Workpiece clamping mechanism of humanoid robot joint lead screw nut machining equipment

Abstract

The utility model provides a workpiece clamping mechanism of humanoid robot joint lead screw nut machining equipment, and belongs to the technical field of machinery. The clamping device solves the problem of how to improve the clamping efficiency while ensuring the clamping stability of a workpiece. According to the workpiece clamping mechanism of the humanoid robot joint lead screw nut machining equipment, the joint lead screw nut machining equipment comprises a rack and a mounting base connected to the rack, a mounting channel is formed in the mounting base in the transverse direction, the workpiece clamping mechanism comprises a tubular expansion head, and a protruding part is arranged on the outer wall of one end of the expansion head in the circumferential direction; a fracture is formed in the end of the expansion head in the axial direction, the other end of the expansion head is arranged in the mounting channel in a sliding and penetrating mode, an elastic assembly acting on the expansion head to enable the expansion head to move inwards in the axial direction is arranged in the mounting channel, and a driving assembly capable of pushing and pulling the expansion head in the axial direction is arranged on the mounting base. According to the workpiece clamping mechanism of the humanoid robot joint lead screw nut machining equipment, the clamping efficiency can be improved while the workpiece clamping stability is guaranteed.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical technology and relates to a workpiece clamping mechanism for a humanoid robot joint screw nut processing equipment. Background Technology

[0002] Joint screw nut machining equipment is a common internal thread machining equipment in the existing technology. It generally works by sleeves the workpiece on the outside of the rod-shaped tool and presses the outer wall of the tool against the inner wall of the workpiece. The tool is rotated by a rotary cylinder or motor, so that the internal thread is formed in the workpiece.

[0003] For the aforementioned processing, workpiece clamping and positioning are crucial. Only when the workpiece is securely positioned can the inner wall of the workpiece be processed to obtain a product that meets processing standards. Currently, workpiece clamping and positioning are commonly achieved using chucks, such as the manual self-centering three-jaw chuck device described in Chinese Patent (Authorization Announcement No.: CN222221168U). This device includes a chuck body, a rotating disk, and a pressure plate. The outer end face of the chuck body has a rotating disk mounting groove, and the outer end face of the rotating disk has three evenly distributed arc-shaped grooves. The pressure plate has three jaws that movably correspond to the three arc-shaped grooves. The rotating disk is installed in the rotating disk mounting groove, and a manual adjustment screw is provided on the rotating disk's annular surface. The pressure plate is connected to the outer end face of the chuck body, securing the rotating disk in the rotating disk mounting groove. Each of the three jaws has a pin inserted into an arc-shaped groove. By manually adjusting the screw to rotate the rotating disk, the rotating disk, through the three arc-shaped grooves, synchronously controls the three jaws to clamp or release the workpiece on the pressure plate.

[0004] As can be seen from the working principle disclosed in paragraph 0040 of the prior art, although this method can clamp and position the workpiece, it requires manual rotation of the screw to control the clamping and releasing actions of the three jaws during loading and unloading, resulting in low clamping efficiency and slow processing. Summary of the Invention

[0005] The purpose of this utility model is to address the aforementioned problems in existing technologies by proposing a workpiece clamping mechanism for a humanoid robot joint screw nut processing equipment. The technical problem to be solved by this utility model is to improve clamping efficiency while ensuring stable workpiece clamping.

[0006] The objective of this utility model can be achieved through the following technical solution: a workpiece clamping mechanism for a humanoid robot joint screw nut processing equipment, the joint screw nut processing equipment including a frame and a mounting base connected to the frame, the mounting base having a transversely extending mounting channel at both ends, the workpiece clamping mechanism including a tubular expansion head, one end of the expansion head having an outwardly protruding portion on its outer wall along the circumferential direction, the other end of the expansion head having an axially extending section penetrating the outer wall of the protruding portion and the inner wall of the expansion head, the other end of the expansion head slidingly passing through the mounting channel, the mounting channel having an elastic component acting on the expansion head and causing the expansion head to move axially inward, when the expansion head contracts inward, the end of the expansion head with the protruding portion can deform radially inward under the action of the inner wall of the mounting channel, the mounting base having a drive component capable of pushing and pulling the expansion head axially.

