Self-centering rapid locking clamp for bionic robot finger joint part

Abstract

The utility model provides a self-centering rapid locking clamp for a bionic robot finger joint piece, and belongs to the technical field of machining. The utility model provides a bionic robot finger joint piece self-centering fast locking clamp which comprises a machining base, locating pieces and locating pins, containing grooves are formed in the machining base, the two sets of containing grooves are the left containing groove and the right containing groove respectively, the two sets of locating pieces are the left locating piece and the right locating piece respectively, and the locating pins are arranged on the left locating piece and the right locating piece respectively. The upper end of the left positioning piece and the upper end of the right positioning piece achieve clamping of the knuckle, and the positioning pin penetrates through the machining base to fix the left positioning piece and the right positioning piece in the containing groove. According to the self-centering rapid locking clamp for the finger joint piece of the bionic robot, the finger joint is placed in the containing space, the positioning piece is inserted into the containing groove, under the action of self gravity, the left positioning piece and the right positioning piece limit the finger joint, the positioning piece is limited in the machining base through the positioning pin, stable fixing of the finger joint is achieved, and the clamping effect is good. And subsequent processing operation is facilitated.

Description

A biomimetic robot joint component self-centering quick-locking clamp Technical Field

[0001] This utility model belongs to the field of mechanical processing technology, specifically relating to a self-centering and quick-locking fixture for bionic robot finger joints. Background Technology

[0002] In recent years, robots of various forms and functions have been gradually applied to production and daily life. Humanoid bionic robots, created by imitating human forms, are not significantly different from humans in appearance and can perform some of the dexterous movements that humans can do. Therefore, they can replace humans in tasks such as assembly and transportation, bringing convenience to human production and life. Bionic robotic hands, as important actuators in bionic robots, can move along with the robot body and can also perform corresponding actions based on human-machine interaction commands or built-in control commands. Bionic robotic hands have multiple jointed fingers, possessing the same versatility, dexterity, and adaptability as human hands. They can adapt to grasping and manipulating irregular objects and can perform some special grasping actions. Bionic robotic hands are the final link and actuator in the robot's interaction with the environment; their performance largely determines the overall performance of the robot. In complex and changing working environments, bionic robotic hands need to have strong gripping power and dexterity, which places high demands on the structural design of the fingers. Bionic robotic hands need to integrate mechanical and electrical components within a limited space, mostly using multiple motors to control tendons or linkages to achieve finger bending movements. To ensure the flexibility and responsiveness of the bionic robotic hand, high precision is required in the machining of the finger joints. The main body of the finger joint of a bionic robotic hand is disc-shaped, with different connection structures on the upper and lower surfaces for connecting the joint to other components. The diameter of the finger joint is small, generally less than 3cm, and the lower surface is not planar. As an irregularly shaped part with a curved surface, the upper surface of the finger joint requires a locking clamp to fix it for subsequent processing. However, due to the size and surface shape of the finger joint, clamping instability is highly likely during clamping, leading to increased machining errors, higher scrap rates, and lower processing efficiency. Summary of the Invention

[0003] The purpose of this invention is to provide a self-centering and quick-locking clamp for bionic robot finger joints, which aims to solve the problem of unstable clamping during the processing of bionic robotic hand finger joints.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows: A biomimetic robot knuckle self-centering quick-locking clamp is provided, including a processing base, positioning components, and positioning pins. The upper surface of the processing base is provided with a receiving groove, which is suitable for inserting the positioning component. The upper end of the positioning component is located above the upper surface of the processing base. Two sets of receiving grooves are provided, namely a left receiving groove and a right receiving groove, which are arranged opposite to each other. Two sets of positioning components are provided, namely a left positioning component and a right positioning component. An receiving space suitable for clamping the knuckle is formed between the upper ends of the left positioning component and the upper ends of the right positioning component. The positioning pin passes through the processing base and fixes the left positioning component and the right positioning component within the receiving groove.

