A center clamp for worm manufacturing of anthropomorphic robot dexterous hand

Abstract

The utility model relates to worm manufacturing technical field discloses a kind of applied to humanoid robot dexterous hand worm manufacturing center clamp, including pedestal, the top of the pedestal is fixedly connected with positioning table, the top of the positioning table is provided with positioning mechanism;Positioning mechanism includes skid table, the inner wall of positioning table is slidably connected, the inner wall of the positioning table is radially slidably connected with clamping plate, the inner wall of the clamping plate is penetrated and slidably connected with pressure rod, one end of the pressure rod is fixedly connected with pressure plate, the other end of the pressure rod is hinged with connecting rod, the top of the skid table is fixedly connected with stand, the inner wall of the positioning table is fixedly connected with hydraulic cylinder.In the utility model, through the design of positioning mechanism, the axial location of worm can be realized while being clamped in radial direction, only a set of clamp can ensure that worm maintains stable state during processing process, it is easy to operate, clamping efficiency can be greatly improved, and then work efficiency can be improved.

Description

Technical Field

[0001] This utility model relates to the field of worm gear manufacturing technology, and in particular to a central fixture for manufacturing worm gears for humanoid robot dexterity hands. Background Technology

[0002] The worm gear of the humanoid robot's dexterous hand is a key component of the humanoid robot's dexterous hand transmission system. Its machining accuracy directly affects the dexterous hand's movement flexibility and operational precision. It must meet stringent requirements such as miniaturization, high precision, and high reliability to ensure that the humanoid robot's hand can achieve fine movements similar to those of humans.

[0003] The manufacturing of dexterous hand worm gears is inseparable from the fixation of the fixture. Fixing the worm gear with the fixture can keep it in a stable state during the hobbing process. Stable clamping can ensure the accurate relative position of the hob and the worm gear blank, thereby ensuring the accuracy of key parameters such as worm gear tooth profile and tooth pitch, laying the foundation for subsequent assembly and performance.

[0004] Currently, worm gears are often clamped using a three-jaw chuck during manufacturing. However, the three-jaw chuck only provides radial restraint; additional fixtures are needed to axially restrain the worm gear to ensure stability during machining. While using two sets of fixtures can ensure worm gear stability, the operation is overly cumbersome, increasing clamping time and reducing work efficiency. Therefore, this paper proposes a fixture for a worm gear manufacturing center for humanoid robot dexterity hands to solve these problems. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a center fixture for manufacturing worm gears in the dexterous hand of humanoid robots, which aims to solve the problem mentioned in the prior art that "worm gear processing requires two sets of fixtures to achieve radial and axial clamping, resulting in an overly cumbersome operation process".

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a center fixture for manufacturing worm gears for dexterous hands of humanoid robots, comprising a base, a positioning platform fixedly connected to the top of the base, and a positioning mechanism provided on the top of the positioning platform;

[0007] The positioning mechanism includes a slide table slidably connected to the inner wall of a positioning platform. A clamping plate is radially slidably connected to the inner wall of the positioning platform. A pressure rod is slidably connected through the inner wall of the clamping plate. One end of the pressure rod is fixedly connected to a pressure plate, and the other end of the pressure rod is hinged to a connecting rod. A column is fixedly connected to the top of the slide table. A hydraulic cylinder is fixedly connected to the inner wall of the positioning platform. A boss is fixedly connected to the piston end of the hydraulic cylinder. A connecting rod is hinged to the side wall of the boss. A spring is fixedly connected between the side of the clamping plate away from the column and the inner wall of the slide table.

[0008] As a further description of the above technical solution:

[0009] An inner support plate is fixedly connected to the top of the pressure plate.

[0010] As a further description of the above technical solution:

[0011] The inner support plate is an arc-shaped plate structure, and a silicone pad is fixedly connected to the outer arc-shaped surface of the inner support plate.

[0012] As a further description of the above technical solution:

[0013] The clamp is an arc-shaped plate structure, and an anti-slip pad is fixedly connected to the outer arc surface of the clamp.

