Humanoid robot joint lead screw nut machining equipment

Abstract

The invention provides humanoid robot joint lead screw nut machining equipment, and belongs to the technical field of robots. The problem that an existing super-long lead screw nut is low in machining efficiency when internal threads are machined is solved. The humanoid robot joint lead screw nut machining equipment comprises a rack, two sliding seats are arranged on the rack in the transverse direction in a sliding mode, a machining interval exists between the two sliding seats, one sliding seat is provided with a rotating disc capable of rotating, the rotating disc is provided with a chuck, and the rack is further provided with a first driving piece capable of driving the two sliding seats to move synchronously in the same direction and move oppositely. One sliding seat is provided with a chuck, the other sliding seat is provided with a tip, the chuck clamps a columnar cutter, one end of the columnar cutter abuts against the tip, the rack is slidably connected with a feeding seat located between the two sliding seats in the longitudinal direction, a mounting seat capable of clamping a workpiece is fixed to the feeding seat, and the mounting seat is provided with a second driving part capable of driving the workpiece to rotate. According to the humanoid robot joint lead screw nut machining equipment, the machining efficiency can be further improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots and relates to a processing device for the joint screw nut of a humanoid robot. Background Art

[0002] During the assembly process of a humanoid robot, an extra-long nut is required. When processing the extra-long nut, specific processing equipment is needed to process the internal thread. It is necessary to ensure the processing accuracy of the internal thread of the extra-long nut while improving the processing efficiency.

[0003] For the existing extra-long nut processing equipment, such as the special machine tool for processing the internal thread of an extra-long bar disclosed in the Chinese patent application [Authorization Publication Number: CN205660259U], which includes a machine tool body. One end of the machine tool body is provided with a machine table main body, and the opposite end is provided with a cylinder and a servo motor through a mounting bracket. The machine table main body includes a driving motor, and a clamping chuck A is arranged on the driving motor. A clamping chuck B is arranged on the cylinder. A tool bar is arranged between the clamping chuck A and the clamping chuck B. The tool bar is installed with a tool head through a fastening nut. A slide rail is arranged on the frame body between the machine table main body and the cylinder. A fixed fixture is arranged on the slide rail. The fixed fixture is movably connected to the servo motor through a lead screw near the cylinder side. The fixed fixture includes a sliding bottom plate. The fixed fixture is slidably connected to the slide rail through the sliding bottom plate. Vertical plates A and B are symmetrically arranged on both sides of the sliding bottom plate. The upper end of the vertical plate A is provided with a "U"-shaped opening, and a clamping chuck C and a tool bar through hole are arranged on the vertical plate B corresponding to the "U"-shaped opening.

[0004] The above structure requires one end of the extra-long bar to be clamped on the clamping chuck C, and the opposite end is arranged on the "U"-shaped opening of the vertical plate A, and the extra-long bar is fixed by adjusting the limit rod to contact it, realizing the feeding of the extra-long bar. This feeding process requires manual positioning of both ends of the extra-long bar, resulting in a low feeding efficiency of the extra-long bar. Moreover, only the tool head on the tool bar processes the extra-long bar, so during the processing process, the tool worker also needs to move along the axial direction of the extra-long bar, moving from one end of the extra-long bar to the other end for processing, resulting in a low processing efficiency and affecting the overall processing efficiency. Summary of the Invention

[0005] The purpose of the present invention is to address the above problems existing in the prior art and propose a processing device for the joint screw nut of a humanoid robot. The technical problem to be solved by the present invention is: how to solve the problem of low processing efficiency when processing the internal thread of the existing extra-long screw nut.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] A processing device for a joint screw nut of a humanoid robot, comprising a frame. Two sliding seats are slidably arranged on the frame in the transverse direction, and there is a processing spacing between the two sliding seats. A rotatable turntable is provided on one of the sliding seats, and a chuck is arranged on the turntable. It is characterized in that a first driving member capable of driving the two sliding seats to move synchronously in the same direction and relatively in the opposite direction is further provided on the frame. A center point is provided on the other sliding seat. The chuck holds a columnar tool, and one end of the columnar tool is abutted against the center point. A feeding seat located between the two sliding seats is slidably connected to the frame in the longitudinal direction. An installation seat capable of clamping a workpiece is fixed on the feeding seat. A second driving member capable of driving the workpiece to rotate is provided on the installation seat. A third driving member is further provided on the frame, which can drive the feeding seat to drive the installation seat to move between the two sliding seats when the two sliding seats move relatively in the opposite direction.

