Humanoid robot reverse long nut hard turning device and method

Abstract

The present application relates to long nut processing technical field, and disclose a kind of humanoid robot reverse long nut hard turning processing equipment and processing method, including base, the upper surface of the base is fixedly connected with lathe bed, the side of the lathe bed is equipped with the depth clamping assembly of clamping fixed to workpiece, and the depth clamping assembly is through type, the upper surface of the base and located lathe bed side is equipped with the suction material component of processing machining chips with the depth clamping assembly cooperation use, the top of the lathe bed is equipped with the drive assembly of making the depth clamping assembly high-speed rotation, the lathe bed is equipped with the turning assembly of turning operation to workpiece.The present application processes workpiece twice, shortens the length of tool overhang shortens turning, increases the rigidity of tool bar effectively reduces the possibility of chatter in cutting process, protects tool edge to avoid collapse.

Description

Technical Field

[0001] This invention relates to the field of long nut machining technology, specifically to a humanoid robot reverse long nut hard turning machining equipment and machining method. Background Technology

[0002] High-performance joints are the core components for humanoid robots to achieve human-like movement, load bearing, and precise control. These joints typically need to withstand complex composite loads and have high rigidity, low backlash, long lifespan, and compact structural design.

[0003] The reverse long nut is one of the key connecting components for achieving high rigidity and low backlash in joints. It is usually used in conjunction with high-precision ball screws or planetary roller screws to accurately and efficiently convert the rotational motion of the servo motor into linear motion to drive joint movement. Its "reverse" design is often used in conjunction with a specific preload structure to eliminate transmission backlash and improve system rigidity.

[0004] A search revealed Chinese patent CN217551343U, which discloses a turning device for large, extra-long nut threads. This device uses the tool handle to control the feed, and a lever measuring rod to measure the movement of a small pulley to control the feed and retraction, thus avoiding problems such as tool jamming and idle travel during cutting. However, the following issues still exist:

[0005] 1. Due to the long length of the workpiece, when machining deep hole internal threads, the tool holder needs to extend a long distance to reach the cutting position. This can easily cause vibration during the cutting operation, which can lead to chipping of the cutting edge on the tool holder.

[0006] 2. After the thread turning at one end is completed, the workpiece needs to be removed from the fixing part, adjusted and re-fixed. Before and after re-fixing, it is difficult to ensure that the axis of the workpiece is on the same straight line, which affects the machining accuracy.

[0007] 3. When fixing the workpiece, a three-jaw chuck is generally used. Before and after adjusting the workpiece, the depth of its insertion into the three-jaw chuck needs to be measured manually. The accuracy of manual measurement is difficult to guarantee. Therefore, how to ensure that the depth of the workpiece installed on the three-jaw chuck is the same before and after adjustment to ensure that the internal threads of the front and rear cutting are accurately aligned and overlapped is also an urgent problem to be solved.

[0008] 4. During the turning process, a large amount of debris and long filaments are generated. If not treated, they will accumulate inside the workpiece, affecting the turning operation. At the same time, the thin filaments are easy to get tangled on the cutting tool and can easily scratch the internal threads of the workpiece. Therefore, how to deal with the debris generated during the machining process is an urgent problem to be solved. Summary of the Invention

[0009] To address the shortcomings of existing technologies, this invention provides a humanoid robot-based reverse long nut hard turning equipment and method. The main solutions are to address the following issues: When machining deep hole internal threads on long workpieces, the tool holder needs to extend a considerable distance to reach the cutting position, which easily generates vibration during cutting, leading to chipping of the cutting insert; after thread turning at one end, the workpiece needs to be removed from the fixing component, repositioned, and re-fixed, but the workpiece axis is difficult to keep in a straight line before and after re-fixing, affecting machining accuracy; a three-jaw chuck is typically used for workpiece fixing, but the depth of insertion into the chuck before and after repositioning requires manual measurement, which is difficult to guarantee in terms of accuracy; and the turning process generates a large amount of debris and long, filamentous waste wires, which, if not treated, accumulate inside the workpiece, affecting the turning operation. Furthermore, the fine filaments can easily become entangled on the cutting tool, potentially scratching the internal threads of the workpiece.

