Polishing device for humanoid robot joint module production

Abstract

The invention relates to the technical field of workpiece polishing, and discloses a polishing device for humanoid robot joint module production, which comprises a base, a headstock and a polishing mechanism, the polishing mechanism comprises a mounting shaft and a bearing table, the bearing table is provided with an execution group, the execution group comprises two sliding blocks, and the two sliding blocks are arranged on the mounting shaft. Containing grooves are formed in the end faces of the two sliding blocks, the two sliding blocks are jointly connected with a linkage block through hinge plates, and a grinding piece is arranged on the side, away from the hinge plates, of the linkage block. According to the grinding device for producing the humanoid robot joint module, the problems that in the prior art, when workpieces such as a machine shell with the stepped inner circumferential surface are machined, grinding heads of different specifications need to be frequently replaced, the working efficiency is remarkably reduced due to frequent replacement, and meanwhile after the grinding heads are replaced, the grinding efficiency is greatly reduced can be effectively solved. The problems that the continuity and consistency of the whole grinding process are difficult to guarantee, the grinding precision of the inner wall of the machine shell is not uniform, and finally precise assembly of parts is affected are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of workpiece grinding, and in particular to a grinding device for producing humanoid robot joint modules. Background Art

[0002] Humanoid robots, as the intersection of technology and the future, are designed to cleverly imitate the human form, with a head, torso and limbs, showing a wide range of application prospects from services, entertainment to assisted living. Their smooth and natural movement ability is largely due to their precise internal joint modules.

[0003] The joint module integrates core drive components such as motors and reducers, and is responsible for precisely controlling every movement of the limbs. When manufacturing these joint modules and their supporting protective structures, such as casings and covers, a fine polishing process is crucial. These parts need to protect the precision components inside, so the polishing quality of their internal structures is directly related to the final assembly accuracy.

[0004] However, in actual grinding operations, when faced with workpieces such as casings with stepped inner circumferential surfaces, it is necessary to frequently replace grinding heads of different specifications according to the sizes of different steps. This frequent replacement not only significantly reduces work efficiency, but more importantly, after each tool replacement, there will be slight deviations in the grinding force, angle and trajectory, which makes it difficult to ensure the continuity and consistency of the entire grinding process, and thus makes the grinding accuracy of the inner wall of the casing inconsistent, which ultimately affects the precise assembly of components. Summary of the Invention

[0005] In response to the above-mentioned shortcomings of the prior art, the present invention provides a grinding device for the production of humanoid robot joint modules, which can effectively solve the problem in the prior art that when faced with workpieces such as casings with stepped inner circumferential surfaces, it is necessary to frequently replace grinding heads of different specifications according to the sizes of different steps. This frequent replacement not only significantly reduces work efficiency, but more importantly, after each tool replacement, there will be slight deviations in the grinding force, angle and trajectory, which makes it difficult to ensure the continuity and consistency of the entire grinding process, and thus makes the grinding accuracy of the inner wall of the casing inconsistent, which ultimately affects the precise assembly of components.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0007] The present invention provides a grinding device for producing humanoid robot joint modules, comprising:

[0008] A base, on which a regulating unit is arranged;

[0009] A head frame, which is used to clamp the housing;

[0010] A grinding mechanism connected to the adjustment unit includes a mounting shaft connected to an external grinding head motor through a linkage and having an avoidance groove on its circumferential outer wall. The circumferential outer wall of the mounting shaft is provided with a support platform with a plurality of adjustment grooves on its upper end surface facing downward along the circumferential direction. The support platform is provided with a plurality of actuator groups capable of achieving diameter change;

[0011] Among them, the execution group includes two sliding blocks that are always slidably set on the outer wall of the support platform. The end faces of the two sliding blocks are provided with accommodating grooves. The two sliding blocks are connected to a linkage block by rotating the hinged plates set inside their respective accommodating grooves. The side of the linkage block away from the hinged plate is provided with a polishing piece for polishing the inner circular surface of the casing.

