures 1 to 3 As shown, a positioning fixture for machining robot joint parts includes a base 1. Pressing mechanisms are provided on both sides of the base 1. The pressing mechanism includes a first telescopic component 201 embedded in the base 1. A second telescopic component 202 is fixedly connected to the movable part of the first telescopic component 201. The first telescopic component 201 and the second telescopic component 202 are perpendicular to each other. A pressing block 203 is fixedly connected to the movable part of the second telescopic component 202. The pressing block 203 is used to press the upper surface of the robot joint parts. A clamping mechanism is uniformly arranged in a ring on the upper surface of the base 1. The clamping mechanism includes a third telescopic component 301 fixedly mounted on the base 1. A clamping plate 302 is fixedly connected to the movable part of the third telescopic component 301.

[0027] like Figures 1 to 3As shown, regarding the pressing mechanism, the first telescopic component 201, embedded in the base 1, can extend and retract in one direction (assuming a horizontal direction). Its movable part is connected to the second telescopic component 202. Since the first telescopic component 201 and the second telescopic component 202 are perpendicular to each other, the second telescopic component 202 can extend and retract in another direction (assuming a vertical direction). When it is necessary to position the robot joint part, the first telescopic component 201 moves first, causing the second telescopic component 202 to move to a suitable position above the part. Then, the second telescopic component 202 moves, driving the pressing block 203 to move downward until the pressing block 203 presses against the upper surface of the robot joint part, thereby applying pressure to the part in the vertical direction and restricting the movement of the part in the vertical direction. Regarding the clamping mechanism, a plurality of third telescopic components 301 are fixedly arranged in a ring evenly distributed on the upper surface of the base 1, and their movable parts are connected to the clamping plate 302. After the part is placed on the base 1, each of the third telescopic components 301 moves simultaneously, pushing the clamping plate 302 to move towards the central axis of the base 1 until the clamping plate 302 contacts the side of the part and applies a certain clamping force, thereby limiting the part in the horizontal direction and preventing the part from shifting in the horizontal direction.

[0028] Through the combined action of the aforementioned pressing and clamping mechanisms, precise positioning of robot joint parts can be achieved from multiple dimensions, both vertical and horizontal. This multi-dimensional positioning method effectively adapts to robot joint parts of different shapes and sizes, improving the applicability of the fixture. For example, for some irregularly shaped parts, the pressing mechanism can apply pressure from above, while the clamping mechanism clamps from the side, ensuring the part remains stable during processing and preventing positional shifts due to vibration or other reasons, thus guaranteeing processing accuracy. Simultaneously, since the first, second, and third telescopic components 301 can all have their telescopic range precisely controlled by the control system, the part can be quickly and accurately positioned to the appropriate location, reducing manual adjustment time and errors, and improving processing efficiency.

[0029] like Figures 1 to 3 As shown, the first telescopic component 201, the second telescopic component 202, and the third telescopic component 301 are configured as electric cylinders. By using electric cylinders, the precise control of the telescopic range and smooth movement of the components are utilized. During the positioning process, the first telescopic component 201 and the second telescopic component 202 cooperate. The first telescopic component 201 moves first, causing the second telescopic component 202 to move horizontally to the appropriate position. Subsequently, the second telescopic component 202 moves, causing the pressing block 203 to move vertically and press against the upper surface of the robot joint part, achieving initial vertical positioning. The third telescopic component 301 then moves the clamping plate 302 horizontally, clamping the part from the side, achieving initial horizontal positioning.

[0030] like Figures 1 to 3 As shown, the clamping plate 302 has a vertically shaped movable hole. A movable rod 401 is movably connected within the movable hole. A limit plate 402 is fixedly connected to the movable rod 401 at the central axis of the base 1. A threaded rod 403 is fixedly installed at the end of the movable rod 401 away from the limit plate 402. An internally threaded ring 404 is threadedly connected to the threaded rod 403. An operating handle 405 is fixedly installed on the internally threaded ring 404. The diameter of the internally threaded ring 404 is larger than the width of the movable hole. The clamping plate 302 has a vertically shaped movable hole, allowing the movable rod 401 to move up and down within the movable hole. One end of the movable rod 401 is connected to the limit plate 402, and the other end is connected to the threaded rod 403. The internally threaded ring 404 is threadedly connected to the threaded rod 403, and the diameter of the internally threaded ring 404 is larger than the width of the movable hole. Rotating the operating handle 405 causes the internal threaded sleeve 404 to rotate. Due to the threaded connection between the internal threaded sleeve 404 and the threaded rod 403, and because the internal threaded sleeve 404 cannot move significantly in the horizontal direction due to the limitation of the width of the movable hole, the internal threaded sleeve 404 moves axially along the threaded rod 403. This, in turn, causes the movable rod 401 to move up and down within the movable hole, thereby adjusting the position of the limiting plate 402. In this way, the limiting plate 402 can be adjusted to a suitable height according to the specific shape and size of different robot joint parts, so that it fits the parts better, achieving more precise limiting of the parts and enhancing the adaptability of the fixture to different parts.