[0014] As a further description of the above technical solution:

[0015] A rubber pad is fixedly connected to the lower surface of the pressure plate.

[0016] As a further description of the above technical solution:

[0017] The end of the connecting rod away from the pressure rod is hinged to the top of the column, and the end of the connecting rod away from the boss is hinged to the bottom of the slide.

[0018] This utility model has the following beneficial effects:

[0019] 1. In this utility model, the positioning mechanism can achieve axial limiting of the worm gear while radially clamping it. Only one set of fixtures is needed to ensure that the worm gear remains stable during processing. The operation is simple and the clamping efficiency can be greatly improved, thereby improving work efficiency.

[0020] 2. In this utility model, the positioning mechanism, in conjunction with the inner support plate, can clamp the worm gear with shaft from the inside, thereby fixing worm gears of different models and improving the flexibility and practicality of the clamp. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0022] Figure 2 This is a side view of the cross-sectional structure of the present invention;

[0023] Figure 3 This is a schematic diagram of the clamping structure of the shaftless disc worm gear of this utility model;

[0024] Figure 4 This is a schematic diagram of the clamping structure of the worm gear with shaft of this utility model.

[0025] Legend:

[0026] 1. Base; 2. Positioning platform; 3. Positioning mechanism; 31. Slide table; 32. Clamping plate; 33. Pressure rod; 34. Pressure plate; 35. Column; 36. Connecting rod; 37. Hydraulic cylinder; 38. Boss; 39. Connecting rod; 310. Spring; 4. Inner support plate; 5. Silicone pad; 6. Anti-slip pad; 7. Rubber pad; 8. Worm gear with shaft; 9. Shaftless disc worm gear. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0028] Reference Figure 1 - Figure 3 One embodiment of this utility model is a center fixture for manufacturing worm gears for dexterous hands of humanoid robots, including a base 1, a positioning platform 2 fixedly connected to the top of the base 1, the positioning platform 2 being used to support the worm gear, and a positioning mechanism 3 being provided on the top of the positioning platform 2.

[0029] Reference Figure 2 - Figure 4 The positioning mechanism 3 includes a slide 31, which is slidably connected to the inner wall of the positioning platform 2. A clamping plate 32 is radially slidably connected to the inner wall of the positioning platform 2, which can radially clamp the shaftless disc worm gear 9. A pressure rod 33 is slidably connected through the inner wall of the clamping plate 32. One end of the pressure rod 33 is fixedly connected to a pressure plate 34, which can axially limit the shaftless disc worm gear 9. The other end of the pressure rod 33 is hinged to a connecting rod 36. A column 35 is fixedly connected to the top of the slide 31. The end of the connecting rod 36 away from the pressure rod 33 is hinged to the top of the column 35. When the clamping plate 32 abuts against the inner wall of the shaftless disc worm gear 9, the sliding action of the slide 31 will cause the shaftless disc worm gear 9 to be lifted. The column 35 and the connecting rod 36 can push the pressure rod 33 downward, causing the pressure rod 33 to slide downward on the inner wall of the clamping plate 32. A hydraulic cylinder 37 is fixedly connected to the inner wall of the positioning platform 2. A boss 38 is fixedly connected to the piston end of the hydraulic cylinder 37. A connecting rod 39 is hinged to the side wall of the boss 38. The end of the connecting rod 39 away from the boss 38 is hinged to the bottom of the slide 31. Activating the hydraulic cylinder 37, in conjunction with the boss 38 and the connecting rod 39, can drive the slide 31 to slide on the inner wall of the positioning platform 2. A spring 310 is fixedly connected between the side of the clamping plate 32 away from the column 35 and the inner wall of the slide 31. The elasticity of the spring 310 can drive the clamping plate 32 to slide and reset on the inner wall of the slide 31.