[0012] Furthermore, the outer wall of the support platform is provided with several groove groups, each groove group includes two sliding grooves and one installation groove, the sliding block is slidably arranged inside the corresponding sliding groove, and each installation groove is provided with a driving member for realizing the movement of the sliding block.

[0013] Furthermore, the driving member includes a gear rotatably arranged inside the installation groove, and two racks are meshed on both sides of the gear and are always slidably arranged inside the sliding groove. The two racks are respectively connected to the sliding blocks inside the corresponding sliding grooves.

[0014] Furthermore, in the initial state, the two sliding blocks are not located at the same horizontal height, that is, the two hinged plates are staggered under the action of the positions of the corresponding sliding blocks.

[0015] Furthermore, the side walls of the two hinged plates are each provided with a through slot, and an adjustment block connected to the corresponding through slot inner wall via a tension spring is slidably arranged inside the two through slots. In the initial state, the adjustment block is located on the side close to the sliding block.

[0016] Furthermore, a plurality of adjustment slots are internally provided with push rods whose lower end faces are fitted with racks at corresponding positions through telescopic parts, and the upper ends of the plurality of push rods are commonly connected to a linkage disk connected to the external cylinder 200.

[0017] Furthermore, the mounting shaft is arranged in a ring shape, and a support platform is provided at its bottom end. A polishing piece 2 is provided on the support platform through a number of adjustment pieces, and the number of adjustment pieces are connected to the linkage disk through an adjustment shaft slidingly arranged inside the mounting shaft.

[0018] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects:

[0019] During the continuous grinding process, the grinding piece 1 of the present invention realizes the contraction of several grinding pieces 1 through the downward movement of the linkage disk, thereby avoiding collision with the inner wall of the stepped casing during the downward movement. After the grinding piece 1 moves to the second grinding area, the reaction force of the spiral spring and the telescopic rod gradually realizes adaptive contact with the second grinding area of ​​the casing. In this way, the replacement of the grinding area is completed without reducing the grinding speed of the grinding equipment, avoiding the reduction of work efficiency due to frequent replacement of grinding heads of different specifications, and ultimately leading to the problem of inconsistent grinding accuracy in different areas of the inner wall of the casing. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0021] Figure 1 A schematic diagram of the three-dimensional structure of an embodiment of the present invention;

[0022] Figure 2 Schematic diagram of the three-dimensional structure of the housing and the polishing mechanism according to an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of the cylinder and the grinding mechanism being three-dimensionally separated according to an embodiment of the present invention;

[0024] Figure 4 This is a schematic structural diagram of the three-dimensional separation of the push rod and the linkage plate from the supporting platform according to an embodiment of the present invention;

[0025] Figure 5 For the embodiment of the present invention Figure 4 A schematic diagram of the partially enlarged structure at center A;

[0026] Figure 6 This is a schematic diagram of the three-dimensional structure of the support platform after cutting according to an embodiment of the present invention;

[0027] Figure 7 This is a schematic structural diagram of a three-dimensional separation of the supporting platform and the polishing piece according to an embodiment of the present invention;

[0028] Figure 8 For the embodiment of the present invention Figure 7 A schematic diagram of the structure with a partial enlargement at point B in the middle;

[0029] Figure 9 This is a schematic diagram of the structure of the execution group and the supporting platform being three-dimensionally separated according to an embodiment of the present invention;

[0030] Figure 10Schematic diagram of the three-dimensional structure of the support platform and the second polishing piece according to an embodiment of the present invention;

[0031] Figure 11 This is a schematic diagram of the structure of the adjustment shaft, the support platform and the grinding piece separated into two dimensions according to an embodiment of the present invention;

[0032] Figure 12 It is a schematic diagram of the three-dimensional structure of the casing of the workpiece according to an embodiment of the present invention.