[0005] In one possible implementation, the left receiving groove and the right receiving groove are symmetrically arranged, the axis of symmetry of the left receiving groove and the right receiving groove are vertically arranged, and the lower ends of the left receiving groove and the right receiving groove are connected to each other.

[0006] In one possible implementation, the locating pin is positioned on the axis of symmetry between the left and right receiving slots.

[0007] In one possible implementation, the positioning pins are provided in two sets, namely an upper positioning pin and a lower positioning pin. The upper positioning pin is located directly above the lower positioning pin. The lower ends of the left positioning member and the right positioning member abut against the upper positioning pin. The upper positioning pin passes between the left positioning member and the right positioning member.

[0008] In one possible implementation, the right side wall of the middle portion of the left positioning member is provided with a left clearance groove, and the left side wall of the middle portion of the right positioning member is provided with a right clearance groove. The left clearance groove and the right clearance groove are arranged opposite to each other, and the space enclosed by the two is suitable for the insertion of the upper positioning pin.

[0009] In one possible implementation, the upper positioning pin has a first positioning slope in the middle, and the diameter of the middle part of the upper positioning pin gradually decreases from front to back; the lower positioning pin has a second positioning slope in the middle, and the diameter of the middle part of the lower positioning pin gradually decreases from front to back.

[0010] In one possible implementation, the first end of the locating pin is provided with a rotating groove.

[0011] In one possible implementation, the upper end face of the machining base is provided with a mounting base, which is disposed between the upper end of the left positioning member and the upper end of the right positioning member.

[0012] In one possible implementation, the processing base includes a fixed base and a fixed post, the fixed post being disposed on the upper end surface of the fixed base, and the receiving groove being disposed on the fixed post.

[0013] In one possible implementation, the fixed base is provided with a positioning bottom groove, the lower end of the fixed column is provided with a positioning column groove, the positioning bottom groove is connected to the positioning column groove, and the positioning column groove is connected to the receiving groove.

[0014] The beneficial effects of the bionic robot joint self-centering quick-locking clamp provided by this utility model are as follows:

[0015] Compared with existing technologies, this invention includes a machining base, positioning components, and positioning pins. The machining base has a receiving groove whose shape matches that of the positioning component. The receiving groove has an upper opening. The positioning component is inserted into the receiving groove from top to bottom. Under the action of gravity, the lower end of the positioning component is located at the lower end of the receiving groove, and the upper end of the positioning component is located outside the receiving groove. The positioning component and the receiving groove are arranged in a one-to-one correspondence. There are two sets of receiving grooves, namely a left receiving groove and a right receiving groove. There are two sets of positioning components, namely a left positioning component and a right positioning component. The left and right positioning components are arranged opposite each other. Under the action of gravity, the left positioning component sinks into the lower end of the left receiving groove, and the right positioning component sinks into the lower end of the right receiving groove. The lower end of the slot achieves self-centering. The upper ends of the left and right positioning components tend to move closer to each other, limiting the finger joint between them. The positioning pin runs through the machining base from front to back, and its side wall passes through the receiving groove from front to back. The positioning pin limits the left and right positioning components within the left and right receiving grooves, eliminating the need for manual adjustment of the finger joint position. The left and right positioning components limit the finger joint position, and the positioning pin restricts the position of the positioning components, preventing the finger joint from shifting during processing. This achieves stable fixation of the finger joint, making operation simple and convenient, improving processing efficiency, and facilitating subsequent processing operations. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 is a three-dimensional structural schematic diagram of the bionic robot joint self-centering quick-locking clamp provided in the embodiment of this utility model;

[0018] Figure 2 is an exploded structural diagram of the bionic robot joint self-centering rapid locking clamp provided in this embodiment of the present invention;

[0019] Figure 3 is an exploded structural diagram of the bionic robot joint self-centering rapid locking clamp provided in this embodiment of the present invention.

[0020] Figure 4 is a schematic diagram of the vertical cross-sectional structure of the bionic robot joint self-centering quick-locking clamp provided in the embodiment of this utility model.