[0008] Install the workpiece on the installation seat of the feeding seat, start the first driving member to make the two sliding seats move relatively in the opposite direction. At this time, one end of the columnar tool is separated from the center point. Then start the third driving member, and the third driving member drives the feeding seat to drive the installation seat to move between the two sliding seats. Start the first driving member again to make the two sliding seats approach each other, and one end of the columnar tool can pass through the workpiece in the installation seat and be abutted against the center point. Drive the columnar tool to rotate self - by the turntable, and the second driving member also drives the workpiece on the installation seat to rotate. Since the inner diameter of the workpiece is larger than the outer diameter of the columnar tool, the inner side wall of the workpiece rotates circumferentially relative to the columnar tool, so as to quickly realize the processing of the inner side wall of the workpiece. Since the overall length of the columnar tool is long enough, when processing the workpiece, only need to start the first driving member to move the two sliding seats synchronously in the same direction transversely, and the columnar tool moves a pitch distance relative to the workpiece to complete the processing of the workpiece. And through the cooperation of the center point and the chuck, the axial positioning of the columnar tool during the processing process is realized, as well as the synchronous rotation of the columnar tool and the workpiece, which is convenient for realizing the fast and stable processing of the workpiece. When processing, the multi - axis linkage method is adopted to insert the columnar tool into the workpiece for processing, which can further improve the processing efficiency.

[0009] The first driving member and the third driving member are both cylinders. The sliding seats are slidably connected to the frame through nut - lead screws, and the feeding seat is slidably connected to the frame through nut - lead screws.

[0010] In the above - mentioned processing device for a joint screw nut of a humanoid robot, the outer wall of the columnar tool has a plurality of parallel and annular cutting edges. Both sliding seats slide transversely along the central axis direction of the columnar tool, and the central axis of the center point is coaxially arranged with the central axis of the chuck.

[0011] The setting of the blade facilitates the synchronous processing of the inner wall of the workpiece. In order to ensure the stability of the cylindrical tool during lateral movement, the center axis of the tip is coaxially set with the center axis of the chuck to improve the accuracy of the cylindrical tool during movement, thereby improving the processing accuracy while meeting the requirements of fast processing.

[0012] In the above-mentioned humanoid robot joint screw nut processing equipment, a positioning groove is axially opened at one end of the columnar tool, and the end face of one end of the tip is conical, and the end is inserted into the positioning groove.

[0013] The top is inserted into the positioning groove along the horizontal direction. After the two slides move away from each other, the cylindrical tool can be quickly separated from the cylindrical tool. The setting of the conical surface, on the one hand, plays a role in circumferential limiting the end of the cylindrical tool. On the other hand, when processing different workpieces, it is only necessary to replace cylindrical tools of different sizes, thereby improving the practicality of the top.

[0014] In the above-mentioned humanoid robot joint screw nut processing equipment, rotating motors are arranged on both slide seats, wherein the motor shaft of one rotating motor is fixedly connected to the turntable, and the motor shaft of the other rotating motor is fixedly connected to the top.