[0010] To achieve the above objectives, the present invention provides the following technical solution:

[0011] A humanoid robot reverse long nut hard turning machining equipment includes a base, a machine tool bed fixedly connected to the upper surface of the base, a fixed-depth clamping assembly for clamping and fixing the workpiece on one side of the machine tool bed, and the fixed-depth clamping assembly is through-type; a material suction assembly for handling machining debris is provided on the upper surface of the base and on one side of the machine tool bed, which works in conjunction with the fixed-depth clamping assembly; a drive assembly for high-speed rotation of the fixed-depth clamping assembly is provided on the top of the machine tool bed; a turning assembly for turning the workpiece is provided on the machine tool bed; a linear movement assembly for laterally moving the turning assembly along the machine tool bed is provided on the machine tool bed; a groove is formed on the machine tool bed, and a transverse movement assembly is provided in the groove; a center frame assembly for constraining the amplitude of the workpiece is provided on the transverse movement assembly; and an adjustment assembly for rotating and changing the orientation of the center frame assembly is provided between the center frame assembly and the transverse movement assembly.

[0012] Furthermore, the fixed-depth clamping assembly includes a cylindrical seat fixedly connected to one side of the machine tool bed, a connecting pipe rotatably connected inside the cylindrical seat, a three-jaw chuck fixedly connected to the other end of the connecting pipe, and a limit block fixedly connected to the jaws of the three-jaw chuck.

[0013] Based on the aforementioned scheme, the material suction assembly includes a through hole formed on the machine tool bed and connected to the cylindrical base. A circular tube is fixedly connected inside the through hole, and one end of the circular tube is fixed to the cylindrical base. A fixed platform is fixedly connected to the upper surface of the base. A centrifugal fan is fixedly connected to the upper surface of the fixed platform. A collection box is fixedly connected to the upper surface of the base and located between the fixed platform and the machine tool bed. A connecting pipe is fixedly connected between one side of the collection box and the air outlet of the centrifugal fan, connecting the two. A connector is fixedly connected to the other side of the collection box, and one end of the connector is fixed to one end of the circular tube. A drawer is provided at the bottom of the collection box.

[0014] As a further embodiment of the present invention, a second drive motor is fixedly connected to the top of the machine tool bed, a synchronous pulley is keyed to the end of the output shaft of the second drive motor, a synchronous ring for cooperating with the synchronous pulley is fixedly connected to the outer circumference of the connecting pipe, and the synchronous ring and the synchronous pulley are connected by a synchronous belt drive.

[0015] Furthermore, the turning assembly includes an apron slidably connected to the machine tool bed, a tool post fixedly connected to the top of the apron, a plurality of fixing screws threaded in a square array on the tool post, an internally threaded turning tool bar fixed between the bottom of the plurality of fixing screws on one side and the inner wall of one side of the tool post, a wire winding assembly for winding filamentous waste material is provided on one side of the tool post, and a linear movement assembly for moving the apron laterally along the machine tool bed is provided on the machine tool bed.

[0016] Based on the aforementioned scheme, the linear motion assembly includes a lead screw rotatably connected between the inner walls of both sides of the machine tool bed via bearings, and the lead screw passes through the slide box and is threadedly connected thereto. A guide rod is rotatably connected between the inner walls of both sides of the machine tool bed via bearings, and the guide rod passes through the slide box and is slidably connected thereto. A drive motor is fixedly connected to one side of the machine tool bed to cause the lead screw to rotate forward and backward along the bearings.

[0017] As a further embodiment of the present invention, the transverse moving assembly includes a horizontal plate fixedly connected between the inner walls of the longer two sides of the groove, two symmetrical sliding rods fixedly connected to one side of the horizontal plate and one side of the inner wall of the groove, a sliding plate slidably connected to the two sliding rods, and an electric push rod fixedly connected to one side of the inner wall of the groove to make the sliding plate slide along the sliding rod.

[0018] Furthermore, the center frame assembly includes a rotating column rotatably connected to the upper surface of the slide plate via bearings. A fixing ring is fixedly connected to the top of the rotating column. Two symmetrical carriages are slidably connected to the fixing ring. Fixing frames are fixedly connected to opposite sides of each of the two carriages. Two rotating wheels on the same vertical plane are rotatably connected between the inner walls of both fixing frames. Threaded rods are rotatably connected to opposite sides of each of the two carriages via bearings, and the other ends of both threaded rods pass through the outer circumference of the fixing ring and are threadedly connected to it. The steering assembly includes a fixed... A stepper motor is connected to the lower surface of the slide plate. The output shaft of the stepper motor is keyed to a gear through the upper surface of the slide plate. An external gear ring that mates with the gear is fixedly connected to the bottom of the outer circumference of the rotating column. A support platform is fixedly connected to the upper surface of the slide plate, and the rotating column passes through the support platform and is rotatably connected to it. Electromagnetic pin locks are fixedly connected to the upper surface of the support platform on both sides of the rotating column. Two symmetrical positioning holes are opened on the outer circumference of the rotating column above the support platform, and the locking tongues of the two electromagnetic pin locks are respectively inserted into the corresponding positioning holes.