[0021] In the diagram: 1. Left positioning component; 2. Left positioning plate; 3. Left clamping groove; 4. Left clearance groove; 5. Right positioning component; 6. Right positioning plate; 7. Right clamping groove; 8. Right clearance groove; 9. First positioning inclined surface; 10. Second positioning inclined surface; 11. Fixed base; 12. Positioning bottom groove; 13. Fixed column; 14. Positioning column groove; 15. Left receiving groove; 16. Upper positioning pin; 17. Lower positioning pin; 18. Upper rotating groove; 19. Mounting seat; 20. Knuckle; 21. Mounting column; 22. Lower rotating groove; 23. Right receiving groove. Detailed Implementation

[0022] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0023] Referring to Figures 1 to 4, a specific embodiment of a bionic robot finger joint 20-piece self-centering quick-locking clamp provided by this utility model will now be described. The clamp includes a processing base, positioning components, and positioning pins. The upper surface of the processing base is provided with a receiving groove, which is suitable for inserting the positioning component. The upper end of the positioning component is located above the upper surface of the processing base. Two sets of receiving grooves are provided, namely a left receiving groove 15 and a right receiving groove 23, which are arranged opposite to each other. Two sets of positioning components are provided, namely a left positioning component 1 and a right positioning component 5. A receiving space suitable for clamping the finger joint 20 is formed between the upper end of the left positioning component 1 and the upper end of the right positioning component 5. The positioning pin passes through the processing base and fixes the left positioning component 1 and the right positioning component 5 within the receiving groove.

[0024] This utility model provides a biomimetic robot finger joint 20-piece self-centering quick-locking fixture. Compared with the prior art, it is equipped with a processing base, positioning components, and positioning pins. The processing base is provided with a receiving groove, the shape of which matches the positioning component. The receiving groove has an upper opening. The positioning component is inserted into the receiving groove from top to bottom. Under the action of gravity, the lower end of the positioning component is located at the lower end of the receiving groove, and the upper end is located outside the receiving groove. The positioning component and the receiving groove are arranged in a one-to-one correspondence. There are two sets of receiving grooves, namely a left receiving groove 15 and a right receiving groove 23. There are two sets of positioning components, namely a left positioning component 1 and a right positioning component 5. The left positioning component 1 and the right positioning component 5 are arranged opposite each other. Under the action of gravity, the left positioning component 1 sinks into the lower end of the left receiving groove 15. The right positioning component 5 sinks into the lower end of the right receiving groove 23 to achieve self-centering. The upper end of the left positioning component 1 and the upper end of the right positioning component 5 tend to approach each other, limiting the finger joint 20 between them. The positioning pin is set through the processing seat from front to back, and the side wall of the positioning pin passes through the receiving groove from front to back. The positioning pin limits the left positioning component 1 and the right positioning component 5 in the left receiving groove 15 and the right receiving groove 23. There is no need to manually adjust the position of the finger joint 20. The left positioning component 1 and the right positioning component 5 are used to limit the position of the finger joint 20. The positioning pin limits the position of the positioning component to prevent the finger joint 20 from shifting during processing, thus achieving stable fixation of the finger joint 20. The operation is simple and convenient, improving processing efficiency and facilitating subsequent processing operations.