[0033] The reference numerals in the figure represent: 100, housing; 200, cylinder;

[0034] 1. Base; 2. Head frame; 3. Grinding mechanism; 31. Mounting shaft; 311. Support platform; 312. Grinding part 2; 313. Adjusting part; 314. Adjusting shaft; 32. Support platform; 321. Sliding slot; 322. Mounting slot; 323. Adjusting slot; 33. Execution group; 331. Sliding block; 3311. Accommodating slot; 332. Hinge plate; 3321. Through slot; 3322. Adjusting block; 333. Linkage block; 334. Grinding part 1; 34. Driving part; 341. Gear; 342. Rack; 35. Push rod; 36. Telescopic part; 37. Linkage disk. DETAILED DESCRIPTION

[0035] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0036] The present invention will be further described below with reference to the embodiments.

[0037] Example:

[0038] See also Figure 1 - Figure 12 The present invention provides a technical solution: a grinding device for producing a humanoid robot joint module, comprising:

[0039] Base 1, on which a regulating unit is provided;

[0040] The head frame 2 is used to clamp the housing 100;

[0041] A grinding mechanism 3 connected to the adjustment unit includes a mounting shaft 31 connected to the external grinding head motor via a linkage and having an avoidance groove on its circumferential outer wall. The mounting shaft 31 has a support platform 32 on its circumferential outer wall, the upper end surface of which has a plurality of adjustment grooves 323 extending downwardly along the circumferential direction. The support platform 32 is provided with a plurality of actuator groups 33 capable of achieving diameter change.

[0042] Among them, the execution group 33 includes two sliding blocks 331 that are always slidably set on the outer wall of the support platform 32. The end faces of the two sliding blocks 331 are provided with a receiving groove 3311. The two sliding blocks 331 are connected to the linkage block 333 by rotating the hinge plate 332 set inside their respective receiving grooves 3311. The linkage block 333 is provided with a grinding piece 334 for grinding the inner circular surface of the casing 100 on the side away from the hinge plate 332.

[0043] The outer wall of the support platform 32 is provided with several groove groups, each groove group includes two sliding grooves 321 and an installation groove 322, the sliding block 331 is slidably set inside the corresponding sliding groove 321, and each installation groove 322 is provided with a driving member 34 for realizing the movement of the sliding block 331.

[0044] The driving member 34 includes a gear 341 rotatably arranged inside the installation groove 322. Two racks 342 that are always slidably arranged inside the sliding groove 321 are meshed on both sides of the gear 341. The two racks 342 are respectively connected to the sliding blocks 331 inside the corresponding sliding groove 321.

[0045] In the initial state, the two sliding blocks 331 are not located at the same level, that is, the two hinge plates 332 are staggered under the action of the positions of the corresponding sliding blocks 331 .

[0046] The side walls of the two hinged plates 332 are both provided with through slots 3321. Adjustment blocks 3322 are slidingly arranged inside the two through slots 3321 and connected to the inner walls of the corresponding through slots 3321 through tension springs. In the initial state, the adjustment block 3322 is located on the side close to the sliding block 331.

[0047] Several adjusting slots 323 are internally provided with push rods 35 whose lower end faces are in contact with the corresponding racks 342 through telescopic parts 36 , and the upper ends of the several push rods 35 are commonly connected to a linkage disk 37 connected to the external cylinder 200 .

[0048] The mounting shaft 31 is arranged in a ring shape, and a support platform 311 is provided at its bottom end. A grinding piece 312 is provided on the support platform 311 through a plurality of adjusting pieces 313. The plurality of adjusting pieces 313 are connected to the linkage disk 37 through an adjustment shaft 314 slidingly arranged inside the mounting shaft 31.