[0007] This application uses a tubular expansion head as a clamping device for holding workpieces. It features a break at one end of the expansion head and a drive assembly and an elastic assembly mounted on a mounting base to drive the expansion head to slide within a mounting channel. When workpiece clamping is required, the operator shuts down the drive assembly or moves its drive end away from the expansion head. In this state, the drive end of the drive assembly is free to move. The elastic force generated by the elastic assembly continuously pushes the expansion head inwards. At this time, one end of the expansion head is squeezed by the inner wall of the mounting channel through a protrusion, causing the protruding end to deform radially inwards due to the break, thus reducing the inner diameter of that end of the expansion head and clamping the workpiece. Simultaneously, the drive assembly can also pull the expansion head inwards. In this state, the pulling force generated by the drive assembly, combined with the pushing force of the elastic assembly, achieves the backward movement of the expansion head. This achieves the purpose of clamping the workpiece by contracting the expansion head; conversely, when it is necessary to release the workpiece, the drive component is activated and its drive end pushes the expansion head to move. In this state, the drive component can push the expansion head forward against the elastic effect of the elastic component, causing the protrusion on the outer wall of the expansion head to separate from the inner wall of the port of the installation channel. At this time, the expansion head is no longer subjected to compression, and can expand outward through its own material properties, so that the inner diameter of the corresponding protrusion part expands to its original state, and the workpiece is no longer clamped. Using the above structure, the clamping and releasing of the workpiece is automatically realized through the setting of the clamping mechanism, without the need for manual operation, making the operation more convenient and improving the clamping efficiency while ensuring the stability of workpiece clamping.

[0008] In the workpiece clamping mechanism of the aforementioned humanoid robot joint screw nut processing equipment, the end of the tightening head with a break is the clamping end, and the other end is the connecting end. A connecting pipe is slidably connected within the mounting channel, with one end of the connecting pipe fixedly connected to the connecting end. The driving assembly includes a cylinder body fixed on the mounting base and a piston slidably connected within the cylinder body along the axial direction of the mounting channel. The other end of the connecting pipe is fixedly connected to the piston. Using the connecting pipe as a medium to connect the tightening head and the piston can be considered as making the tightening head a split structure, which can effectively reduce its processing difficulty. Furthermore, the connecting pipe and the piston themselves need to bear loads for a long time due to the force, making them very prone to wear and damage. This design allows for simple replacement of the connecting pipe, reducing maintenance costs while ensuring transmission performance. Of course, as an alternative, a hydraulic cylinder can also be used instead of a pneumatic cylinder.

[0009] In the workpiece clamping mechanism of the aforementioned humanoid robot joint screw nut processing equipment, the piston divides the internal cavity of the cylinder into a forward chamber and a backward chamber. Two air nozzles are connected to the cylinder body; one nozzle communicates with the forward chamber, and the other communicates with the backward chamber. With this configuration, at different working stages, by introducing air into the corresponding air nozzles, the volume of the inlet and outlet chambers is changed to drive the piston forward and backward, thereby enabling the drive device to push or pull the tightening head to move.

[0010] In the workpiece clamping mechanism of the aforementioned humanoid robot joint screw nut processing equipment, the elastic component includes a positioning ring and a disc spring. A retaining groove is provided within the mounting base, surrounding the mounting channel and extending through its rear end. The positioning ring is fixed to the outside of the connecting pipe. The disc spring acts elastically between the bottom wall of the retaining groove and the positioning ring. This arrangement allows the disc spring, under pressure, to apply elastic force to the positioning ring using the bottom wall of the retaining groove as a fulcrum. The tightening head, driven by the positioning ring, moves backward within the mounting channel. Alternatively, the elastic component can also employ a spring with a high elastic coefficient and a ring-shaped retaining part formed outside the tightening head.