[0030] Reference Figure 2An inner support plate 4 is fixedly connected to the top of the pressure plate 34. The inner support plate 4 is an arc-shaped plate structure. A silicone pad 5 is fixedly connected to the outer arc surface of the inner support plate 4. The inner support plate 4 can support the inside of the worm gear 8, thereby radially clamping the worm gear 8 from the inside. The silicone pad 5 can increase the friction between the inner support plate 4 and the inner wall of the worm gear 8, thereby improving the clamping effect of the inner support plate 4. The end of the worm gear 8 away from the positioning table 2 can be pressed against by the conical top block on the gear planer to achieve axial limiting of the worm gear 8.

[0031] Reference Figure 2 The clamping plate 32 is an arc-shaped plate structure. The outer arc surface of the clamping plate 32 is fixedly connected with an anti-slip pad 6. The shaftless disc worm gear 9 can be radially clamped through the clamping plate 32. At the same time, the anti-slip pad 6 can improve the clamping effect of the clamping plate 32.

[0032] Reference Figure 2 A rubber pad 7 is fixedly connected to the lower surface of the pressure plate 34. The rubber pad 7 can increase the friction between the pressure plate 34 and the upper surface of the shaftless disc worm gear 9, thereby improving the clamping effect of the pressure plate 34.

[0033] Working principle: In use, the shaftless disc worm gear 9 is placed on the positioning table 2, and then the hydraulic cylinder 37 is activated to move the boss 38 upward. At this time, the boss 38 pushes the connecting rod 39, which in turn pushes the slide 31. The four slides 31 will slide synchronously on the inner wall of the positioning table 2 and move away from each other. At the same time, under the connecting action of the spring 310, the slides 31 will drive the clamping plate 32 to move synchronously while sliding. When the clamping plate 32 moves, it will cause the anti-slip pad 6 to contact the inner wall of the shaftless disc worm gear 9. When the wall is blocked, the clamping plate 32 will be blocked by the shaftless disc worm gear 9. At this time, the slide table 31 will continue to slide and stretch the spring 310. At the same time, the slide table 31 will drive the column 35 to move synchronously, so that the column 35 pushes the connecting rod 36. At this time, the connecting rod 36 will push the pressure rod 33 downward, so that the pressure rod 33 slides downward on the inner wall of the clamping plate 32. While the pressure rod 33 slides downward, it will drive the pressure plate 34 to slide downward synchronously. When the pressure plate 34 moves downward, it will drive the rubber pad 7 to press against the upper surface of the shaftless disc worm gear 9, which will close the hydraulic cylinder 37.

[0034] When the pressure plate 34 presses the rubber pad 7 against the top of the shaftless disc worm gear 9, the pressure plate 34 can no longer move downwards. At this time, the pressure plate 34 can axially limit the shaftless disc worm gear 9. Since the pressure rod 33 cannot move downwards, the column 35 can no longer push the connecting rod 36, and the connecting rod 36 can no longer push the pressure rod 33. At this time, the slide table 31 will be fixed to the inner wall of the positioning table 2, thus keeping the column 35 in a fixed state. At the same time, one side of the clamping plate 32 drives the anti-slip pad 6 to clamp the inner wall of the shaftless disc worm gear 9, and the other side is restricted by the pressure rod 33 and the connecting rod 36. At this time, the fixed column 35 will support the connecting rod 36, so that the clamping plate 32 cannot slide on the inner wall of the slide table 31 and drive the pressure rod 33 to push the connecting rod 36, thus keeping the clamping plate 32 in a fixed state. At this time, the clamping plate 32 can radially clamp the shaftless disc worm gear 9. Thus, the positioning of the shaftless disc worm gear 9 is completed.