[0019] Based on the aforementioned scheme, the wire winding assembly includes an L-shaped plate fixedly connected to one side of the tool holder. A rotating seat is rotatably connected to one side of the outer wall of the L-shaped plate via a bearing. A winding rod is threaded onto the rotating seat. An electric motor is fixedly connected to one side of the inner wall of the L-shaped plate to rotate the rotating seat along the axial direction.

[0020] A method for reverse hard turning of a long nut using a humanoid robot includes the following steps:

[0021] S1: When it is necessary to turn the thread of the workpiece, first, the workpiece is installed on the fixed depth clamping assembly through the center frame assembly, and the depth of the workpiece extending into it is limited and then fixed. After the workpiece is fixed at one end, the middle part of the workpiece is clamped at multiple points by the center frame assembly to constrain the amplitude generated during the turning process.

[0022] S2: After the workpiece is fixed, the drive assembly makes the workpiece rotate at high speed, thus preparing for the turning operation of its internal thread. After the workpiece rotates, the linear movement assembly drives the turning assembly to move, thus performing the turning operation on one end of the workpiece.

[0023] S3: After the turning operation is completed at one end of the workpiece, the turning component is first sent to the initial position by the linear traverse component, and then the drive component is stopped. When the workpiece stops, the workpiece is released by the fixed depth clamping component, but the clamping part of the center frame component is always clamped. After the fixed depth clamping component releases the workpiece, the workpiece is removed from the range of the fixed depth clamping component by the transverse component in cooperation with the center frame component. Then, the center frame component is rotated 180 degrees by the orientation component. Then, the workpiece is sent back into the fixed depth clamping component by the transverse component in cooperation with the center frame component. Then, the workpiece is clamped and fixed again. The front and rear axes of the workpiece coincide during orientation.

[0024] S4: After the workpiece is fixed for the second time, the drive assembly makes the workpiece rotate at high speed again. After the workpiece rotates, the linear movement assembly drives the turning assembly to move, thereby turning the internal thread on the other end of the workpiece until the threads overlap, and the turning operation of the internal thread is completed.

[0025] S5: After completing the turning operation of the internal thread of the workpiece, the turning component is sent back to the initial position through the linear movement component, and then the drive component is turned off. After the workpiece stops, the workpiece can be removed by releasing the depth clamping component and the center rest component.

[0026] S6: While performing turning operations, the material suction assembly sucks out the debris generated inside the workpiece during the turning process.

[0027] Compared with the prior art, the present invention provides a humanoid robot reverse long nut hard turning equipment and processing method, which has the following beneficial effects:

[0028] 1. This invention processes the workpiece in two stages, shortens the length of the cutting tool overhang and shortens the turning process, and enhances the rigidity of the tool holder, effectively reducing the possibility of chatter during the cutting process and protecting the cutting edge of the tool from breakage.

[0029] 2. By using the center frame assembly and the transverse traverse assembly in cooperation, this invention ensures that the axis of the workpiece is always on the same horizontal plane when the workpiece is removed for reorientation after the turning operation is completed at one end. This effectively ensures the machining accuracy and guarantees that the internal threads of the front and rear cutting are accurately aligned and overlapped.

[0030] 3. In this invention, after the workpiece is fixed on the three-jaw chuck by the central frame assembly, multiple rotating wheels simultaneously perform secondary fixation on multiple points of the workpiece, thereby constraining the workpiece radially and ensuring that it will not deviate due to amplitude during high-speed rotation.

[0031] 4. This invention provides physical positioning by setting a limiting block on the jaws of the three-jaw chuck, replacing the traditional manual judgment of clamping length. There is no need for repeated manual measurement of clamping length. The workpiece can be accurately positioned axially by directly pressing against the limiting block during clamping, which is convenient and quick.

[0032] 5. The present invention uses the combination of the material suction component and the wire winding component to process the debris and filaments generated during the turning operation of the workpiece, and promptly removes the debris and gathers the filaments to prevent them from getting tangled in the internal thread cutting tool bar, while also preventing the filaments from scratching the surface of the workpiece.

[0033] 6. The present invention, through the electromagnetic pin lock and positioning hole, can ensure that the front and rear axes of the workpiece are on the same straight line during orientation adjustment, thereby further increasing the machining accuracy. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the front three-dimensional structure of a humanoid robot reverse long nut hard turning machining equipment proposed in this invention;

[0035] Figure 2 This is a schematic diagram of the rear three-dimensional structure of a humanoid robot reverse long nut hard turning machining equipment proposed in this invention;

[0036] Figure 3 This is an exploded view of the fixed-depth clamping component of a reverse long nut hard turning equipment for a humanoid robot proposed in this invention.

