Hydraulic clamp for machining high-pressure parts of a robot exoskeleton

Abstract

The utility model belongs to the field of robot spare and parts processing, concretely relates to a hydraulic clamp of robot exoskeleton high -pressure spare and parts processing, including the clamping concrete, two work positions are symmetrically arranged on the clamping concrete, each work position is provided with a positioning mechanism, clamping mechanism and auxiliary mechanism, and specifically includes the positioning support seat of the plane, the hole positioning pin seat of the workpiece main positioning and angular positioning, the conical positioning pin, angular positioning pin and pin seat, and the clamping cylinder for clamping work piece. The utility model guarantees to complete the processing of all surfaces, holes, shafts and shapes on the OP10 sequence processing, effectively reduces the unqualified processing size caused by the deformation of work piece through auxiliary support and auxiliary clamping and processing technology, improves the processing efficiency, adjusts the angular positioning block pin at the same time, reduces the influence of the unqualified processing surface and hole relative to the blank size caused by the blank, and guarantees the appearance quality of the processed spare and parts.

Description

Technical Field

[0001] This utility model belongs to the field of robot parts processing, specifically relating to a hydraulic clamp for processing high-pressure parts of robot exoskeletons. Background Technology

[0002] Robot exoskeleton parts are characterized by high precision requirements, strict appearance quality requirements, and thin-walled nature that makes them easily deformable, classifying them as difficult-to-machine products. Because they are vacuum high-pressure cast blanks, they inherently deform significantly. After machining, workpiece deformation leads to dimensional inaccuracies. Furthermore, the parts themselves must be free of scratches, indentations, or other defects. The machining fixture for these robot exoskeleton parts aims to reduce post-machining deformation through specific processes, ensuring the parts meet the required appearance specifications. Utility Model Content

[0003] This invention proposes a hydraulic fixture for machining high-pressure parts of a robot exoskeleton, in order to solve the problems of easy deformation and low efficiency of workpieces in the existing machining process.

[0004] To achieve the above objectives, the present invention proposes the following technical solution: A hydraulic fixture for machining high-pressure parts of a robot exoskeleton includes a fixture body with two symmetrically arranged workstations on the fixture body. Each workstation is provided with a positioning mechanism, a clamping mechanism and an auxiliary mechanism. The positioning mechanism includes three main positioning supports, a conical positioning pin, and an angular positioning pin; the main positioning supports, the conical positioning pin, and the angular positioning pin are mounted on the clamping body. The clamping mechanism includes three main clamping cylinders, two auxiliary clamping cylinders, three main pressure plates, and two auxiliary pressure plates; the main clamping cylinders and auxiliary clamping cylinders are distributed and installed on the clamping body, and the main pressure plates and auxiliary pressure plates are respectively installed on the corresponding main clamping cylinders and auxiliary clamping cylinders; The auxiliary mechanism includes three hydraulic auxiliary support cylinders, three hydraulically controlled check valves, and a coarse positioning guide block; the hydraulic auxiliary support cylinders, hydraulically controlled check valves, and coarse positioning guide block are distributed and arranged on the clamping body.

[0005] Preferably, it also includes a locating pin seat, wherein the tapered locating pin is mounted on the clamp body by means of a clearance fit with the locating pin seat.

[0006] Preferably, it also includes an angular locating pin seat, wherein the angular locating pin is mounted on the clamp body via the angular locating pin seat.

[0007] Preferably, the angular positioning pin is provided with an adjusting shim.

[0008] Preferably, aluminum pressure heads are installed on the main pressure plate and the auxiliary pressure plate.

[0009] Preferably, it also includes an auxiliary support base, through which the hydraulic auxiliary support cylinder is mounted on the clamping body.

[0010] Preferably, the coarse positioning guide block is made of nylon material.

[0011] Preferably, the positioning support base has an airtightness detection hole on its plane.

[0012] Preferably, the positioning mechanism further includes a push base, which is disposed at a position corresponding to the workpiece angularly in the positioning direction of the clamping body, and an elastic soft push rod is installed on the push base.

[0013] Preferably, a locating pin and an angular locating pin are installed on the mating surface between the fixture body and the machine tool worktable.