[0035] When it is necessary to release the clamping of the shaftless disc worm gear 9, firstly, the hydraulic cylinder 37 is activated to move the boss 38 downward. At this time, the boss 38 will pull the connecting rod 39 downward, causing the connecting rod 39 to pull the slide 31. At this time, the four sets of slides 31 will slide synchronously on the inner wall of the positioning table 2 and move closer to each other. At the same time, the spring 310 previously stretched by the slide 31 will gradually contract. Under the elastic action of the spring 310, the clamping plate 32 will still maintain the clamping state. At this time, the slide 31 will slide back to its original position during the sliding reset process. The column 35 pulls the connecting rod 36, which in turn pulls the pressure rod 33. At this time, the pressure rod 33 slides upward on the inner wall of the clamping plate 32, thereby causing the pressure plate 34 to disengage from the upper surface of the shaftless disc worm gear 9. Simultaneously, after the spring 310 fully retracts and resets, under the connecting action of the spring 310, the slide table 31 will drive the clamping plate 32 to disengage from the inner wall of the shaftless disc worm gear 9, thereby releasing the clamping plate 32 from the shaftless disc worm gear 9. Thus, the clamping of the shaftless disc worm gear 9 can be released.

[0036] When positioning the worm gear 8 with shaft is required, the worm gear 8 is fitted onto the outside of the four sets of inner support plates 4. Then, the hydraulic cylinder 37 is activated to drive the boss 38 to move upward. At this time, the boss 38 will push the connecting rod 39, causing the connecting rod 39 to push the slide 31. At this time, the four sets of slides 31 will slide synchronously on the inner wall of the positioning table 2 and move away from each other. At the same time, under the connecting action of the spring 310, the slide 31 will drive the clamping plate 32 to move synchronously while sliding. The clamping plate 32 will drive the pressure rod 33 to move synchronously while moving. At this time, the pressure rod 33 will drive the pressure plate 34 to move synchronously while moving. The pressure plate 34 will drive the inner support plate 4 to move synchronously until the inner support plate 4 drives the silicone pad 5 to press against the inner wall of the worm gear 8, and the clamping plate 32 can no longer slide on the inner wall of the slide 31. At this time, the inner support plate 4 can be used to radially clamp the worm gear 8, so that different types of worm gears can be clamped.

[0037] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., 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 jig for manufacturing worm gears for dexterous hands of humanoid robots, comprising a base (1), characterized in that: The top of the base (1) is fixedly connected to a positioning platform (2), and the top of the positioning platform (2) is provided with a positioning mechanism (3); The positioning mechanism (3) includes a slide (31), which is slidably connected to the inner wall of the positioning platform (2). A clamping plate (32) is radially slidably connected to the inner wall of the positioning platform (2). A pressure rod (33) is slidably connected through the inner wall of the clamping plate (32). A pressure plate (34) is fixedly connected to one end of the pressure rod (33). A connecting rod (36) is hinged to the other end of the pressure rod (33). A column (35) is fixedly connected to the top of the slide (31). A hydraulic cylinder (37) is fixedly connected to the inner wall of the positioning platform (2). A boss (38) is fixedly connected to the piston end of the hydraulic cylinder (37). A connecting rod (39) is hinged to the side wall of the boss (38). A spring (310) is fixedly connected between the side of the clamping plate (32) away from the column (35) and the inner wall of the slide (31).

2. The fixture for manufacturing worm gears for dexterous hands of humanoid robots according to claim 1, characterized in that: An inner support plate (4) is fixedly connected to the top of the pressure plate (34).

3. A center fixture for manufacturing worm gears for dexterous hands of humanoid robots according to claim 2, characterized in that: The inner support plate (4) is an arc-shaped plate structure, and a silicone pad (5) is fixedly connected to the outer arc surface of the inner support plate (4).

4. A center fixture for manufacturing worm gears for dexterous hands of humanoid robots according to claim 1, characterized in that: The clamping plate (32) is an arc-shaped plate structure, and an anti-slip pad (6) is fixedly connected to the outer arc surface of the clamping plate (32).

5. A center fixture for manufacturing worm gears for dexterous hands of humanoid robots according to claim 1, characterized in that: A rubber pad (7) is fixedly connected to the lower surface of the pressure plate (34).

6. A jig for manufacturing worm gears for dexterous hands of humanoid robots according to claim 1, characterized in that: The end of the connecting rod (36) away from the pressure rod (33) is hinged to the top of the column (35), and the end of the connecting rod (39) away from the boss (38) is hinged to the bottom of the slide (31).

Images