[0037] Figure 4 This invention proposes a humanoid robot reverse long nut hard turning machining equipment. Figure 3 A partially enlarged structural diagram;

[0038] Figure 5 This is a schematic diagram of the exploded structure of the three-jaw chuck of a humanoid robot reverse long nut hard turning equipment proposed in this invention;

[0039] Figure 6 This is a schematic diagram of the material suction assembly structure of a humanoid robot reverse long nut hard turning equipment proposed in this invention;

[0040] Figure 7 This is an exploded view of the fixed-depth clamping component of a reverse long nut hard turning equipment for a humanoid robot proposed in this invention.

[0041] Figure 8 This is a schematic diagram of the turning component structure of a humanoid robot reverse long nut hard turning machining equipment proposed in this invention;

[0042] Figure 9This is a schematic diagram of the transverse movement component structure of a humanoid robot reverse long nut hard turning machining equipment proposed in this invention;

[0043] Figure 10 This is a schematic diagram of the central frame assembly structure of a humanoid robot reverse long nut hard turning machining equipment proposed in this invention;

[0044] Figure 11 This invention proposes a humanoid robot reverse long nut hard turning machining equipment. Figure 10 A partially enlarged structural diagram;

[0045] Figure 12 This is a schematic diagram of the wire winding assembly structure of a reverse long nut hard turning equipment for a humanoid robot proposed in this invention.

[0046] In the diagram: 1. Base; 2. Machine bed; 3. Depth clamping assembly; 301. Cylindrical base; 302. Connecting pipe; 303. Three-jaw chuck; 304. Limiting block; 4. Material suction assembly; 401. Through hole; 402. Cylindrical tube; 403. Fixed table; 404. Centrifugal fan; 405. Connecting pipe; 406. Collection box; 407. Drawer; 408. Connector; 5. Drive assembly; 501. Drive motor II; 502. Synchronous pulley; 503. Synchronous ring; 504. Synchronous belt; 6. Turning assembly; 601. Slide box; 602. Tool post; 603. Fixing screw; 604. Internal thread turning tool holder; 7. 8. Groove; 9. Lateral movement assembly; 10. Horizontal plate; 11. Slide rod; 12. Slide plate; 13. Electric push rod; 14. Center frame assembly; 15. Rotating column; 16. Fixing ring; 17. Slide carriage; 18. Fixing frame; 19. Rotating wheel; 10. Threaded rod; 10. Stepper motor; 11. Gear; 12. External gear ring; 13. Support platform; 14. Electromagnetic pin lock; 15. Positioning hole; 16. Wire winding assembly; 17. L-shaped plate; 18. Rotating seat; 19. Winding rod; 10. Electric motor; 11. Lead screw; 12. Drive motor one; 13. Guide rod. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0048] The component designations used in this document, such as "first" and "second," are merely for distinguishing the described objects and do not have any sequential or technical meaning. The terms "connection" and "linkage" used in this invention, unless otherwise specified, include both direct and indirect connections (linkages). It should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are used only for the convenience of describing the invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention.

[0049] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0050] Please see Figures 1-12 As shown, a humanoid robot reverse long nut hard turning machining equipment includes a base 1. The upper surface of the base 1 is fixedly connected to a machine tool bed 2 by bolts. A fixed-depth clamping component 3 for clamping and fixing the workpiece is provided on one side of the machine tool bed 2. The fixed-depth clamping component 3 is through-type. A suction component 4 for handling machining chips is provided on the upper surface of the base 1 and on one side of the machine tool bed 2, which works in conjunction with the fixed-depth clamping component 3. A drive component 5 for high-speed rotation of the fixed-depth clamping component 3 is provided on the top of the machine tool bed 2. A turning component 6 for turning the workpiece is provided on the machine tool bed 2. A linear movement component for moving the turning component 6 laterally along the machine tool bed 2 is provided on the machine tool bed 2. A groove 7 is provided on the machine tool bed 2. A transverse movement component 8 is provided in the groove 7. A center frame component 9 for constraining the amplitude of the workpiece is provided on the transverse movement component 8. An adjustment component for rotating and changing the orientation of the center frame component 9 is provided between the center frame component 9 and the transverse movement component 8.

[0051] Specifically, the reverse long nut is one of the key connecting components for achieving high rigidity and low backlash in joints. It is usually used in conjunction with high-precision ball screws or planetary roller screws to accurately and efficiently convert the rotational motion of the servo motor into linear motion to drive joint movement. Its "reverse" design is often used in conjunction with a specific preload structure to eliminate transmission backlash and improve system rigidity.