[0014] Preferably, the clamp has four lifting rings.

[0015] Preferably, the clamping body is provided with a main clamping oil circuit, an auxiliary support oil circuit and an auxiliary clamping oil circuit, and the three hydraulic control check valves are connected in series with the main clamping oil circuit, the auxiliary support oil circuit and the auxiliary clamping oil circuit provided on the clamping body respectively.

[0016] The advantages of this utility model are: This utility model proposes a hydraulic fixture for machining high-pressure parts of a robot exoskeleton, including a positioning support seat for defining a plane, a hole positioning pin seat for main positioning and angular positioning of the workpiece, a tapered positioning pin, an angular positioning pin and a pin seat, and a clamping cylinder for clamping the workpiece. Through the cooperation of the above components, this utility model can ensure that all surfaces, holes, shafts, and shapes on the large surface are machined in the OP10 first-order machining. The auxiliary support, auxiliary clamping and machining process effectively reduce the machining dimensional defects caused by workpiece deformation and improve machining efficiency. At the same time, the adjustability of the angular positioning pin reduces the influence of the machining surface and hole relative to the blank size caused by the blank. Attached Figure Description

[0017] The accompanying drawings, which form part of this specification, are used to provide a further understanding of this utility model. The illustrative embodiments and descriptions of this utility model are used to explain this utility model and do not constitute an undue limitation thereof. In the drawings: Figure 1 A front view of a hydraulic clamp for machining high-pressure parts of a robot exoskeleton; Figure 2 A bottom view of a hydraulic clamp for machining high-pressure parts of a robot exoskeleton; Figure 3 Left view of a hydraulic clamp for machining high-pressure parts of a robotic exoskeleton; Figure 4A three-dimensional view of a hydraulic clamp for machining high-pressure parts of a robot exoskeleton; Figure 5 A three-dimensional view of the positioning support base of a hydraulic clamp for machining high-pressure parts of a robot exoskeleton; Figure 6 A schematic diagram of the airtightness test hole of a hydraulic fixture for machining high-pressure parts of a robot exoskeleton. Detailed Implementation

[0018] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0019] The following detailed description is exemplary and intended to provide further detailed explanation of the present invention. Unless otherwise specified, all technical terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this invention. Example 1

[0020] Please see Figure 1 As shown, this utility model provides a hydraulic fixture for machining high-pressure parts of a robot exoskeleton, including a fixture body 1, a positioning mechanism, a clamping mechanism and an auxiliary mechanism. The fixture body 1 has two workstations, and each workstation has a set of mechanisms.

[0021] The positioning mechanism includes a positioning support 7, a tapered positioning pin 10, and an angular positioning pin 3, specifically: Each workstation is equipped with three positioning support seats 7 of unequal height, a conical positioning pin 10, and an angular positioning pin 3. The conical positioning pin 10 is housed in a positioning pin seat 11 mounted on the fixture body 1, with a clearance fit between the two. Under the action of a spring within the positioning pin seat 11, the conical pin 10 can move up and down. An angular positioning pin seat 4 is fixed on the fixture body 1, and the angular positioning pin 3 is mounted on the angular positioning pin seat 4. An adjusting shim 5 is provided on the angular positioning pin 3 to adjust the angular position.

[0022] The clamping mechanism includes a main clamping cylinder 8, an auxiliary clamping cylinder 13, a main pressure plate 9, and an auxiliary pressure plate 14, specifically: Each workstation is equipped with a main clamping cylinder 8, two auxiliary clamping cylinders 13, three main pressure plates 9, and two auxiliary pressure plates 14. The main clamping cylinders 8 and auxiliary clamping cylinders 13 are distributed and installed on the clamping body. The main pressure plates 9 and auxiliary pressure plates 14 are respectively installed on the corresponding main clamping cylinders 8 and auxiliary clamping cylinders 13. Each pressure plate is equipped with an aluminum pressure head 15 to prevent damage to the workpiece. Each cylinder drives the corresponding pressure plate to apply pressure to the corresponding part of the workpiece to clamp it.

[0023] The auxiliary mechanism includes an auxiliary support base 19, a hydraulic auxiliary support cylinder 18, a hydraulically controlled check valve 6, and a coarse positioning guide block 2, specifically: Two hydraulic auxiliary support cylinders 18 are provided at each work station and are installed on the fixture body 1 via auxiliary support seats 19.