[0015] The setting of the rotating motor enables the rotating motor to drive the turntable to drive the chuck to rotate, so as to realize the processing of the workpiece by the cylindrical tool. The slide seat provided with the tip can be moved closer to the other slide seat through the driving part, so that one end of the cylindrical tool is abutted against the tip. Since the overall length of the cylindrical tool is relatively long, the driving force of only relying on one rotating motor is relatively low. By adopting two slide seats respectively provided with rotating motors, the driving of the cylindrical tool is realized by driving at both ends, and the tip and the cylindrical tool are abutted against each other, so that there is a slight synchronization error between the driving motors at both ends during driving, which will not affect the cutting of the cylindrical tool, thereby improving the cutting efficiency while ensuring the cutting accuracy.

[0016] In the above-mentioned humanoid robot joint screw nut processing equipment, a tensioning tube is inserted into the mounting seat for horizontal sliding, a tubular tensioning head is inserted into the tensioning tube, a clamping spring is connected to the tensioning tube, the side wall of one end of the tensioning head has an outer cone surface, the other end of the tensioning head is sleeved with a limit stop ring, one end of the clamping spring is abutted against the limit stop ring, and the elastic force of the clamping spring can make the tensioning head move axially inward relative to the tensioning tube and clamp the workpiece.

[0017] The workpiece is first inserted into the tensioning tube. Through the elastic force of the clamping spring, the tensioning head moves axially inward relative to the tensioning tube, realizing the clamping of the workpiece. When the tensioning head moves outward, the limit retaining ring on the tensioning head will push the clamping spring to be compressed axially, thus facilitating the subsequent rapid clamping and positioning of the next workpiece, improving the positioning efficiency of the workpiece, and thereby realizing the improvement of the processing efficiency of the processing equipment.

[0018] In the above-mentioned processing equipment for the joint screw nut of a humanoid robot, a driving cylinder capable of being fixedly connected to the other end of the tensioning head is further provided on the mounting seat, and the driving cylinder can drive the tensioning head to move axially outward.

[0019] After the workpiece is processed, it needs to be unloaded. By providing a driving cylinder on the mounting seat, the driving cylinder drives the tensioning head to move axially, so that the tensioning head moves axially outward, releasing the positioning of the workpiece, thereby realizing the rapid unloading of the workpiece. When moving, the clamping spring is also compressed by the driving cylinder, improving the unloading efficiency of the workpiece.

[0020] In the above-mentioned processing equipment for the joint screw nut of a humanoid robot, one end of the tensioning head has a plurality of axially opened fractures, the fractures penetrate the side wall of the tensioning head radially, and the plurality of fractures are evenly distributed circumferentially along the tensioning head.

[0021] When the tensioning head moves axially inward relative to the tensioning tube, the fractures gradually close, realizing the radial contraction of one end of the tensioning head, thus facilitating the positioning of the workpiece and ensuring that the contact area between the workpiece and the tensioning head during positioning remains large, improving the stability of workpiece positioning.

[0022] In the above-mentioned processing equipment for the joint screw nut of a humanoid robot, the second driving member is a driving motor. One end of the tensioning tube is fixedly connected with a driven gear, and a driving gear is sleeved on the motor shaft of the driving motor. The driving gear drives the driven gear to rotate through a belt.

[0023] Adopting the structure of a belt, a driving gear and a driven gear facilitates the setting of the driving motor outside the tensioning tube rather than axially on the tensioning tube. When installing the workpiece, some workpieces are relatively long and need to extend out of the tensioning tube. Therefore, through the design of the belt, the driving gear and the driven gear, the position of the workpiece can be avoided, making the installation of the workpiece more stable and facilitating the subsequent stable processing of the workpiece.

[0024] In the above-mentioned processing equipment for the joint screw nut of a humanoid robot, the loading seat includes a bottom plate capable of moving longitudinally along the machine frame. One end of the bottom plate is fixed with a tool dressing mechanism, and the other end is fixed with the above-mentioned mounting seat. The tool dressing mechanism includes a dressing seat and a grinding wheel rotatably connected to the dressing seat and capable of dressing a columnar tool.