[0052] However, due to the long length of the workpiece, when machining deep hole internal threads, the tool holder needs to extend a long distance to reach the cutting position, which can easily cause vibration during the cutting operation, resulting in the chipping of the cutting edge on the tool holder.

[0053] When the threads of a workpiece need to be turned, the workpiece is first installed on the fixed-depth clamping assembly 3 through the center frame assembly 9, and the depth of the workpiece extending into it is limited and then fixed. After one end of the workpiece is fixed, the middle part of the workpiece is clamped at multiple points by the center frame assembly 9 to constrain the amplitude generated during the turning process.

[0054] After the workpiece is fixed, the drive assembly 5 makes the workpiece rotate at high speed, thus preparing for the turning operation of its internal thread. After the workpiece rotates, the linear movement assembly drives the turning assembly 6 to move, thereby performing the turning operation on one end of the workpiece.

[0055] After the turning operation is completed at one end of the workpiece, the turning component 6 is first sent to the initial position by the linear movement component, and then the drive component 5 is stopped. When the workpiece stops, the workpiece is released by the fixed depth clamping component 3, but the clamping part of the center rest component 9 is always clamped. After the fixed depth clamping component 3 releases the workpiece, the workpiece is removed from the range of the fixed depth clamping component 3 by the transverse movement component 8 in cooperation with the center rest component 9. Then, the center rest component 9 is rotated 180 degrees by the orientation component. Then, the workpiece is sent back into the fixed depth clamping component 3 by the transverse movement component 8 in cooperation with the center rest component 9. Then, the workpiece is clamped and fixed again. The front and rear axes of the workpiece coincide in the orientation.

[0056] After the workpiece is fixed for the second time, it is rotated at high speed again by the drive component 5. After the workpiece rotates, the linear movement component drives the turning component 6 to move, thereby turning the internal thread at the other end of the workpiece until the threads overlap, thus completing the turning operation of the internal thread.

[0057] After completing the turning operation of the internal thread of the workpiece, the turning component 6 is sent back to the initial position by the linear movement component, and then the drive component 5 is turned off. After the workpiece stops, the workpiece can be removed by releasing the depth clamping component 3 and the center rest component 9.

[0058] While performing the turning operation, the material suction component 4 sucks out the debris generated inside the workpiece during the turning process.

[0059] To fix the workpiece at a fixed depth, the present invention employs a fixed-depth clamping assembly 3, which includes a cylindrical base 301 bolted to one side of the machine tool bed 2. A connecting pipe 302 is rotatably connected inside the cylindrical base 301. The other end of the connecting pipe 302 is bolted to a three-jaw chuck 303. A limit block 304 is bolted to the jaws of the three-jaw chuck 303. The limit block 304 on the jaws of the three-jaw chuck 303 provides physical limitation, replacing the traditional manual judgment of clamping length. There is no need for repeated manual measurement of clamping length. The workpiece can be accurately positioned axially by directly pressing against the limit block 304 during clamping, which is convenient and quick.

[0060] Specifically, in use, one end of the workpiece is first inserted through the fixing ring 902 and installed inside the three-jaw chuck 303, and one end of the workpiece is in close contact with one side of the upper limit block 304 of the three jaws on the three-jaw chuck 303. Then, a chuck wrench is used to rotate any one of the three bevel teeth on the circumference of the three-jaw chuck 303, so that the three jaws move together toward the center, thereby clamping and fixing the workpiece. The central axis of the workpiece coincides with the axis of the three-jaw chuck 303.

[0061] To address the technical problem of potential workpiece skewing during high-speed rotation, this invention employs a center frame assembly 9, including a rotating column 901 rotatably connected to the upper surface of a slide plate 803 via bearings. A fixing ring 902 is bolted to the top of the rotating column 901. Two symmetrical slides 903 are slidably connected to the fixing ring 902. Fixing frames 904 are bolted to the opposite sides of the two slides 903. Two rotating wheels 905 on the same vertical plane are rotatably connected between the inner walls of the two fixing frames 904. Threaded rods 906 are rotatably connected to the opposite sides of the two slides 903 via bearings, and the other ends of the two threaded rods 906 pass through the outer circumference of the fixing ring 902 and are threadedly connected to it.