[0049] During the specific work, the grinding work of the inner circumferential surface of the housing 100 is as follows:

[0050] The smooth and natural movement ability of the humanoid robot comes from its precise internal joint modules. When manufacturing these joint modules and their supporting protective structures, such as the housing 100 and the cover, a fine grinding process is crucial. However, in actual grinding operations, when facing workpieces such as the housing 100 with a stepped inner circumferential surface, it is necessary to frequently replace grinding heads of different specifications according to the sizes of different steps. This frequent replacement not only significantly reduces work efficiency, but more importantly, after each tool change, there will be slight deviations in the grinding force, angle and trajectory, which makes it difficult to ensure the continuity and consistency of the entire grinding process, and thus makes the grinding accuracy of the inner wall of the housing 100 inconsistent, ultimately affecting the precise assembly of components. Based on this, the grinding device used for the production of the humanoid robot joint module can realize the change of the diameter of the grinding piece 1 334 and the grinding piece 2 312 in the shutdown state, thereby improving the processing efficiency of the grinding device in the overall grinding work, and at the same time, avoiding the problem of inconsistent grinding accuracy after tool replacement.

[0051] Specifically, when the grinding device needs to perform the grinding work of the first step on the casing 100, the casing 100 is first placed on the head frame 2 and the clamping and limiting of the casing 100 is completed. In order to avoid the grinding piece 334 from colliding with the circumferential inner wall of the casing 100 when entering the interior of the casing 100, therefore, when the mounting shaft 31 and the support platform 32 have not yet entered the interior of the casing 100, the external cylinder 200 is first controlled to extend, and the linkage disk 37 is pushed to move by the telescopic end of the cylinder 200. During the movement, the linkage disk 37 synchronously drives the several push rods 35 and the telescopic parts 36 arranged thereon to slide along their respective adjustment grooves 323 (the telescopic parts 36 include a rectangular block connected to the push rod 35, and the side of the rectangular block close to the grinding piece 334 is provided with a telescopic block through a compression spring. In the initial state, the lower end face of the telescopic block is in contact with the upper end face of the rack 342).

[0052] When the telescopic member 36 is moving, its lower end surface will push the corresponding rack 342 to slide along the sliding groove 321, thereby realizing the change of the diameter of the grinding member 1 334 (specifically, the grinding member 1 334 is arranged in an arc shape, and its arc-shaped outer wall contacts the circumferential inner surface of the housing 100 and realizes the grinding work, and the arc-shaped inner wall of the grinding member 1 334 is fixed with a linkage block 333. When the telescopic member 36 is moving, its lower end surface pushes the rack 342 at the corresponding position to engage the gear 341 and rotate, thereby causing the rack 342 on the other side of the gear 341 to move as well, and finally realizing that the two racks 342 move away from each other synchronously, and the two racks 342 are respectively engaged with the inner surface of the corresponding sliding groove 321 The two hinged plates 332 are rotatably connected to the polishing piece 1 334 through the linkage block 333. Therefore, when the two sliding blocks 331 move away from each other, the two hinged plates 332 are connected to the polishing piece 1 334 through the linkage block 333. Therefore, when the two sliding blocks 331 move away from each other, the polishing piece 1 334 is pulled toward the mounting shaft 31 through the respective hinged plates 332. Since the polishing diameter of the polishing piece 1 334 after the diameter change is smaller than the diameter of the first step of the housing 100, it will not collide with the housing 100 when entering the housing 100, and finally the preparation work for polishing the housing 100 is completed.

[0053] It should be noted that two telescopic rods distributed along the upper and lower sides are provided on the support platform 32 at the position corresponding to the grinding piece 334 (the setting of the telescopic rods can not only provide support for the grinding piece 334, but also assist the grinding piece 334 to reset when the grinding piece 334 has completed the diameter change and is ready to perform the grinding work). In the same execution group 33, the through slots 3321 of the two hinged plates 332 are commonly provided with adjustment blocks 3322 (in the initial state, since the two sliding blocks 331 are not at the same horizontal height, that is, the two hinged plates 332 are staggered under the action of the positions of the corresponding sliding blocks 331, the adjustment blocks 3322 are respectively slidably arranged in the through slots 3321 of the hinged plates 332 at the corresponding positions through two matching blocks, In order to improve the smoothness of the sliding of the mating block in the through groove 3321, a number of rollers are rotatably provided on the upper and lower end surfaces of the mating block. Since the length of the adjusting block 3322 is a fixed value, the adjusting block 3322 is adapted to the changing angle of the two hinged plates 332. As the two hinged plates 332 move away from each other, the adjusting block 332 gradually moves from the side close to the sliding block 331 to the side away from the sliding block 331. The purpose of providing the tension spring is to assist the grinding piece 334 to reset after completing the diameter change work through the reaction force of the tension spring). A scroll spring is provided inside the gear 341. When the rack 342 rotates in the meshing gear 341, the scroll spring inside it is compressed and stores energy. When the diameter change work of the grinding piece 334 is completed, the scroll spring resets to realize the reversal of the gear 341.

