Tool clamp for machining robot joint parts

Abstract

The utility model discloses a work fixture for processing a joint part of a robot, which comprises a support component arranged on a rotary table of a numerical control machine tool, respectively detachably connected with the rotary table and the joint part, and used for fixing the joint part on the rotary table through clamping. The fixing assembly is arranged on the rotary table, detachably connected with the rotary table and the supporting assembly and used for limiting the position of the supporting assembly on the rotary table through pressing. The supporting assembly can clamp various joint parts on the rotary table, then the supporting assembly is fixed to the rotary table through the fixing assembly, the to-be-machined faces of the joint parts are exposed on the numerical control machine tool, and the numerical control machine tool can be assisted in conveniently and rapidly machining the joint parts from multiple angles in a multi-axis mode. According to the characteristics of short updating period, multiple changes, high precision requirement and the like of robot parts, the efficiency of machining certain robot joint parts is improved, the production cost is reduced, and the robot joint parts are easy to disassemble and assemble, so that high-precision machining of the robot joint parts is ensured.

Description

Technical Field

[0001] This utility model relates to the field of tooling fixtures for robot joint parts, and in particular to a tooling fixture for processing robot joint parts. Background Technology

[0002] Robot joints are an important component of robots, and their quality and performance have a significant impact on the accuracy, reliability, and stability of robots.

[0003] With the support of data-driven approaches and large-scale models, the iteration cycle of new products has been shortened, enabling humanoid robots to be updated at an increasingly faster pace. High-precision fixtures are crucial for the machining of robot joint parts, as high-precision parts are essential to ensure the overall performance of the robot. The machining of robot joint parts is characterized by high precision and high complexity. These parts typically require multiple processes, including milling, turning, grinding, and drilling, to achieve complex shapes and meet high-precision requirements. However, the overall time required for customizing high-precision fixtures is relatively long for the rapid pace of robot updates. Such fixtures are only suitable for specific parts and lack versatility and adaptability. A large number of specific fixtures are needed for various types of robot joint parts. Considering production costs, production cycles, and practicality, such fixtures are not suitable for the rapidly evolving robot parts of today. The robot joint fixtures commonly used both domestically and internationally suffer from low machining accuracy due to high inertia and long dynamic response times.

[0004] Existing fixtures for machining robot joint parts have limitations in applicability, low machining efficiency, and low machining accuracy. Utility Model Content

[0005] To address the aforementioned technical problems, this utility model provides a tooling fixture for processing robot joint parts, which clamps various types of joint parts through support components and fixing components.

[0006] To achieve the above objectives, this utility model is implemented through the following technical solution:

[0007] A tooling fixture for machining robot joint parts, comprising:

[0008] The support assembly is set on the rotary table of the CNC machine tool and is detachably connected to the rotary table and the joint parts respectively. It is used to fix the joint parts on the rotary table by clamping.

[0009] A fixing component is installed on the turntable and is detachably connected to the turntable and the support component, respectively, and is used to limit the position of the support component on the turntable by clamping.

[0010] Compared with the prior art, the present invention has the following advantages:

[0011] The support assembly can clamp various types of joint parts onto a turntable, and then fix the support assembly onto the turntable through a fixing assembly, exposing the surface of the joint parts to be machined on the CNC machine tool. This assists the CNC machine tool in conveniently and quickly machining the joint parts from multiple angles and axes. It is a tooling fixture for realizing various types of joint parts to meet the mass production mode of various types of robot joint parts. It has the characteristics of short update cycle, frequent changes and high precision requirements of robot parts, which improves the efficiency of machining certain robot joint parts, reduces production costs, and is easy to disassemble and assemble, thereby ensuring high-precision machining of robot joint parts.

[0012] More preferably, the support component includes:

[0013] The heightening base is set on the turntable and bolted to the turntable. The fixing component is pressed onto the heightening base.

[0014] The support base is located on the side wall of the riser base. One side wall is detachably connected to the riser base, and the top wall abuts against the joint parts.

[0015] The pressure plate is located on the other side wall of the support base and is detachably connected to the support base. The joint component is located between the pressure plate and the support base and is detachably connected to the pressure plate.