[0062] Specifically, after the workpiece is initially fixed, the two threaded rods 906 on the rotating fixing ring 902 simultaneously drive the two slides 903 to move synchronously toward each other. During the movement of the slides 903, the fixing frame 904 on them simultaneously drives the two sets of rotating wheels 905 to move closer together, thereby clamping and fixing multiple points on the outer circumference of the workpiece for a second time. After the workpiece is fixed on the three-jaw chuck 303, the multiple rotating wheels 905 simultaneously fix multiple points on the workpiece for a second time, providing radial constraint to the workpiece and ensuring that it will not deviate due to amplitude during high-speed rotation.

[0063] It should be noted that the workpiece can only rotate on the center frame assembly 9 but cannot be displaced. The axes of the workpiece, the fixed ring 902 and the three-jaw chuck 303 all coincide.

[0064] To enable high-speed rotation of the workpiece, a second drive motor 501 is bolted to the top of the machine bed 2. A synchronous pulley 502 is keyed to the end of the output shaft of the second drive motor 501. Starting the second drive motor 501 causes the synchronous pulley 502 to rotate at high speed. A synchronous ring 503, which works with the synchronous pulley 502, is bolted to the outer circumference of the connecting pipe 302. The synchronous ring 503 and the synchronous pulley 502 are connected by a synchronous belt 504. While the synchronous pulley 502 rotates at high speed, the synchronous belt 504 drives the synchronous ring 503 to rotate at high speed, which in turn drives the three-jaw chuck 303 to rotate at high speed through the connecting pipe 302, thus causing the workpiece to rotate at high speed.

[0065] It should be noted that the drive motor 2501 is a stepper motor with a built-in encoder. During its operation, it can monitor parameters such as rotation speed and relative position of the shaft in the circumferential direction in real time, so as to achieve precise connection between the internal thread of the workpiece in the second turning and the internal thread in the first turning.

[0066] In this invention, the turning assembly 6 includes an apron 601 slidably connected to the machine tool bed 2. Further, when the apron 601 needs to be moved, the linear movement assembly includes a lead screw 11 rotatably connected between the inner walls of both sides of the machine tool bed 2 via bearings. The lead screw 11 passes through the apron 601 and is threadedly connected to it. A guide rod 13 is rotatably connected between the inner walls of both sides of the machine tool bed 2 via bearings. The guide rod 13 passes through the apron 601 and is slidably connected to it. A drive motor 12, which causes the lead screw 11 to rotate forward and backward along the bearings, is bolted to one side of the machine tool bed 2. After the workpiece rotates at high speed, the drive motor 12 is activated to drive the lead screw 11 to rotate. Since the apron 601 is threadedly connected to the lead screw 11, the rotation of the lead screw 11 will cause the apron 601 to move closer to the workpiece.

[0067] Furthermore, a tool holder 602 is bolted to the top of the slide box 601. Multiple fixing screws 603 are threaded in a square array on the tool holder 602. An internal thread turning tool 604 is fixed between the bottom of the multiple fixing screws 603 on one side and the inner wall of one side of the tool holder 602. A wire winding assembly 10 for winding filamentous waste is provided on one side of the tool holder 602. A linear moving assembly is provided on the machine tool bed 2 to make the slide box 601 move laterally along the machine tool bed 2. While the slide box 601 moves, the internal thread turning tool 604 moves towards the workpiece. When the internal thread turning tool 604 contacts the inner wall of the workpiece, thread turning operation can be performed on it.

[0068] Furthermore, the present invention employs a transverse movement assembly 8, which includes a horizontal plate 801 bolted between the inner walls of the longer sides of the groove 7. Two symmetrical sliding rods 802 are bolted to one side of the horizontal plate 801 and one side of the inner wall of the groove 7. Slide plates 803 are slidably connected to the two sliding rods 802. An electric push rod 804 is bolted to one side of the inner wall of the groove 7 to make the slide plate 803 slide along the sliding rods 802. After the thread turning at one end of the workpiece is completed, the drive motor 12 is started to rotate in the opposite direction, thereby driving the lead screw 1. 1. Reverse the rotation, thereby retracting the internal thread cutting tool holder 604 back to the starting position via the slide box 601. Then, use the chuck wrench to rotate any one of the three bevel teeth on the circumference of the three-jaw chuck 303 in the reverse direction, thereby causing the three jaws to move outward synchronously, thus releasing the workpiece. With the cooperation of the center rest assembly 9 and the transverse traverse assembly 8, after the turning operation is completed at one end of the workpiece, the axis of the workpiece is always on the same horizontal plane when it is removed for orientation operation, effectively ensuring the machining accuracy and thus ensuring that the internal threads of the front and rear cutting are accurately aligned and overlapped.