[0024] The clamping body 1 is provided with a main clamping oil circuit, an auxiliary support oil circuit and an auxiliary clamping oil circuit. The three hydraulic control check valves 6 are installed on the clamping body 1 and are connected in series with the main clamping oil circuit, the auxiliary support oil circuit and the auxiliary clamping oil circuit provided on the clamping body 1, respectively, to ensure that the clamping force of the hydraulic cylinder on the workpiece is not affected by the pressure fluctuation of the hydraulic oil circuit when the workpiece is clamped.

[0025] In one specific embodiment, the positioning support 7 includes a first positioning support 7-1, a second positioning support 7-2, and a third positioning support 7-3; the positions of the first positioning support 7-1, the second positioning support 7-2, and the third positioning support 7-3 correspond to three support points on the workpiece.

[0026] In one specific embodiment, the position of the coarse positioning guide block 2 is adjustable and corresponds to the workpiece, serving as a guide for workpiece installation.

[0027] In one specific embodiment, the coarse positioning guide block 2 is made of nylon material.

[0028] In one specific embodiment, when the workpiece is installed, the tapered part of the tapered positioning pin 10 always remains in contact with the positioning hole of the workpiece to ensure accurate positioning.

[0029] In one specific embodiment, the positioning support 7 has an airtightness detection hole 22 on its plane, used to detect whether the workpiece is installed in place, whether the clamping cylinder 8 is clamped, and whether the pressure plate 9 is pressed in place. If not, an airtightness detection alarm will be triggered due to air leakage to ensure that the workpiece is installed correctly. Figure 5 , 6 As shown.

[0030] In one specific embodiment, aluminum pressure heads 15 for preventing workpiece damage are installed on the main pressure plate 9 and the auxiliary pressure plate 14.

[0031] In one specific embodiment, the positioning mechanism further includes a push base 17, which is disposed at the position of the clamping body 1 corresponding to the angular positioning direction of the workpiece. An elastic soft push rod 16 is installed on the push base 17 to ensure reliable angular positioning of the workpiece.

[0032] In one specific embodiment, the clamp body 1 is connected to the machine tool worktable surface. Positioning pins 12 and angular positioning pins 20 are installed on the mating surface between the clamp body and the machine tool worktable surface for precise positioning on the worktable. The clamp body 1 has oil passage holes and air passage holes, which are connected to the oil and air passage holes on the machine tool worktable to ensure smooth connection and sealing of each hydraulic oil and air tightness detection hole. The hydraulic clamp is fixed to the worktable by mounting bolts. Four lifting rings 21 for installation and removal are symmetrically arranged on the clamp body. Example 2

[0033] This utility model follows the six-point positioning principle. The workpiece is positioned on a plane by three positioning support seats 7 installed on the clamping body 1. The hole positioning pin seat 11 and the tapered positioning pin 10 provide primary positioning for the workpiece. The angular positioning pin 3 and the adjusting shim 5, together with the angular positioning pin seat 4, provide angular positioning for the side of the workpiece. The reliable angular positioning of the workpiece is ensured by the elastic soft push rod 16 on the angular push seat 17. When clamping the workpiece, the main clamping cylinder 8 is first connected to hydraulic oil for clamping, then the hydraulic auxiliary support cylinder 18 is connected to hydraulic oil for auxiliary support, and then the auxiliary clamping cylinder 13 is connected to hydraulic oil to press the workpiece. Specifically, as follows... Figure 4 As shown.

[0034] In this utility model, the clamping body 1 can be made of high-quality forged steel, and through reasonable machining, heat treatment and surface treatment processes, the mechanical properties, strength, surface hardness and rust prevention of the material can meet the production needs.

[0035] After the workpiece is processed, the main clamping cylinder 8, auxiliary clamping cylinder 13, and auxiliary support cylinder are released through the hydraulic oil circuit, so that the processed workpiece can be removed and the next piece can be installed.