[0054] Then, the external grinding head motor drives the mounting shaft 31 and the supporting platform 32 to rotate through the linkage (the linkage includes a driven gear 341 arranged on the outer wall of the circumference of the mounting shaft 31, and the outer wall of the output shaft of the grinding head motor is meshed with the driven gear 341 through the driving gear 341). When the supporting platform 32 is rotating, the outer walls of the plurality of arc-shaped grinding pieces 334 realize the grinding work on the inner wall of the circumference of the first step of the casing 100. During the rotation process, the grinding piece 334 will gradually The outward expansion ensures that it always fits in contact with the circumferential inner wall of the housing 100 (specifically, since the gear 341 is meshed with the rack 342, the spiral spring inside it has stored energy, and the grinding piece 334 will compress the telescopic rod during the contraction process, further providing a force for the outward expansion of the grinding piece 334. Through the setting of the telescopic rod and the spiral spring, the grinding piece 334 can adapt to fit closely with the inner wall of the housing 100 after entering it, thereby ensuring the stable progress of the grinding work).

[0055] When it is necessary to polish the second stage of the inner circumferential surface of the housing 100, the telescopic end of the external cylinder 200 is controlled to extend a longer distance, and the plurality of polishing members 334 are further contracted through the above steps, and their diameters are made smaller than the diameter of the second stage of the inner circumferential surface of the housing 100. At the same time, the mounting shaft 31 and the supporting platform 32 are driven by the adjusting unit to move downward synchronously. As the telescopic member 36 continues to move, it will gradually disengage from the rack 342 after pushing the rack 342 to move a certain distance (specifically, the upper end surface of the supporting platform 32 is provided with a plurality of adjustment grooves downward along the circumferential direction). 323, the adjustment groove 323 is set to be inclined, that is, the width of the adjustment groove 323 gradually increases from top to bottom, and the rectangular block is always in contact with the inclined inner wall of the adjustment groove 323. Therefore, when the rectangular block is pushed downward along the adjustment groove 323 by the push rod 35, it will gradually pull the telescopic block to move toward the side away from the rack 342). Since the spiral spring has stored energy, after the blocking force above the rack 342 disappears, the gear 341 will gradually reverse and engage with the corresponding rack 342 to make the grinding piece 334 gradually expand outward and contact the circumferential inner wall of the second stage of the casing 100.

[0056] It should be noted that during the switching process of the grinding area of ​​the casing 100, the grinding piece 334 is continuously rotating, and the downward movement of the linkage disk 37 is used to realize the contraction of several grinding pieces 334 to avoid collision with the inner wall of the stepped casing 100 during the downward movement. After the grinding piece 334 moves to the second grinding area, the reaction force of the spiral spring and the telescopic rod gradually realizes adaptive contact with the second grinding area of ​​the casing 100, thereby ensuring that the grinding equipment completes the replacement of the grinding area without reducing the grinding speed, avoiding the frequent replacement of grinding heads of different specifications, reducing work efficiency, and ultimately leading to the problem of inconsistent grinding accuracy in different areas of the inner wall of the casing 100.