[0031] like Figures 1 to 3 As shown, the internal threaded sleeve 404 has anti-slip protrusions on the side facing the clamping plate 302. When the operating handle 405 is rotated, causing the internal threaded sleeve 404 to rotate, the movable rod 401 moves up and down within the movable hole to adjust the position of the limiting plate 402. The anti-slip protrusions increase the friction between the internal threaded sleeve 404 and the clamping plate 302. This prevents the internal threaded sleeve 404 from rotating on its own during processing due to machine vibration or external forces, thus avoiding changes in the positions of the movable rod 401 and the limiting plate 402, and ensuring the stability of the limiting plate 402 in limiting the robot joint parts.

[0032] like Figures 1 to 3As shown, a first pressure sensor 501 is disposed between the first telescopic component 201 and the second telescopic component 202, and a second pressure sensor 502 is disposed between the third telescopic component 301 and the clamping plate 302. A control unit 6 is disposed on the base 1. The first pressure sensor 501 and the second pressure sensor 502 control the extension and retraction of the first telescopic component 201 and the third telescopic component 301 according to a preset pressure range via the control unit 6. During positioning, the first telescopic component 201 and the second telescopic component 202 drive the pressing block 203 to apply pressing force to the part, and the first pressure sensor 501 monitors the magnitude of this pressing force in real time; the third telescopic component 301 drives the clamping plate 302 to apply clamping force to the part, and the second pressure sensor 502 monitors the magnitude of this clamping force in real time. These pressure signals are transmitted to the control unit 6 on the base 1, and the control unit 6 makes a judgment based on the preset pressure range. If the pressing or clamping force is less than the preset range, the control unit 6 will control the corresponding telescopic component to continue to extend and increase the pressure; if the pressure is greater than the preset range, the control unit 6 will control the telescopic component to retract and reduce the pressure, thereby achieving precise control of the pressing and clamping force.

[0033] like Figures 1 to 3 As shown, a flexible buffer layer is provided on the side of the pressing block 203 facing the robot joint part. When the pressing block 203 applies pressure to the part, the flexible buffer layer undergoes a certain degree of elastic deformation. It can act as a buffer, avoiding excessive local pressure between the pressing block 203 and the part due to rigid contact, and preventing the surface of the part from being crushed or damaged. At the same time, the flexible buffer layer can better conform to the surface of the part, increase the contact area, make the pressing pressure distribution more uniform, and improve the stability of positioning.

[0034] The above are merely specific embodiments of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions, or modifications made based on the present invention to solve essentially the same technical problems and achieve essentially the same technical effects are all covered within the protection scope of the present invention.

Claims

1. A positioning fixture for machining robot joint parts, comprising a base (1), characterized in that: The base (1) is provided with pressing mechanisms on both sides. The pressing mechanism includes a first telescopic component (201) embedded in the base (1). The movable part of the first telescopic component (201) is fixedly connected to a second telescopic component (202). The first telescopic component (201) and the second telescopic component (202) are perpendicular to each other. The movable part of the second telescopic component (202) is fixedly connected to a pressing block (203). The pressing block (203) is used to press the upper surface of the robot joint parts. The upper surface of the base (1) is uniformly provided with clamping mechanisms in a ring. The clamping mechanism includes a third telescopic component (301) fixedly installed on the base (1). The movable part of the third telescopic component (301) is fixedly connected to a clamping plate (302).

2. The positioning fixture for machining robot joint parts according to claim 1, characterized in that: The first telescopic component (201), the second telescopic component (202), and the third telescopic component (301) are configured as electric cylinders.

3. A positioning fixture for machining robot joint parts according to claim 2, characterized in that: The clamping plate (302) has a vertical strip-shaped movable hole, and a movable rod (401) is movably connected in the movable hole. A limiting plate (402) is fixedly connected to the movable rod (401) at the central axis of the base (1). A threaded rod (403) is fixedly provided at the end of the movable rod (401) away from the limiting plate (402). An internal threaded ring (404) is threadedly connected to the threaded rod (403). An operating handle (405) is fixedly provided on the internal threaded ring (404). The diameter of the internal threaded ring (404) is greater than the width of the movable hole.

4. A positioning fixture for machining robot joint parts according to claim 3, characterized in that: The inner threaded ring (404) has anti-slip ridges on the side facing the clamping plate (302).

5. A positioning fixture for machining robot joint parts according to claim 1, characterized in that: A first pressure sensor (501) is provided between the first telescopic component (201) and the second telescopic component (202), and a second pressure sensor (502) is provided between the third telescopic component (301) and the clamping plate (302). A control unit (6) is provided on the base (1). The first pressure sensor (501) and the second pressure sensor (502) control the extension and retraction of the first telescopic component (201) and the third telescopic component (301) through the control unit (6) and according to the preset pressure range.

6. A positioning fixture for machining robot joint parts according to claim 1, characterized in that: The pressing block (203) has a flexible buffer layer on the side facing the robot joint parts.

Images