[0016] Using the above technical solution, the joint parts are clamped between the support base and the pressure plate, and the support base is further supported by the riser base, so that the joint parts are in a stable clamping state. When clamping various types of joint parts, there is no need to remove the riser base and the turntable; other types of joint parts can be directly clamped between the support base and the pressure plate, which has the characteristics of wide applicability.

[0017] A further preferred embodiment is that the support base is respectively provided with:

[0018] The first positioning pin is located on the other side wall of the support base, and its end passes through the pressure plate to the support base and is connected to the support base.

[0019] The center bolt is located on the same side wall as the first locating pin, with one end passing through the pressure plate and the other end screwed to the support seat.

[0020] The second positioning pin is set on one side wall of the support base, and its end passes through the raising base to the support base and is connected to the support base.

[0021] The locking bolt is located on the support base, on the same side wall as the second locating pin, and passes through the heightening base to the support base for screwing.

[0022] Using the above technical solution, the first locating pin can position the joint parts during clamping, enabling precise fixation of the joint parts. The second locating pin plays a positioning role during the assembly of the riser base and the support base, and the locking bolts fix the riser base and the support base together.

[0023] More preferably, the heightening base includes:

[0024] The riser platform is set on the turntable and bolted to the turntable, with its surface pressed against the fixing components.

[0025] The connector is set on the riser platform. Its bottom surface is integrally connected to the riser platform, and there is a gap between its top surface and the inner wall of the joint parts. The inner wall is connected to the support base by locking bolts.

[0026] Using the above technical solution, when it is necessary to process multiple types of joint parts, it is only necessary to remove the first positioning pin, the center bolt, the second positioning pin, and the locking bolt to separate the support base from the connector and the pressure plate, thereby achieving the purpose of replacing multiple types of joint parts.

[0027] Further optimization results in the fixed components including:

[0028] The pressure block is set on the riser base, located above the turntable, with its bottom surface in contact with the top surface of the riser base.

[0029] The support block is set on the turntable, with its bottom surface abutting against the turntable and its inclined surface abutting against the inclined surface of the pressure block.

[0030] The locking block is mounted on the pressure block and is detachably connected to the pressure block.

[0031] The fixing component is installed in the locking block, and its ends pass through the locking block and the pressure block and extend into the turntable, and are threadedly connected to the turntable, the locking block and the pressure block respectively.

[0032] Using the above technical solution, the locking block is pressed onto the pressure block by the threaded connection between the fixing component and the turntable, and then the pressure block is pressed onto the raising platform.

[0033] Further optimization involves using a double-ended stud as the fastener.

[0034] The above technical solution can be used to connect with locking blocks and turntable threads to further fix the raising platform on the turntable.

[0035] A further optimization is that a first step is provided on the inclined surface of the pressure block, and a second step is provided on the inclined surface of the support block, with the first step engaging with the second step.

[0036] By adopting the above technical solution, the pressure block and the support block are engaged and connected together through the first step and the second step, which plays a role in balancing and supporting the fixed heightening platform.

[0037] Further optimization involves the support block having a right-angled triangular cross-section and the pressure block having a trapezoidal cross-section.

[0038] By adopting the above technical solution, the inclined surface of the support block and the inclined surface of the pressure block are stably engaged and connected, which plays an indirect stabilizing role for the raising platform.

[0039] A further optimization is made so that the inclined surface of the pressure block is parallel to the inclined surface of the support block.

[0040] By adopting the above technical solution, the first step and the second step can be fully engaged and connected.

[0041] Further optimization involves a convex locking block with its two ends pressed against the top surface of the support block.

[0042] Using the above technical solution, the fastener passes through the locking block from the middle, and the lower parts on both sides can be pressed firmly against the support block. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the structure of this embodiment.

[0044] Figure 2 This is a schematic diagram of the supporting component in this embodiment.

[0045] Figure 3 This is a schematic diagram of the heightening base in this embodiment.

[0046] Figure 4 This is a schematic diagram of the support base in this embodiment.

[0047] Figure 5 This is a schematic diagram of the fixed component in this embodiment.

[0048] Figure 6 This is a schematic diagram of the connection structure between the connector and the support base in this embodiment.

[0049] Figure 7 This is a schematic diagram of the support base in this embodiment.