[0025] Specifically, please refer to Figures 1 to 4. The system includes a machining base, a positioning element, and a positioning pin. The machining base is used to hold the finger joint 20 to be processed. The positioning element is used to clamp the finger joint 20. The positioning pin limits the positioning element within the machining base. A receiving groove is provided on the upper end face of the machining base. The receiving groove is inclined, with its opening facing upwards. The shape of the receiving groove matches that of the positioning element, facilitating the insertion of the positioning element. The two sets of receiving grooves are the left receiving groove 15 and the right receiving groove 23. The two sets of positioning elements are the left positioning... Component 1 and right positioning component 5 are arranged opposite to each other. The lower end of the left receiving groove 15 is inclined towards the right receiving groove 23, and the lower end of the right receiving groove 23 is inclined towards the left receiving groove 15. The left receiving groove 15 and the right receiving groove 23 are arranged at an angle, with the lower ends of the left receiving groove 15 and the right receiving groove 23 close to each other. The upper end of the left positioning component 1 extends out of the left receiving groove 15, and the upper end of the right positioning component 5 extends out of the right receiving groove 23. The upper end of the left positioning component 1 and the right positioning component 5 are arranged at an angle. The upper end of component 5 is used to clamp the knuckle 20. A positioning pin is set through the machining base from front to back. The machining base is adapted to allow the positioning pin to pass through. The positioning pin passes through the front side wall of the machining base and exits through the rear side wall of the machining base. The positioning pin abuts against the side walls of the left positioning component 1 and the right positioning component 5, limiting the left positioning component 1 and the right positioning component 5 within the left receiving groove 15 and the right receiving groove 23. The knuckle 20 is placed between the upper opening of the left receiving groove 15 and the upper opening of the right receiving groove 23. The left positioning component 1 and the right positioning component 5 are positioned from the top... Inserted into the left receiving groove 15 and the right receiving groove 23, the finger joint 20 sinks into the lower end of the left receiving groove 15 and the right receiving groove 23 under its own gravity, automatically conforming to the inner wall of the left receiving groove 15 and the right receiving groove 23, achieving self-centering. During the sinking process of the left positioning part 1 and the right positioning part 5, the upper end of the left positioning part 1 and the right positioning part 5 clamps the finger joint 20, eliminating the need for manual adjustment of the position of the finger joint 20. During the processing, the stable position of the finger joint 20 helps to improve the processing accuracy.

[0026] Furthermore, a left positioning plate 2 is provided at the upper end of the left positioning member 1, and a right positioning plate 6 is provided at the upper end of the right positioning member 5. The left positioning plate 2 and the right positioning plate 6 are horizontally arranged. A left clamping groove 3 is provided at the right end of the left positioning plate 2, and a right clamping groove 7 is provided at the left end of the right positioning plate 6. The left clamping groove 3 and the right clamping groove 7 are arranged opposite to each other, and the finger joint 20 is clamped between the left clamping groove 3 and the right clamping groove 7.

[0027] As a specific embodiment of the bionic robot finger joint 20-piece self-centering quick-locking clamp provided by this utility model, please refer to Figures 1 to 4. The left receiving groove 15 and the right receiving groove 23 are symmetrically arranged, the axis of symmetry of the left receiving groove 15 and the right receiving groove 23 are vertically arranged, and the lower ends of the left receiving groove 15 and the right receiving groove 23 are interconnected.

[0028] Specifically, please refer to Figures 1 to 4. The left receiving groove 15 and the right receiving groove 23 are symmetrically arranged in the same vertical plane. The axis of symmetry between the left receiving groove 15 and the right receiving groove 23 is vertical. The lower end of the left receiving groove 15 is connected to the lower end of the right receiving groove 23, which facilitates the clamping of the finger joint 20.

[0029] As a specific embodiment of the bionic robot finger joint 20-piece self-centering quick-locking clamp provided by this utility model, please refer to Figures 1 to 4. The positioning pin is set on the axis of symmetry between the left receiving groove 15 and the right receiving groove 23.

[0030] Specifically, please refer to Figures 1 to 4. The positioning pin is set through the axis of symmetry between the left receiving groove 15 and the right receiving groove 23. The positioning pin simultaneously limits the left positioning member 1 and the right positioning member 5.

[0031] As a specific embodiment of the bionic robot finger joint 20-piece self-centering quick-locking clamp provided by this utility model, please refer to Figures 1 to 4. The positioning pin is provided in two sets, namely upper positioning pin 16 and lower positioning pin 17. The upper positioning pin 16 is located directly above the lower positioning pin 17. The lower end of the left positioning member 1 and the lower end of the right positioning member 5 abut against the upper part of the lower positioning pin 17. The upper positioning pin 16 passes between the left positioning member 1 and the right positioning member 5.