[0069] Furthermore, in order to solve the technical problem of accurately adjusting the workpiece orientation, the present invention adopts an orientation component including a stepper motor 907 fixedly connected to the lower surface of the slide plate 803 by bolts, a gear 908 keyedly connected to the end of the output shaft of the stepper motor 907 through the upper surface of the slide plate 803, and an external gear ring 909 that cooperates with the gear 908 fixedly connected to the bottom end of the outer circumference of the rotating column 901 by bolts.

[0070] Specifically, after the three-jaw chuck 303 releases the workpiece, the electric push rod 804 is activated to extend and push the slide plate 803 to slide along the slide rod 802. The workpiece is then clamped and moved synchronously by the center frame assembly 9 on it. When the slide plate 803 moves to the end, the stepper motor 907 is activated to perform a quantitative rotation. Each rotation will drive the external gear ring 909 to rotate 180 degrees through the gear 908, and then the workpiece will be rotated 180 degrees through the center frame assembly 9.

[0071] After rotation is completed, the electric push rod 804 is activated to retract, thereby re-inserting the workpiece into the three-jaw chuck 303. After one end of the workpiece is in close contact with one side of the upper limit block 304 of the three jaws on the three-jaw chuck 303, use the chuck wrench to rotate any one of the three bevel teeth on the circumference of the three-jaw chuck 303, thereby causing the three jaws to move together toward the center, thereby clamping and fixing the workpiece.

[0072] After the workpiece is repositioned, repeat the steps of the first turning operation to turn the inside of the other end of the workpiece so that the threads at both ends overlap. After the turning is completed, return the slide box 601 to the initial position, turn off the drive motor 501 to stop the workpiece from rotating and push it out. Then, rotate the threaded rod 906 in the opposite direction to loosen the workpiece and remove it.

[0073] Furthermore, in order to solve the technical problem of accurate positioning after the workpiece is reoriented, the present invention uses a support platform 910 fixedly connected to the upper surface of the slide plate 803 by bolts, and a rotating column 901 passes through the support platform 910 and is rotatably connected to it. Electromagnetic pin locks 911 (model LY01) are fixedly connected to the upper surface of the support platform 910 and on both sides of the rotating column 901 by bolts. Two symmetrical positioning holes 912 are opened on the outer circumference of the rotating column 901 and above the support platform 910, and the locking tongues of the two electromagnetic pin locks 911 are respectively inserted into the corresponding positioning holes 912.

[0074] Specifically, before adjusting the workpiece, the electromagnetic pin lock 911 is activated to retract its locking tongue and disengage from the positioning hole 912. The adjustment operation is then performed. After the adjustment operation is completed, the electromagnetic pin lock 911 is restarted to re-insert its locking tongue into the corresponding positioning hole 912. The cooperation between the electromagnetic pin lock 911 and the positioning hole 912 ensures that the front and rear axes of the workpiece are on the same straight line during the adjustment, further increasing the machining accuracy.

[0075] To address the technical problem of excessive debris accumulation inside the workpiece during machining, which affects turning operations, this invention employs a material suction assembly 4. This assembly includes a through hole 401 on the machine tool bed 2, connected to a cylindrical base 301. A circular tube 402 is welded into the through hole 401, with one end of the tube fixed to the cylindrical base 301. A fixed platform 403 is bolted to the upper surface of the base 1. A centrifugal fan 404 is bolted to the upper surface of the fixed platform 403. A collection box 406 is bolted to the upper surface of the base 1, located between the fixed platform 403 and the machine tool bed 2. A connecting pipe 405 is bolted to one side of the collection box 406 and the outlet of the centrifugal fan 404, connecting the two. A connecting head 408 is bolted to the other side of the collection box 406, with one end of the connecting head 408 fixed to one end of the circular tube 402. A drawer 407 is located at the bottom of the collection box 406.

[0076] Specifically, while processing the workpiece, the centrifugal fan 404 is started to draw air. Since the centrifugal fan 404 is connected to the collection box 406, the airflow is transmitted from the workpiece to the collection box 406 through the round pipe 402. While the airflow is flowing, the debris generated during the turning process is absorbed and carried into the collection box 406 by the gas flow. The air in the collection box 406 is drawn out by the centrifugal fan 404 to form a high-speed flow of gas. The collected debris will fall into the drawer 407.