[0050] Reference numerals: 1-Joint part; 2-Connecting block; 3-Turntable; 4-Support assembly; 41-Elevating base; 411-Elevating platform; 412-Connector; 42-Support seat; 421-First positioning pin; 422-Second positioning pin; 423-Locking bolt; 424-Center bolt; 43-Pressure plate; 5-Fixing assembly; 51-Pressure block; 511-First step; 52-Support block; 521-Second step; 53-Locking block; 54-Fixing component. Detailed Implementation

[0051] The following is in conjunction with the appendix Figures 1-7 This utility model will be described in further detail.

[0052] A tooling fixture for machining robot joint parts 1, such as Figure 1 As shown, it includes:

[0053] Support component 4 is mounted on the rotary table 3 of the CNC machine tool and is detachably connected to both the rotary table 3 and the joint component 1. It is used to fix the joint component 1 onto the rotary table 3 by clamping. The rotary table 3 can also be connected to other parts of the CNC machine tool via connecting block 2.

[0054] The fixing component 5 is set on the turntable 3 and is detachably connected to the turntable 3 and the support component 4 respectively. It is used to limit the position of the support component 4 on the turntable 3 by clamping.

[0055] The support assembly 4 can clamp various types of joint parts 1 onto the turntable 3, and then the support assembly 4 is fixed onto the turntable 3 by the fixing assembly 5, exposing the surface to be machined of the joint part 1 to the CNC machine tool. This allows the CNC machine tool to conveniently and quickly process the joint part 1 from multiple angles and axes. It is a tooling fixture for realizing various types of joint parts to meet the mass production mode of various types of robot joint parts. It has the characteristics of short update cycle, many changes, and high precision requirements of robot parts, which improves the efficiency of processing certain robot joint parts, reduces production costs, and is easy to disassemble and assemble, thereby ensuring high-precision processing of robot joint parts.

[0056] Specifically, such as Figure 1 and Figure 2 As shown, in this embodiment, the support component 4 includes:

[0057] The heightening base 41 is mounted on the turntable 3 and bolted to the turntable 3. The fixing component 5 is pressed onto the heightening base 41.

[0058] The support base 42 is set on the side wall of the heightening base 41. One side wall is detachably connected to the heightening base 41, and the top wall abuts against the joint part 1.

[0059] The pressure plate 43 is set on the other side wall of the support base 42 and is detachably connected to the support base 42. The joint part 1 is located between the pressure plate 43 and the support base 42 and is detachably connected to the pressure plate 43.

[0060] The joint component 1 is clamped between the support base 42 and the pressure plate 43, and the support base 41 further supports the support base 42, ensuring that the joint component 1 is in a stable clamped state. When clamping various types of joint components 1, it is not necessary to remove the lifting base 41 and the turntable 3; other types of joint components 1 can be directly clamped between the support base 42 and the pressure plate 43, which has the advantage of wide applicability.

[0061] Specifically, such as Figure 4 and Figure 7As shown, in this embodiment, the support base 42 is respectively provided with:

[0062] There are two first positioning pins 421, which are symmetrically arranged on the other side wall of the support base 42. Their ends pass through the pressure plate 43 to the support base 42 and are connected to the support base 42.

[0063] The center bolt 424 is located on the same side wall as the first locating pin 421, with one end passing through the pressure plate 43 and the other end screwed to the support base 42.

[0064] The second positioning pin 422, which is one in number, is set on one side wall of the support base 42, and its end passes through the raising base 41 to the support base 42 and is connected to the support base 42.

[0065] There are three locking bolts 423, which are set on the support base 42 and are located at three points on the same side wall as the second positioning pin 422. They pass through the raising base 41 and are screwed to the support base 42.

[0066] The first locating pin 421 can position the joint part 1 during clamping, and can accurately fix the joint part 1. The second locating pin 422 plays a positioning role when assembling the raising base 41 and the support base 42, and fixes the raising base 41 and the support base 42 by the locking bolt 423.

[0067] Specifically, such as Figure 3 , Figure 4 as well as Figure 6 As shown, in this embodiment, the heightening base 41 includes:

[0068] The riser platform 411 is set on the turntable 3 and bolted to the turntable 3, with its surface pressed against the fixing component 5.

[0069] The connector 412 is mounted on the riser platform 411. Its bottom surface is integrally connected to the riser platform 411, and its top surface has a gap with the inner wall of the joint part 1. The inner wall is connected to the support base 42 by locking bolts 423.