[0025] Since multiple cutting edges of the columnar cutting tool simultaneously machine the internal threads of the workpiece during circumferential rotation, the resistance encountered by the columnar cutting tool during machining is relatively large. Therefore, in order to ensure stable machining of the workpiece, a tool dressing mechanism is provided on the bottom plate of the loading seat. The columnar cutting tool is dressed by the grinding wheel of the tool dressing mechanism, and the grinding wheel is rotatably connected to the dressing seat. Therefore, the angle of the grinding wheel can be finely adjusted before dressing, improving the dressing effect on the columnar cutting tool and thus enhancing the machining accuracy of the processing equipment.

[0026] In the above-mentioned processing equipment for the joint screw nut of the humanoid robot, an adjusting rod is hinged to the upper part of the dressing seat, a support frame is hinged to the middle part of the dressing seat, a dressing motor is provided on the support frame, the middle part of the grinding wheel is fixedly connected to the motor shaft of the dressing motor, a connecting sleeve is rotatably connected to the support frame, the middle part of the adjusting rod passes through the connecting sleeve, and the lower end of the adjusting rod is suspended.

[0027] When the angle of the grinding wheel needs to be adjusted, directly hold the lower end of the adjusting rod and drive the adjusting rod to swing along the hinge between the upper end of the adjusting rod and the dressing seat. The support frame also swings correspondingly along the hinge point with the dressing seat along with the swing of the adjusting rod, realizing stable fine adjustment of the dressing seat and making the adjustment more convenient and fast.

[0028] Compared with the prior art, the present invention has the following advantages:

[0029] 1. Since the overall length of the columnar cutting tool is long enough, when machining the workpiece, it only needs to rotate one or two weeks, enabling rapid machining of the internal threads of the workpiece. And through the cooperation of the center point and the chuck, that is, the cooperation of fixture positioning and center point positioning, axial positioning of the columnar cutting tool during machining and synchronous rotation of the columnar cutting tool and the workpiece are achieved, facilitating rapid and stable machining of the workpiece.

[0030] 2. When the workpiece is clamped, the elastic force of the clamping spring drives the expansion head to move inward relative to the expansion tube to clamp the workpiece. When the workpiece is released from positioning, a driving cylinder is provided on the mounting seat, and the driving cylinder is used to push the expansion head to move outward relative to the expansion tube to release the positioning of the workpiece, thereby enabling rapid loading and unloading of the workpiece and improving the loading and unloading efficiency of the workpiece.

[0031] 3. Since multiple cutting edges of the columnar cutting tool simultaneously machine the internal threads of the workpiece during circumferential rotation, the resistance encountered by the columnar cutting tool during machining is relatively large. Therefore, in order to ensure stable machining of the workpiece, a tool dressing mechanism is provided on the bottom plate of the loading seat. The columnar cutting tool is dressed by the grinding wheel of the tool dressing mechanism, and the grinding wheel is rotatably connected to the dressing seat. Therefore, the angle of the grinding wheel can be finely adjusted before dressing, improving the dressing effect on the columnar cutting tool and thus enhancing the machining accuracy of the processing equipment. Brief Description of the Drawings

[0032] Figure 1 is a schematic structural view of the present invention.

[0033] Figure 2 is a top view of the present invention.

[0034] Figure 3 is a partial exploded view of two sliding seats and a columnar cutting tool in the present invention.

[0035] Figure 4 is Figure 2 a sectional view taken along A-A in

[0036] Figure 5 is Figure 4 a partial enlarged view at A in

[0037] Figure 6 is a partial side view of the mounting seat in the present invention.

[0038] Figure 7 is Figure 6 a sectional view taken along B-B in

[0039] Figure 8 is a partial schematic structural view of the tensioning head in the present invention.

[0040] Figure 9 is a schematic structural view of the tool dressing mechanism in the present invention.