[0032] Specifically, please refer to Figures 1 to 4. The two sets of positioning pins are the upper positioning pin 16 and the lower positioning pin 17. The upper positioning pin 16 and the lower positioning pin 17 have the same structure and are set on the same vertical line. The axes of the upper positioning pin 16 and the lower positioning pin 17 coincide with the axis of symmetry of the left receiving groove 15 and the right receiving groove 23. The upper positioning pin 16 and the lower positioning pin 17 cooperate to lock the positions of the left positioning component 1 and the right positioning component 5. After the lower positioning pin 17 is inserted into the machining seat, it is located at the lower end of the left receiving groove 15 and the right receiving groove 23. The left positioning component 1 and the right positioning component 5 are inserted into the left receiving groove 15 and the right receiving groove 23 from top to bottom. The lower ends of the left positioning component 1 and the right positioning component 5 abut against the lower positioning pin 17. The upper positioning pin 16 is inserted into the machining seat and is positioned between the left receiving groove 15 and the right receiving groove 23. The upper positioning pin 16 cooperates with the lower positioning pin 17 to lock the position of the positioning component.

[0033] As a specific embodiment of the bionic robot finger joint 20-piece self-centering quick-locking clamp provided by this utility model, please refer to Figures 1 to 4. The right side wall of the middle part of the left positioning member 1 is provided with a left clearance groove 4, and the left side wall of the middle part of the right positioning member 5 is provided with a right clearance groove 8. The left clearance groove 4 and the right clearance groove 8 are arranged opposite to each other, and the space enclosed by the two is suitable for the insertion of the upper positioning pin 16.

[0034] Specifically, please refer to Figures 1 to 4. The left clearance groove 4 is set on the right side wall of the middle part of the left positioning member 1, and the right clearance groove 8 is set on the left side wall of the middle part of the right positioning member 5. The left clearance groove 4 and the right clearance groove 8 are arranged opposite to each other. The upper positioning pin 16 passes through the area enclosed by the left clearance groove 4 and the right clearance groove 8. The lower end face of the upper positioning pin 16 presses down on the lower inner side wall of the left clearance groove 4 and the right clearance groove 8. There is a gap between the upper end face of the upper positioning pin 16 and the upper inner side wall of the left clearance groove 4, and there is a gap between the upper end face of the upper positioning pin 16 and the upper inner side wall of the right clearance groove 8. The lower positioning pin 17 supports the lower ends of the left positioning member 1 and the right positioning member 5.

[0035] As a specific embodiment of the bionic robot finger joint 20-piece self-centering quick-locking clamp provided by this utility model, please refer to Figures 1 to 4. The upper positioning pin 16 is provided with a first positioning slope 9 in the middle, and the diameter of the middle part of the upper positioning pin 16 gradually decreases from front to back. The lower positioning pin 17 is provided with a second positioning slope 10 in the middle, and the diameter of the middle part of the lower positioning pin 17 gradually decreases from front to back.

[0036] Specifically, please refer to Figures 1 to 4. The first positioning inclined surface 9 is set in the middle of the upper positioning pin 16 and is arranged around the circumference of the upper positioning pin 16. The diameter of the middle part of the upper positioning pin 16 changes in the same direction as the lower part of the inner wall of the left clearance groove 4 and the right clearance groove 8. The second positioning inclined surface 10 is set in the middle of the lower positioning pin 17 and is arranged around the circumference of the lower positioning pin 17. The diameter of the middle part of the lower positioning pin 17 gradually decreases from front to back. The diameter of the middle part of the lower positioning pin 17 changes in the same direction as the arc surface of the lower end of the positioning element.

[0037] As a specific embodiment of the 20-piece self-centering quick-locking clamp for biomimetic robot finger joints provided by this utility model, please refer to Figures 1 to 4. The first end of the positioning pin is provided with a rotating groove.