[0036] After the workpiece is positioned and clamped, this utility model can ensure that all surfaces and holes on the large surface and some side surfaces are processed in the OP10 first-order machining. The fixture realizes the consistency of the rough datum hole and the fine datum hole before and after machining, improves the machining efficiency, and at the same time reduces the influence of the machined surface and hole relative to the blank size caused by the blank.

[0037] As is known from common technical knowledge, this utility model can be implemented through other embodiments that do not depart from its spirit or essential characteristics. Therefore, the disclosed embodiments described above are merely illustrative in all respects and are not the only ones. All modifications within the scope of this utility model or its equivalents are included in this utility model.

[0038] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and not to limit it. Although the utility model has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of this utility model. Any modifications or equivalent substitutions that do not depart from the spirit and scope of this utility model should be covered within the protection scope of the claims of this utility model.

Claims

1. A hydraulic clamp for machining high-pressure parts of a robot exoskeleton, characterized in that, The fixture includes a clamping body, on which two workstations are symmetrically arranged, and each workstation is provided with a positioning mechanism, a clamping mechanism and an auxiliary mechanism; The positioning mechanism includes three main positioning supports, a conical positioning pin, and an angular positioning pin; the main positioning supports, the conical positioning pin, and the angular positioning pin are mounted on the clamping body. The clamping mechanism includes three main clamping cylinders, two auxiliary clamping cylinders, three main pressure plates, and two auxiliary pressure plates; the main clamping cylinders and auxiliary clamping cylinders are distributed and installed on the clamping body, and the main pressure plates and auxiliary pressure plates are respectively installed on the corresponding main clamping cylinders and auxiliary clamping cylinders; The auxiliary mechanism includes three hydraulic auxiliary support cylinders, three hydraulically controlled check valves, and a coarse positioning guide block; the hydraulic auxiliary support cylinders, hydraulically controlled check valves, and coarse positioning guide block are distributed and arranged on the clamping body.

2. The hydraulic clamp for machining high-pressure parts of a robot exoskeleton as described in claim 1, characterized in that, It also includes a locating pin seat, wherein the tapered locating pin is mounted on the clamp body by means of a clearance fit with the locating pin seat.

3. The hydraulic clamp for machining high-pressure parts of a robot exoskeleton as described in claim 1, characterized in that, It also includes an angular locating pin seat, through which the angular locating pin is mounted on the clamp body.

4. The hydraulic clamp for machining high-pressure parts of a robot exoskeleton as described in claim 1, characterized in that, An adjusting shim is provided on the angular positioning pin.

5. The hydraulic clamp for machining high-pressure parts of a robot exoskeleton as described in claim 1, characterized in that, Aluminum pressure heads are installed on the main pressure plate and the auxiliary pressure plate.

6. The hydraulic clamp for machining high-pressure parts of a robot exoskeleton as described in claim 1, characterized in that, It also includes an auxiliary support base, through which the hydraulic auxiliary support cylinder is mounted on the clamping body.

7. The hydraulic clamp for machining high-pressure parts of a robot exoskeleton as described in claim 1, characterized in that, The coarse positioning guide block is made of nylon material.

8. The hydraulic clamp for machining high-pressure parts of a robot exoskeleton as described in claim 1, characterized in that, The positioning support base has an airtightness detection hole on its plane.

9. The hydraulic clamp for machining high-pressure parts of a robot exoskeleton as described in claim 1, characterized in that, The positioning mechanism also includes a push base, which is located at the position of the clamp body corresponding to the workpiece angular positioning direction, and an elastic soft push rod is installed on the push base.

10. The hydraulic clamp for machining high-pressure parts of a robot exoskeleton as described in claim 1, characterized in that, Locating pins and angular locating pins are installed on the mating surface between the fixture and the machine tool worktable.

11. The hydraulic clamp for machining high-pressure parts of a robot exoskeleton as described in claim 1, characterized in that, There are four lifting rings on the clamp.

12. The hydraulic clamp for machining high-pressure parts of a robot exoskeleton as described in claim 1, characterized in that, The clamping body is provided with a main clamping oil circuit, an auxiliary support oil circuit and an auxiliary clamping oil circuit, and the three hydraulic control check valves are connected in series with the main clamping oil circuit, the auxiliary support oil circuit and the auxiliary clamping oil circuit provided on the clamping body respectively.

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