[0041] In the figure, 1, frame; 11, first driving member; 12, third driving member; 2, sliding seat; 21, turntable; 22, chuck; 23, center; 24, rotating motor; 3, machining gap; 4, columnar cutting tool; 41, positioning groove; 42, cutting edge; 5, loading seat; 51, bottom plate; 6, mounting seat; 61, second driving member; 61a, driving gear; 62, tensioning tube; 62a, driven gear; 63, tensioning head; 63a, outer conical surface; 63b, limiting retaining ring; 63c, fracture; 64, driving cylinder; 65, clamping spring; 66, belt; 7, workpiece; 8, tool dressing mechanism; 81, dressing seat; 82, grinding wheel; 83, adjusting rod; 84, support frame; 84a, connecting sleeve; 85, dressing motor. Detailed Embodiments

[0042] The following are specific embodiments of the present invention and, in conjunction with the accompanying drawings, further describe the technical solutions of the present invention, but the present invention is not limited to these embodiments.

[0043] As Figure 1As shown in the figure, the processing equipment for the joint screw nut of the humanoid robot includes a frame 1. Two sliding seats 2 are slidably arranged on the frame 1 in the transverse direction. There is a processing spacing 3 between the two sliding seats 2. A rotatable turntable 21 is provided on one of the sliding seats 2, and a chuck 22 is arranged on the turntable 21.

[0044] Specifically, as Figures 2 - 5 shown, a first driving member 11 capable of driving the two sliding seats 3 to move synchronously and in the same direction and relatively in the opposite direction is further provided on the frame 1. A center point 23 is provided on the other sliding seat 2. The chuck 22 holds a columnar cutting tool 4. One end of the columnar cutting tool 4 is abutted against the center point 23. A loading seat 5 located between the two sliding seats 2 is slidably connected to the frame 1 in the longitudinal direction. A mounting seat 6 capable of clamping a workpiece 7 is fixed on the loading seat 5. A second driving member 61 capable of driving the workpiece 7 to rotate is provided on the mounting seat 6. A third driving member 12 capable of driving the loading seat 5 to drive the mounting seat 6 to move between the two sliding seats 2 when the two sliding seats 2 are separated from each other is further provided on the frame 1.

[0045] Install the workpiece 7 on the mounting seat 6 of the loading seat 5. Start the first driving member 11 to make the two sliding seats 2 move relatively in the opposite direction. At this time, one end of the columnar cutting tool 4 is separated from the center point 23. Then start the third driving member 12. The third driving member 12 drives the loading seat 5 to drive the mounting seat 6 to move between the two sliding seats 2. Start the first driving member 11 again to make the two sliding seats 2 approach each other, and one end of the columnar cutting tool 4 can pass through the workpiece 7 in the mounting seat 6 and be abutted against the center point 23. Drive the columnar cutting tool 4 to rotate self - by the turntable 21, and the second driving member 61 also drives the workpiece 7 on the mounting seat 6 to rotate. Since the inner diameter of the workpiece 7 is larger than the outer diameter of the columnar cutting tool 4, the inner side wall of the workpiece 7 rotates circumferentially relative to the columnar cutting tool 4, so as to quickly realize the processing of the inner side wall of the workpiece 7. Since the overall length of the columnar cutting tool 4 is long enough, when processing the workpiece 7, only need to start the first driving member 11 to move the two sliding seats 2 synchronously and in the same direction in the transverse direction, and the columnar cutting tool 4 moves a pitch distance relative to the workpiece 7 to complete the processing of the workpiece 7. And through the cooperation of the center point 23 and the chuck 22, the axial positioning of the columnar cutting tool 4 during the processing process and the synchronous rotation of the columnar cutting tool 4 and the workpiece 7 are realized, which is convenient for realizing the fast and stable processing of the workpiece 7. When processing, the multi - axis linkage method is adopted to insert the columnar cutting tool 4 into the workpiece 7 to process the workpiece 7, which can further improve the processing efficiency.

[0046] Both the first driving member 11 and the third driving member 12 are cylinders. The sliding seats 2 and the frame 1 are slidably connected to the frame 1 through nut - lead screws. The loading seat 5 and the frame 1 are slidably connected to the frame 1 through nut - lead screws.