[0057] The bottom end of the mounting shaft 31 is provided with a support platform 311, and a second grinding piece 312 is provided on the support platform 311 through a plurality of adjusting pieces 313 (the support platform 311 is set to the same ring shape as the mounting shaft 31, and a plurality of guide grooves are provided on its outer wall along the circumferential direction. The adjusting piece 313 includes a guide block that is always slidably set inside the guide groove and a spring rod that is set on the guide block at one end. The upper end of the guide block is provided with a chamfer, and the other end of the spring rod is connected to the support platform 311. The second grinding piece 312 is also set in an arc shape, and in its initial state, it does not contact the circumferential inner wall of the housing 100). During the pushing process, the adjusting shaft 314 (the upper end of the adjusting shaft 314 is connected to the linkage disk 37, and the lower end thereof is set in a conical shape, that is, the diameter of the adjusting shaft 314 gradually increases from bottom to top) is fitted with several guide blocks under the drive of the linkage disk 37, and the outer wall of the adjusting shaft 314 is used to realize the synchronous outward expansion of several guide blocks and the polishing piece 2 312, and finally makes several polishing pieces 2 312 contact with the third polishing area of ​​the casing 100 while following the movement of the installation shaft 31, and finally completes the polishing work of the second and third polishing areas of the casing 100 synchronously under the continuous rotation of the installation shaft 31 and the supporting block.

[0058] It is worth emphasizing that the grinding device used in the production of humanoid robot joint modules has the following main advantages:

[0059] Advantage 1: During the continuous grinding process, the downward movement of the linkage disk 37 realizes the contraction of several grinding pieces 334, thereby preventing them from colliding with the inner wall of the stepped casing 100 during the downward movement. After the grinding piece 334 moves to the second grinding area, the reaction force of the spiral spring and the telescopic rod gradually realizes adaptive contact with the second grinding area of ​​the casing 100, thereby ensuring that the grinding equipment completes the replacement of the grinding area without reducing the grinding speed, avoiding the reduction of work efficiency due to frequent replacement of grinding heads of different specifications, and ultimately leading to the problem of inconsistent grinding accuracy in different areas of the inner wall of the casing 100.

[0060] Advantage 2: When the mounting shaft 31 and the supporting platform 32 enter the interior of the housing 100 and switch the grinding area, the external cylinder 200 is controlled to extend, and the telescopic end of the cylinder 200 pushes the linkage disk 37 to move, driving the several push rods 35 and the telescopic parts 36 installed thereon to slide along their respective adjustment grooves 323. During the movement of the telescopic parts 36, the lower end surface thereof will push the corresponding rack 342 to slide along the sliding groove 321, thereby realizing the change in the diameter of the grinding part 1 334, and finally ensuring that the diameter of the grinding part 1 334 has been adjusted to be smaller than the corresponding step size when entering the housing 100 and switching the grinding area, so that it can reach the grinding area safely and without collision.

[0061] Advantage three, the position of the supporting platform 32 corresponding to the grinding piece 334 is provided with two telescopic rods distributed along the upper and lower sides (the setting of the telescopic rods can not only provide support for the grinding piece 334, but also assist the grinding piece 334 to return to its original position when the grinding piece 334 has completed the diameter change and is ready to perform the grinding work). In the same execution group 33, the two hinge plates 332 are commonly provided with an adjustment block 3322 inside the through slot 3321 (in the initial state, since the two sliding blocks 331 are not at the same horizontal height, that is, the two hinge plates 332 are staggered under the action of the positions of the corresponding sliding blocks 331, the adjustment block 3322 is respectively slidably arranged inside the through slot 3321 of the corresponding hinge plate 332 through two matching blocks. In order to improve the smoothness of the sliding of the matching block inside the through slot 3321, the matching blocks are used to adjust the adjustment block 3322. The upper and lower end surfaces of the coupling block are both rotatably provided with several rollers. Since the length of the adjusting block 3322 is a fixed value, the adjusting block 3322 is adapted to the changing angle of the two hinged plates 332. As the two hinged plates 332 move away from each other, they gradually move from the side close to the sliding block 331 to the side away from the sliding block 331. The purpose of providing the tension spring is to assist the grinding piece 1 334 to reset after completing the diameter change work through the reaction force of the tension spring). A spiral spring is provided inside the gear 341. When the rack 342 rotates when meshing with the gear 341, the spiral spring inside it is compressed and stores energy. When the diameter change work of the grinding piece 1 334 is completed, the spiral spring resets and realizes the reversal of the gear 341, so that the grinding piece 1 334 can adapt to its inner wall after entering the casing 100, thereby ensuring the stable progress of the grinding work.