[0070] When it is necessary to process multiple types of joint parts 1, simply remove the first positioning pin 421, the center bolt 424, the second positioning pin 422, and the locking bolt 423 to separate the support base 42 from the connector 412 and the pressure plate 43, thereby achieving the purpose of replacing multiple types of joint parts 1.

[0071] Specifically, such as Figure 1 , Figure 2 as well as Figure 5 As shown, the fixing component 5 in this embodiment includes:

[0072] The pressure block 51 is set on the raising base 41, located above the turntable 3, and its bottom surface is in contact with the top surface of the raising base 41.

[0073] Support block 52 is set on turntable 3, with its bottom surface abutting against turntable 3 and its inclined surface abutting against the inclined surface of pressure block 51.

[0074] Locking block 53 is mounted on pressure block 51 and is detachably connected to pressure block 51.

[0075] The fixing member 54 is disposed in the locking block 53, and its ends pass through the locking block 53 and the pressure block 51 respectively and extend into the turntable 3, and are threadedly connected to the turntable 3, the locking block 53 and the pressure block 51 respectively.

[0076] By connecting the fixing member 54 to the turntable 3 by thread, the locking block 53 is pressed onto the pressure block 51, and then the pressure block 51 is pressed onto the raising platform 411.

[0077] Specifically, such as Figure 5 As shown, in this embodiment, the fixing member 54 is a double-ended stud, which can be threadedly connected to the locking block 53 and the turntable 3 to further fix the raising platform 411 on the turntable 3.

[0078] Specifically, such as Figure 2 and Figure 5 As shown, in this embodiment, a first step 511 is provided on the inclined surface of the pressure block 51, and a second step 521 is provided on the inclined surface of the support block 52. The first step 511 is engaged with the second step 521, and the pressure block 51 and the support block 52 are engaged and connected together through the first step 511 and the second step 521, which plays a role in balancing support for the fixed heightening platform 411.

[0079] Specifically, such as Figure 2 and Figure 5 As shown, in this embodiment, the cross-section of the support block 52 is a right triangle and the cross-section of the pressure block 51 is a trapezoid, so that the inclined surface of the support block 52 and the inclined surface of the pressure block 51 are stably engaged and connected, which plays an indirect stabilizing role for the heightening platform 411.

[0080] Specifically, such as Figure 2 and Figure 5 As shown, in this embodiment, the inclined surface of the pressure block 51 is parallel to the inclined surface of the support block 52, so that the first step 511 and the second step 521 can be fully engaged and connected.

[0081] Specifically, such as Figure 5 As shown, in this embodiment, the locking block 53 is convex, with its two ends pressed against the top surface of the support block 52. The fixing member 54 passes through the locking block 53 from the middle, and the lower parts on both sides can be pressed well against the support block 52.

[0082] Please combine Figures 1-7 The process of clamping joint part 1 in this embodiment is described as follows:

[0083] The support surface of the heightening base 41 has four holes, which can be adapted to the specifications of the CNC machine tool turntable 3 and directly fixed to the turntable 3 using standard threads.

[0084] The first locating pin 421 on the support base 42 can position the joint part 1 during clamping, and accurately fix the machined part. In the opposite direction to the first locating pin 421, the second locating pin 422 plays a locating role when the connector 412 of the support base 42 and the raising base 41 are assembled, and the connector 412 and the replaceable support base 42 are fixed by bolt locking.

[0085] The pressure plate 43 can be regarded as a simple contouring fixture that contacts the joint part 1, and fixes the joint part 1 a second time. It works with the support base 42 to fix the joint part 1 during machining, while increasing the force-bearing area between the joint part 1 and the fixture to ensure the stability of the part during machining.

[0086] The joint component 1 is placed between the pressure plate 43 and the connector 412 and fixed using the center bolt 424, thus securing it to the rotary table 3 of the CNC machine tool, enabling multi-axis machining of the joint component 1. By replacing the support base 42 and the pressure plate 43, other joint components of the humanoid robot can be clamped and processed.