[0038] Specifically, please refer to Figures 1 to 4. The rotating groove is set at the first end of the positioning pin. The rotating groove is an internal hexagonal groove, which facilitates the installation of the positioning pin. Correspondingly, the first end of the upper positioning pin 16 is set with the upper rotating groove 18, and the first end of the lower positioning pin 17 is set with the lower rotating groove 22.

[0039] Furthermore, referring to Figures 1 to 4, the second end of the upper locating pin 16 is threaded to the side wall of the machining seat, and the second end of the lower locating pin 17 is threaded to the side wall of the machining seat, which facilitates locking the positions of the upper locating pin 16 and the lower locating pin 17.

[0040] As a specific embodiment of the bionic robot finger joint 20-piece self-centering quick-locking fixture provided by this utility model, please refer to Figures 1 to 4. The upper end face of the processing seat is provided with a mounting seat 19, which is located between the upper end of the left positioning member 1 and the upper end of the right positioning member 5.

[0041] Specifically, please refer to Figures 1 to 4. The mounting base 19 is located on the upper end face of the machining base, at the center of the upper end face of the machining base. The upper openings of the left receiving groove 15 and the right receiving groove 23 are respectively located on the left and right sides of the mounting base 19. The finger joint 20 is mounted on the mounting base 19. The mounting base 19 is provided with a mounting groove. A mounting post 21 is provided at the center of the bottom of the mounting groove. The finger joint 20 is inserted into the mounting groove and covers the outside of the mounting post 21. The right end of the left positioning plate 2 is located above the mounting base 19, and the left end of the right positioning plate 6 is located above the mounting base 19. The left clamping groove 3 of the left positioning plate 2 and the right clamping groove 7 of the right positioning plate 6 are respectively located on the left and right sides of the finger joint 20 to clamp the finger joint 20.

[0042] As a specific embodiment of the bionic robot finger joint 20-piece self-centering quick-locking fixture provided by this utility model, please refer to Figures 1 to 4. The processing base includes a fixed base 11 and a fixed post 13. The fixed post 13 is disposed on the upper end surface of the fixed base 11, and the receiving groove is disposed on the fixed post 13.

[0043] Specifically, please refer to Figures 1 to 4. The processing base includes a fixed base 11 and a fixed column 13. The fixed base 11 is a cuboid, and the fixed column 13 is a cylinder. The fixed column 13 is located at the center of the upper end face of the fixed base 11. The left receiving groove 15 and the right receiving groove 23 are located on the fixed column 13. The upper openings of the left receiving groove 15 and the right receiving groove 23 are located on the upper end face of the fixed column 13. The mounting base 19 is located on the upper end face of the fixed column 13 and is located at the center of the upper end face of the fixed column 13.

[0044] As a specific embodiment of the bionic robot finger joint 20-piece self-centering quick-locking clamp provided by this utility model, please refer to Figures 1 to 4. The fixed base 11 is provided with a positioning bottom groove 12, and the lower end of the fixed column 13 is provided with a positioning column groove 14. The positioning bottom groove 12 is connected to the positioning column groove 14, and the positioning column groove 14 is connected to the receiving groove.

[0045] Specifically, please refer to Figures 1 to 4. The positioning bottom groove 12 is set at the center of the fixed base 11 and extends through the upper and lower end faces of the fixed base 11. The positioning column groove 14 is set at the center of the lower end face of the fixed column 13. The lower end of the positioning column groove 14 is connected to the positioning bottom groove 12, and the upper end of the positioning column groove 14 is connected to the receiving groove, which facilitates the installation of the fixed base 11.

[0046] The steps for using the 20-piece self-centering quick-locking clamp for biomimetic robot finger joints provided by this utility model are as follows:

[0047] S1. Insert the lower positioning pin 17 into the fixing post 13;

[0048] S2. Place the left positioning component 1 and the right positioning component 5 into the two sets of receiving slots respectively;

[0049] S3. Place the knuckle 20 on the mounting base 19;

[0050] S4. Insert the upper positioning pin 16 into the fixing post 13. The upper positioning pin 16 locks the positions of the left positioning member 1 and the right positioning member 5. By adjusting the depth of the upper positioning pin 16 into the fixing post 13, different pressures can be applied to the left positioning member 1 and the right positioning member 5 with the help of the first positioning inclined surface 9, thereby adjusting the clamping force on the finger joint 20.