[0047] As Figure 2 and Figure 3As shown, the outer wall of the columnar cutting tool 4 has a plurality of annular cutting edges 42 arranged in parallel. Both sliding seats 2 slide horizontally along the central axis direction of the columnar cutting tool 4. The central axis of the center tip 23 is coaxially arranged with the central axis of the chuck 22. One end of the columnar cutting tool 4 is axially provided with a positioning groove 41. The end face of one end of the center tip 23 is conical, and this end is inserted into the positioning groove 41. Rotating motors 24 are arranged on both sliding seats 2. The motor shaft of one of the rotating motors 24 is fixedly connected to the turntable 21, and the motor shaft of the other rotating motor 24 is fixedly connected to the center tip 23.

[0048] As Figures 5 - 8 shown, a tensioning tube 62 is slidably inserted horizontally on the mounting seat 6. A tubular tensioning head 63 is inserted through the tensioning tube 62. A clamping spring 65 is connected inside the tensioning tube 62. The side wall of one end of the tensioning head 63 has an outer conical surface 63a. A limiting retaining ring 63b is sleeved on the other end of the tensioning head 63. One end of the clamping spring 65 abuts against the limiting retaining ring 63b. The elastic force of the clamping spring 65 can make the tensioning head 63 move axially inward relative to the tensioning tube 62 and clamp the workpiece 7. A driving cylinder 64 fixedly connected to the other end of the tensioning head 63 is further provided on the mounting seat 6. The driving cylinder 64 can drive the tensioning head 63 to move axially outward. One end of the tensioning head 63 has a plurality of axially opened fractures 63c. The fractures 63c penetrate through the side wall of the tensioning head 63 in the radial direction. The plurality of fractures 63c are evenly distributed circumferentially along the tensioning head 63. The driving member two 61 is a driving motor. One end of the tensioning tube 62 is fixedly connected with a driven gear 62a. A driving gear 61a is sleeved on the motor shaft of the driving motor. The driving gear 61a drives the driven gear 62a to rotate through a belt 66.

[0049] As Figure 1 and Figure 9 shown, the loading seat 5 includes a bottom plate 51 that can move longitudinally along the frame 1. A tool dressing mechanism 8 is fixed at one end of the bottom plate 51, and the above-mentioned mounting seat 6 is fixed at the other end. The tool dressing mechanism 8 includes a dressing seat 81 and a grinding wheel 82 that is rotatably connected to the dressing seat 81 and can dress the columnar cutting tool 4. An adjusting rod 83 is hinged to the upper part of the dressing seat 81. A support frame 84 is hinged to the middle part of the dressing seat 81. A dressing motor 85 is provided on the support frame 84. The middle part of the grinding wheel 82 is fixedly connected to the motor shaft of the dressing motor 85. A connecting sleeve 84a is rotatably connected to the support frame 84. The middle part of the adjusting rod 83 passes through the connecting sleeve 84a, and the lower end of the adjusting rod 83 is suspended.

[0050] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Those skilled in the art of the present invention can make various modifications or supplements to the described specific embodiments or use similar methods to replace them, but will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A processing device for the ball screw nut of a humanoid robot joint, comprising a frame (1), two sliding seats (2) are slidably arranged on the frame (1) along the transverse direction, a processing spacing (3) is provided between the two sliding seats (2), a rotatable turntable (21) is arranged on one of the sliding seats (2), and a chuck (22) is arranged on the turntable (21), characterized in that, The frame (1) is also provided with a driving member (11) capable of driving the two slides (3) to move synchronously in the same direction and relatively in the opposite direction. The other slide (2) is provided with a top (23). The chuck (22) clamps a columnar tool (4), and one end of the columnar tool (4) is pressed against the top (23). A loading seat (5) located between the two slides (2) is connected to the frame (1) in a longitudinal sliding manner. A mounting seat (6) capable of clamping a workpiece (7) is fixed on the loading seat (5). A driving member (6) capable of driving the workpiece (7) to rotate is provided on the mounting seat (6). The frame (1) is also provided with a driving member (12) capable of driving the loading seat (5) to drive the mounting seat (6) to move between the two slides (2) when the two slides (2) move relatively in the opposite direction.