[0011] In the workpiece clamping mechanism of the aforementioned humanoid robot joint screw nut processing equipment, the piston includes a piston rod arranged axially along the mounting channel and a piston plate formed on the outer peripheral wall of the piston rod. Both ends of the piston rod are through-holes, the piston plate is located within the cylinder body, and both ends of the piston rod extend out of the cylinder body. The piston rod is fixedly sleeved on the outer wall of the connecting pipe, and the positioning ring abuts against one end of the piston rod. This arrangement, through the presence of the piston plate, separates the two chambers within the cylinder body, ensuring the piston's forward and backward movement. Furthermore, the piston rod's support for the positioning ring ensures that it is firmly positioned on the connecting pipe without interfering with the piston's stroke.

[0012] In the workpiece clamping mechanism of the aforementioned humanoid robot joint screw nut processing equipment, several fracture surfaces are provided, and these fracture surfaces are arranged at intervals along the circumferential direction of the clamping end of the tightening head. This arrangement ensures that the clamping end of the tightening head undergoes sufficient deformation, thereby ensuring the clamping stability of the workpiece.

[0013] In the workpiece clamping mechanism of the aforementioned humanoid robot joint screw nut processing equipment, one end of the mounting channel is flared, and the protrusion abuts against the inner wall of the flared end of the mounting channel. This inclined surface fit allows the inner wall of the mounting channel to more fully compress the protrusion, thereby ensuring that the end of the tightening head with the protrusion can deform more fully radially.

[0014] Compared with existing technologies, the workpiece clamping mechanism of the humanoid robot joint screw nut processing equipment has the following advantages: by cooperating with the drive component and the elastic component, the expansion head is automatically driven to move back and forth in the installation channel, so that the expansion head can use the fracture to contract or expand after movement, thereby clamping or releasing the workpiece. There is no need for the operator to manually clamp the workpiece, which improves clamping efficiency while ensuring the stability of workpiece clamping. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the joint screw nut processing equipment.

[0016] Figure 2 This is a side view of the workpiece clamping mechanism of a humanoid robot joint screw and nut machining equipment.

[0017] Figure 3 yes Figure 2 A sectional view taken along the AA direction.

[0018] Figure 4 yes Figure 3 A magnified view of a portion of point A in the middle.

[0019] Figure 5 This is a structural schematic diagram of the mounting base and its enlarged partial view.

[0020] Figure 6 This is a schematic diagram of the expansion head.

[0021] In the diagram, 1. Frame; 11. Mounting base; 111. Mounting channel; 112. Abutment groove; 2. Expansion head; 21. Protrusion; 22. Break; 23. Clamping end; 24. Connecting end; 3. Drive assembly; 31. Cylinder body; 311. Forward chamber; 312. Reverse chamber; 313. Air nozzle; 32. Piston; 321. Piston rod; 322. Piston plate; 4. Elastic assembly; 41. Positioning ring; 42. Disc spring; 5. Connecting pipe. Detailed Implementation

[0022] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0023] like Figure 1-6 As shown, in the workpiece clamping mechanism of the humanoid robot joint screw nut processing equipment, the humanoid robot joint screw nut processing equipment includes a frame 1, on which a mounting base 11 is fixed. The mounting base 11 has a transversely extending mounting channel 111 with both ends passing through it. One end of the mounting channel 111 is the front end, and the other end is the rear end. The front end is flared. The workpiece clamping mechanism includes a tubular, slidably connected expansion head 2 within the mounting channel 111. Figure 6 One end of the tightening head 2 is a clamping end 23, and the other end is a connecting end 24. The clamping end 23 of the tightening head 2 has an outwardly protruding protrusion 21, and the protrusion 21 is arranged along the circumference of the tightening head 2. The clamping end 23 of the tightening head 2 has an axially formed break 22, which extends to the end edge of the clamping end 23 and penetrates the inner wall of the mounting channel 111 and the outer wall of the protrusion 21. There are several breaks 22, which are arranged at intervals along the circumference of the clamping end 23 of the tightening head 2, and the ratio of the length of each break 22 to the length of the tightening head 2 is at least 2:3.