[0051] S5. Machining the upper surface of the finger joint 20;

[0052] S6. Remove the upper positioning pin 16 to release the locking of the left positioning part 1 and the right positioning part 5, and release the locking of the finger joint 20.

[0053] S7. Rotate the lower positioning pin 17. With the help of the second positioning inclined surface 10, the lower positioning pin 17 pushes the left positioning part 1 and the right positioning part 5 out of the fixing post 13, so as to remove the left positioning part 1, the right positioning part 5 and the finger joint 20.

[0054] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A self-centering quick-locking fixture for a bionic robot finger joint, characterized in that, The device includes a machining base, positioning components, and positioning pins. The upper surface of the machining base is provided with a receiving groove, which is suitable for inserting the positioning component. The upper end of the positioning component is located above the upper surface of the machining base. There are two sets of receiving grooves, namely a left receiving groove and a right receiving groove, which are arranged opposite to each other. There are two sets of positioning components, namely a left positioning component and a right positioning component. The upper ends of the left positioning component and the upper ends of the right positioning component form a receiving space suitable for clamping a finger joint. The positioning pin passes through the machining base and fixes the left positioning component and the right positioning component in the receiving groove.

2. The bionic robot joint self-centering rapid locking fixture as described in claim 1, characterized in that, The left receiving groove and the right receiving groove are symmetrically arranged, and the axis of symmetry of the left receiving groove and the right receiving groove are vertically arranged. The lower ends of the left receiving groove and the right receiving groove are connected to each other.

3. The bionic robot joint self-centering rapid locking fixture as described in claim 2, characterized in that, The positioning pin is located on the axis of symmetry between the left receiving groove and the right receiving groove.

4. The bionic robot joint self-centering rapid locking fixture as described in claim 3, characterized in that, The positioning pins are provided in two sets, namely an upper positioning pin and a lower positioning pin. The upper positioning pin is located directly above the lower positioning pin. The lower end of the left positioning member and the lower end of the right positioning member abut against the upper positioning pin. The upper positioning pin passes between the left positioning member and the right positioning member.

5. The self-centering quick-locking fixture for a bionic robot finger joint part of claim 4, wherein, The left positioning member has a left clearance groove on the right side wall of the middle part and a right clearance groove on the left side wall of the middle part. The left clearance groove and the right clearance groove are arranged opposite to each other, and the space enclosed by the two is suitable for the insertion of the upper positioning pin.

6. The biomimetic robot joint self-centering rapid locking fixture as described in claim 5, characterized in that, The upper positioning pin has a first positioning slope in the middle, and the diameter of the middle part of the upper positioning pin gradually decreases from front to back. The lower positioning pin has a second positioning slope in the middle, and the diameter of the middle part of the lower positioning pin gradually decreases from front to back.

7. A biomimetic robot joint self-centering rapid locking fixture as described in claim 1, characterized in that, The first end of the positioning pin is provided with a rotating groove.

8. The bionic robot joint self-centering rapid locking fixture as described in claim 1, characterized in that, The upper surface of the processing base is provided with a mounting base, which is located between the upper end of the left positioning member and the upper end of the right positioning member.

9. The self-centering quick-locking fixture for a bionic robot finger joint part of claim 1, wherein, The processing base includes a fixed base and a fixed column. The fixed column is disposed on the upper end surface of the fixed base, and the receiving groove is disposed on the fixed column.

10. The self-centering quick-locking fixture for a bionic robot finger joint part of claim 9, wherein, The fixed base is provided with a positioning bottom groove, and the lower end of the fixed column is provided with a positioning column groove. The positioning bottom groove is connected to the positioning column groove, and the positioning column groove is connected to the receiving groove.

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