2. The processing equipment for the joint screw nut of the humanoid robot according to claim 1, characterized in that, The outer wall of the columnar tool (4) has a plurality of parallel and annular blades (42), the two slide seats (2) slide transversely along the central axis of the columnar tool (4), and the central axis of the tip (23) is coaxially arranged with the central axis of the chuck (22).

3. The processing equipment for the joint screw nut of the humanoid robot according to claim 1 or 2, characterized in that, One end of the columnar tool (4) is provided with a positioning groove (41) along the axial direction, and the end surface of one end of the tip (23) is conical, and the end is inserted into the positioning groove (41).

4. The processing equipment for the joint screw nut of the humanoid robot according to claim 1 or 2, characterized in that, A rotating motor (24) is disposed on each of the two slide seats (2), wherein a motor shaft of one rotating motor (24) is fixedly connected to the rotating disk (21), and a motor shaft of the other rotating motor (24) is fixedly connected to the top (23).

5. The processing equipment for the joint screw nut of a humanoid robot according to claim 1 or 2, characterized in that, A tension tube (62) is inserted and slidably connected to the upper edge of the mounting seat (6), a tubular tension head (63) is inserted into the tension tube (62), a clamping spring (65) is connected to the tension tube (62), a side wall at one end of the tension head (63) has an outer conical surface (63a), the other end of the tension head (63) is sleeved with a limit stop ring (63b), one end of the clamping spring (65) abuts against the limit stop ring (63b), and the elastic force of the clamping spring (65) enables the tension head (63) to move axially inward relative to the tension tube (62) and clamp the workpiece (7).

6. The processing equipment for the joint screw nut of the humanoid robot according to claim 5, characterized in that The mounting seat (6) is also provided with a driving cylinder (64) which is fixedly connected to the other end of the tensioning head (63), and the driving cylinder (64) can drive the tensioning head (63) to move outward in the axial direction.

7. The processing equipment for the joint screw nut of the humanoid robot according to claim 5, characterized in that, One end of the tensioning head (63) has a plurality of fractures (63c) opened in the axial direction, the fractures (63c) radially penetrate the side wall of the tensioning head (63), and the plurality of fractures (63c) are evenly distributed in the circumferential direction of the tensioning head (63).

8. The processing equipment for the joint screw nut of the humanoid robot according to claim 5, characterized in that The second driving member (61) is a driving motor. One end of the tensioning tube (62) is fixedly connected to a driven gear (62a). The motor shaft of the driving motor is sleeved with a driving gear (61a). The driving gear (61a) drives the driven gear (62a) to rotate via a belt (66).

9. The processing equipment for the joint screw nut of the humanoid robot according to claim 1 or 2, characterized in that The feeding seat (5) includes a bottom plate (51) capable of longitudinally moving along the machine frame (1). One end of the bottom plate (51) is fixed with a tool dressing mechanism (8), and the other end is fixed with the above mounting seat (6). The tool dressing mechanism (8) includes a dressing seat (81) and a grinding wheel (82) rotatably connected to the dressing seat (81) and capable of dressing the columnar tool (4).

10. The processing equipment for the joint screw nut of the humanoid robot according to claim 9, characterized in that, An adjusting rod (83) is hinged to the upper part of the dressing seat (81). A support frame (84) is hinged to the middle part of the dressing seat (81). A dressing motor (85) is provided on the support frame (84). The middle part of the grinding wheel (82) is fixedly connected to the motor shaft of the dressing motor (85). A connecting sleeve (84a) is rotatably connected to the support frame (84). The middle part of the adjusting rod (83) passes through the connecting sleeve (84a), and the lower end of the adjusting rod (83) is suspended.

Images