[0024] like Figure 3 and Figure 4As shown, a connecting pipe 5 located behind the expansion head 2 is slidably connected in the installation channel 111. The front end of the connecting pipe 5 and the connecting end 24 of the expansion head 2 are connected and fixed by an interference fit. The rear end of the connecting pipe 5 extends out of the rear end of the installation channel 111. An elastic component 4 is provided in the mounting base 11. Specifically, the elastic component 4 includes a disc spring 42 and a positioning ring 41. An abutment groove 112 is provided in the mounting base 11. The abutment groove 112 is arranged around the installation channel 111 and passes through the rear end of the mounting base 11. The positioning ring 41 is fixed to the middle of the connecting pipe 5 and is arranged close to the opening of the abutment groove 112. The disc spring 42 is sleeved on the outside of the connecting pipe 5. One end of the disc spring abuts against the bottom wall of the abutment groove 112, and the other end abuts against the positioning ring 41.

[0025] like Figure 3 and Figure 4 As shown, a drive assembly 3 is bolted to one end of the mounting base 11 with an abutment groove 112. Specifically, the drive assembly 3 includes a cylinder body 31 and a piston 32 connected to the cavity inside the cylinder body 31. Further, the piston 32 specifically includes a piston rod 321 extending through both ends and a piston plate 322 formed circumferentially outside the piston rod 321. The piston plate 322 is located in the cavity of the cylinder body 31 and divides the internal cavity into a non-communicating forward cavity 311 and a retracting cavity 312. The piston rod 321 passes through the cylinder body 31, and the rear end of the connecting pipe 5 is clamped in the piston rod 321 by an interference fit. Two air nozzles 313 are connected and fixed on the cylinder body 31. One air nozzle 313 communicates with the forward cavity 311, and the other air nozzle 313 communicates with the retracting cavity 312. It is worth mentioning that the positioning ring 41 fixed outside the connecting pipe 5 abuts against the piston rod 321 on the side facing the opening of the abutment groove 112.

[0026] Working principle: After the workpiece is inserted into the expansion head 2, the operator can turn the drive assembly 3 off or on. However, it should be noted that in this state, the cylinder body 31 is filled with air through one of the air nozzles 313 via an external air source into the forward chamber 311, while the air nozzle 313 connecting to the retraction chamber 312 is unobstructed. At this time, the pressure in the forward chamber 311 is greater than the pressure in the retraction chamber 312, causing the piston plate 322 to drive the piston rod 321 to move backward continuously. The piston rod 321 continuously pulls the connecting pipe 5 backward, and simultaneously the connecting pipe 5 pulls the expansion head 2 backward. At the same time, the disc spring 42, which is always under compression, also elastically acts on the positioning ring 41, causing the connecting pipe 5 to be pushed backward. The combined force of these two forces drives the expansion head 2 backward. In this state, the protrusion 21 of the clamping end 23 of the expansion head 2 is continuously... When the inner wall of the front end of the mounting channel 111 is squeezed, the clamping end 23 of the expansion head 2 continuously contracts inward due to the presence of each break 22, and finally clamps and fixes the workpiece. Conversely, when the drive assembly 3 is turned on, the cylinder body 31 is filled with air from one of the air nozzles 313 through an external air source into the retraction chamber 312, while the air nozzle 313 connecting to the forward chamber 311 is unobstructed. At this time, the pressure in the forward chamber 311 is less than the pressure in the retraction chamber 312, causing the piston plate 322 to drive the piston rod 321 to move forward continuously. The force of the piston 32 moving forward overcomes the elastic effect of the disc spring 42, driving the connecting pipe 5 and the expansion head 2 to move forward together. In this state, the protrusion 21 separates from the front end of the mounting channel 111. Due to the failure of the squeezing force, the clamping end 23 of the expansion head 2 elastically deforms and returns to its original state, thereby releasing the workpiece.