[0087] In summary, the tooling fixture composed of support component 4 and fixing component 5 can meet the mass production needs of various types of robot joint parts. It is designed to meet the characteristics of robot parts, such as short update cycles, frequent changes, and high precision requirements. It can perform multi-axis machining and process multiple types of parts. Under the premise of ensuring machining accuracy, it can improve the efficiency of machining a certain type of robot joint part, reduce production costs, and process multiple types of joint parts, thereby ensuring high-precision machining of robot joint parts.

[0088] This specific embodiment is merely an explanation of the utility model and is not intended to limit it. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they fall within the scope of protection of this utility model.

Claims

1. A tooling fixture for machining robot joint parts, characterized in that, include: A support assembly (4) is set on the turntable (3) of the CNC machine tool and is detachably connected to the turntable (3) and the joint part (1) respectively, and is used to fix the joint part (1) on the turntable (3) by clamping; A fixing component (5) is disposed on the turntable (3) and is detachably connected to the turntable (3) and the support component (4) respectively, for limiting the position of the support component (4) on the turntable (3) by clamping.

2. The tooling fixture for machining robot joint parts according to claim 1, characterized in that, The support component (4) includes: The heightening base (41) is mounted on the turntable (3) and bolted to the turntable (3). The fixing component (5) is pressed onto the heightening base (41). A support base (42) is provided on the side wall of the heightening base (41), with one side wall detachably connected to the heightening base (41) and the top wall abutting against the joint part (1). A pressure plate (43) is disposed on the other side wall of the support base (42) and is detachably connected to the support base (42). The joint part (1) is located between the pressure plate (43) and the support base (42). The joint part (1) is detachably connected to the pressure plate (43).

3. The tooling fixture for machining robot joint parts according to claim 2, characterized in that, The support base (42) is respectively provided with: The first positioning pin (421) is provided on the other side wall of the support base (42), and its end passes through the pressure plate (43) to the support base (42) and is connected to the support base (42); The center bolt (424) is set on the same side wall as the first positioning pin (421), with one end passing through the pressure plate and the other end screwed to the support base (42); The second positioning pin (422) is provided on one side wall of the support base (42), and its end passes through the heightening base (41) to the support base (42) and is connected to the support base (42); A locking bolt (423) is provided on the support base (42), located on the same side wall as the second positioning pin (422), and passes through the heightening base (41) to be screwed to the support base (42).

4. The tooling fixture for machining robot joint parts according to claim 3, characterized in that, The heightening base (41) includes: The raising platform (411) is set on the turntable (3), bolted to the turntable (3), and its surface is pressed against the fixing component (5); The connector (412) is disposed on the riser (411), its bottom surface is integrally connected to the riser (411), its top surface has a gap with the inner wall of the joint part (1), and the inner wall is connected to the support base (42) by the locking bolt (423).

5. The tooling fixture for machining robot joint parts according to claim 4, characterized in that, The fixing component (5) includes: A pressure block (51) is disposed on the heightening base (41) and located above the turntable (3), with its bottom surface in contact with the top surface of the heightening base (41); A support block (52) is provided on the turntable (3), with its bottom surface abutting against the turntable (3) and its inclined surface abutting against the inclined surface of the pressure block (51); A locking block (53) is disposed on the pressure block (51) and is detachably connected to the pressure block (51); The fixing member (54) is disposed in the locking block (53), and its ends pass through the locking block (53), the pressure block (51) and extend into the turntable (3), and are threadedly connected to the turntable (3), the locking block (53) and the pressure block (51) respectively.

6. The tooling fixture for machining robot joint parts according to claim 5, characterized in that, The fastener (54) is a bolt.

7. The tooling fixture for machining robot joint parts according to claim 5, characterized in that, The pressure block (51) has a first step (511) on its inclined surface, and the support block (52) has a second step (521) on its inclined surface. The first step (511) is fastened to the second step (521).

8. The tooling fixture for machining robot joint parts according to claim 7, characterized in that, The cross-section of the support block (52) is a right triangle, and the cross-section of the pressure block (51) is a trapezoid.

9. The tooling fixture for machining robot joint parts according to claim 7, characterized in that, The inclined surface of the pressure block (51) is parallel to the inclined surface of the support block (52).

10. The tooling fixture for machining robot joint parts according to claim 7, characterized in that, The locking block (53) is convex, and its two ends are pressed against the top surface of the support block (52).

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