[0062] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A grinding device for producing humanoid robot joint modules, characterized in that: include: A base (1), wherein a regulating unit is provided on the base (1); A head frame (2), the head frame (2) is used to achieve a clamping operation of the housing (100); A grinding mechanism (3) connected to the adjustment unit, the grinding mechanism (3) comprising a mounting shaft (31) connected to an external grinding head motor through a linkage and having an avoidance groove provided on its circumferential outer wall, the circumferential outer wall of the mounting shaft (31) being provided with a support platform (32) having a plurality of adjustment grooves (323) provided on its upper end face downwardly along the circumferential direction, the support platform (32) being provided with a plurality of execution groups (33) capable of achieving diameter change; The execution group (33) includes two sliding blocks (331) that are always slidably arranged on the outer wall of the support platform (32), and the end faces of the two sliding blocks (331) are provided with a receiving groove (3311). The two sliding blocks (331) are connected to a linkage block (333) by rotating a hinge plate (332) arranged inside each of the receiving grooves (3311). The linkage block (333) is provided with a grinding piece (334) for grinding the inner surface of the housing (100) on the side away from the hinge plate (332).

2. The grinding device for producing humanoid robot joint modules according to claim 1, characterized in that: The outer wall of the support platform (32) is provided with a plurality of groove groups, each groove group includes two sliding grooves (321) and a mounting groove (322), the sliding block (331) is slidably arranged inside the corresponding sliding groove (321), and each mounting groove (322) is provided with a driving member (34) for realizing the movement of the sliding block (331).

3. The grinding device for producing humanoid robot joint modules according to claim 2, characterized in that: The driving member (34) includes a gear (341) rotatably arranged inside the mounting groove (322), and two racks (342) are meshed and arranged on both sides of the gear (341) and are always slidably arranged inside the sliding groove (321). The two racks (342) are respectively connected to the sliding blocks (331) inside the corresponding sliding grooves (321).

4. The grinding device for producing humanoid robot joint modules according to claim 1, characterized in that: In the initial state, the two sliding blocks (331) are not located at the same horizontal height, that is, the two hinged plates (332) are staggered under the action of the positions of the corresponding sliding blocks (331).

5. The grinding device for producing humanoid robot joint modules according to claim 4, characterized in that: The side walls of the two hinged plates (332) are each provided with a through slot (3321), and an adjusting block (3322) is provided inside the two through slots (3321) and is connected to the inner wall of the corresponding through slot (3321) via a tension spring. In an initial state, the adjusting block (3322) is located on a side close to the sliding block (331).

6. The grinding device for producing humanoid robot joint modules according to claim 3, characterized in that: A plurality of the adjusting slots (323) are provided with push rods (35) whose lower end faces are in contact with the corresponding racks (342) via telescopic members (36). The upper ends of the plurality of push rods (35) are commonly connected to a linkage disk (37) connected to an external cylinder (200).

7. The grinding device for producing humanoid robot joint modules according to claim 1, characterized in that: The mounting shaft (31) is arranged in an annular shape, and a support platform (311) is arranged at its bottom end. A second grinding member (312) is arranged on the support platform (311) via a plurality of adjusting members (313). The plurality of adjusting members (313) are connected to the linkage disk (37) via an adjusting shaft (314) slidably arranged inside the mounting shaft (31).

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