[0027] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

[0028] Although this document frequently uses terms such as frame 1, mounting base 11, mounting channel 111, abutment groove 112, tightening head 2, protrusion 21, break 22, clamping end 23, connecting end 24, drive assembly 3, cylinder body 31, forward chamber 311, backward chamber 312, nozzle 313, piston 32, piston rod 321, piston plate 322, elastic assembly 4, positioning ring 41, disc spring 42, and connecting pipe 5, the possibility of using other terms is not excluded. The use of these terms is merely for the convenience of describing and explaining the essence of this utility model; interpreting them as any additional limitation would contradict the spirit of this utility model.

Claims

1. A workpiece clamping mechanism for a humanoid robot joint screw nut processing equipment, the joint screw nut processing equipment comprising a frame (1) and a mounting base (11) connected to the frame (1), wherein the mounting base (11) has a transversely extending mounting channel (111) extending through both ends, characterized in that, The workpiece clamping mechanism includes a tubular expansion head (2). One end of the expansion head (2) has an outwardly protruding part (21) on its outer wall along the circumferential direction. The expansion head (2) has an axially oriented cut (22) that penetrates the outer wall of the protruding part (21) and the inner wall of the expansion head (2). The other end of the expansion head (2) is slidably inserted into the mounting channel (111). The mounting channel (111) is provided with an elastic component (4) that acts on the expansion head (2) and moves the expansion head (2) axially inward. When the expansion head (2) contracts inward, the end of the expansion head (2) with the protruding part (21) can deform radially inward under the action of the inner wall of the mounting channel (111). The mounting base (11) is provided with a drive component (3) that can push and pull the expansion head (2) axially.

2. The workpiece clamping mechanism of the anthropomorphic robot joint screw-nut machining apparatus according to claim 1, characterized in that, The expansion head (2) has a clamping end (23) with a break (22) at one end and a connecting end (24) at the other end. A connecting pipe (5) is slidably connected in the mounting channel (111). One end of the connecting pipe (5) is fixedly connected to the connecting end (24). The drive assembly (3) includes a cylinder body (31) fixed on the mounting base (11) and a piston (32) slidably connected in the cylinder body (31) along the axial direction of the mounting channel (111). The other end of the connecting pipe (5) is fixedly connected to the piston (32).

3. The workpiece clamping mechanism of the anthropomorphic robot joint screw-nut machining apparatus according to claim 2, characterized in that, The piston (32) divides the cavity inside the cylinder body (31) into a forward cavity (311) and a backward cavity (312). Two nozzles (313) are connected to the cylinder body (31), one of which is connected to the forward cavity (311) and the other is connected to the backward cavity (312).

4. The workpiece clamping mechanism of the anthropomorphic robot joint screw-nut machining apparatus according to claim 2 or 3, characterized in that, The elastic component (4) includes a positioning ring (41) and a disc spring (42). The mounting base (11) has an abutment groove (112) inside. The abutment groove (112) surrounds the mounting channel (111) and passes through the rear end of the mounting channel (111). The positioning ring (41) is fixed to the outside of the connecting pipe (5). The disc spring (42) acts elastically between the bottom wall of the abutment groove (112) and the positioning ring (41).

5. The workpiece clamping mechanism of the anthropomorphic robot joint screw-nut machining apparatus according to claim 4, wherein The piston (32) includes a piston rod (321) arranged axially along the mounting channel (111) and a piston plate (322) formed on the outer peripheral wall of the piston rod (321). The piston rod (321) is provided through at both ends. The piston plate (322) is located inside the cylinder body (31). The piston rod (321) extends out of the cylinder body (31) at both ends. The piston rod (321) is fixedly sleeved on the outer wall of the connecting pipe (5). The positioning ring (41) abuts against one end of the piston rod (321).

6. The workpiece clamping mechanism of the anthropomorphic robot joint screw-nut machining apparatus according to claim 2 or 3, characterized by, The fracture (22) has several openings, and the several fractures (22) are arranged circumferentially at intervals along the clamping end (23) of the tightening head (2).

7. The workpiece clamping mechanism of the anthropomorphic robot joint screw-nut machining apparatus according to claim 1 or 2 or 3, characterized by, One end of the mounting channel (111) is flared, and the protrusion (21) abuts against the inner wall of the flared end of the mounting channel (111).

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