[0077] To address the technical problem of thin filaments being generated during machining, which can affect turning operations, this invention employs a wire winding assembly 10. This assembly includes an L-shaped plate 1001 bolted to one side of a tool holder 602. A rotating seat 1002 is rotatably connected to one side of the outer wall of the L-shaped plate 1001 via a bearing. A winding rod 1003 is threaded onto the rotating seat 1002. An electric motor 1004, which rotates the rotating seat 1002 axially, is bolted to the inner wall of one side of the L-shaped plate 1001. This motor facilitates the rotation of the rotating seat 1002 during workpiece turning operations. While working, the electric motor 1004 is started to drive the rotating seat 1002 to rotate. As the rotating seat 1002 rotates, it will drive the winding rod 1003 on it to rotate, and the fine filaments generated during the turning process will be wound. The material suction component 4 and the wire winding component 10 work together to process the debris and filaments generated during the turning operation of the workpiece. The debris is removed in time to prevent scratching the surface of the workpiece, and the filaments are gathered to prevent them from getting tangled on the internal thread cutting tool bar 604 and affecting its operation.

[0078] It should be noted that the three-jaw chuck 303, centrifugal fan 404, electric push rod 804, electric motor 1004, electromagnetic pin lock 911 and multiple drive motors are all existing technologies. Those skilled in the art can set them according to actual needs, and they will not be described in detail here.

[0079] In this application, the inner wall of the threaded hole on the retaining ring 902 and the slide box 601 is provided with an annular groove. A nylon 66 damping ring with a Shore hardness of 85A is embedded in the groove. The continuous axial clamping force generated by its elastic deformation forms a helical angle interference fit with the surface of the threaded rod 906 and the lead screw 11 at 15°-20° respectively. When the threaded pair is subjected to axial vibration load, the nylon insert can generate a maximum elastic compression of 0.3mm, which increases the friction coefficient between the thread contact surfaces from 0.15 to 0.68 (tested according to ASTM D1894 standard), effectively suppressing the loosening displacement caused by thread springback.

[0080] A method for reverse hard turning of a long nut by a humanoid robot includes the following steps:

[0081] S1: When tapping the workpiece, first pass one end of the workpiece through the fixing ring 902 and install it in the three-jaw chuck 303. The one end of the workpiece should be in close contact with one side of the upper limit block 304 of the three jaws on the three-jaw chuck 303. Then, use a chuck wrench to rotate any one of the three bevel teeth on the circumference of the three-jaw chuck 303, so that the three jaws move together toward the center, thereby clamping and fixing the workpiece. The central axis of the workpiece coincides with the axis of the three-jaw chuck 303.

[0082] S2: After the workpiece is initially fixed, the two threaded rods 906 on the fixing ring 902 are rotated to drive the two slides 903 to move towards each other in a synchronous manner. During the movement of the slides 903, the two sets of rotating wheels 905 are driven to move closer through the fixing frame 904 on them, thereby clamping and fixing the workpiece at multiple points on the outer circumference of the workpiece for a second time. It can rotate but cannot be displaced.

[0083] S3: After the workpiece is clamped twice, start the drive motor 501 to make the synchronous wheel 502 rotate at high speed. While the synchronous wheel 502 is rotating at high speed, it will drive the synchronous ring 503 to rotate at high speed through the synchronous belt 504, and then drive the three-jaw chuck 303 to rotate at high speed through the connecting pipe 302, thereby making the workpiece rotate at high speed.

[0084] S4: After the workpiece rotates at high speed, start the drive motor 12 to drive the lead screw 11 to rotate. Since the slide box 601 is threadedly connected to the lead screw 11, the slide box 601 will move closer to the workpiece while the lead screw 11 rotates. This will cause the internal thread cutting tool 604 to move closer to the workpiece. When the internal thread cutting tool 604 contacts the inner wall of the workpiece, the thread cutting operation can be performed on it.

[0085] S5: While processing the workpiece, start the centrifugal fan 404 to draw air. Since the centrifugal fan 404 is connected to the collection box 406, the airflow is transmitted from the workpiece to the collection box 406 through the round pipe 402. While the airflow is flowing, it will absorb the debris generated during the turning process and carry it to the collection box 406 through the gas flow. The air in the collection box 406 is drawn out by the centrifugal fan 404 to form a high-speed flow of gas. The collected debris will fall into the drawer 407.

[0086] S6: After the thread turning at one end of the workpiece is completed, start the drive motor 12 to rotate in the opposite direction, thereby causing the lead screw 11 to reverse, so that the internal thread turning tool bar 604 is sent back to the starting position through the slide box 601. Then, use the chuck wrench to rotate any one of the three bevel teeth on the circumference of the three-jaw chuck 303 in the opposite direction, so that the three jaws move outward synchronously, thereby releasing the workpiece.

[0087] S7: After the workpiece is released from the three-jaw chuck 303, the electric push rod 804 is activated to extend and push the slide plate 803 to slide along the slide rod 802. The workpiece is then clamped and moved synchronously by the center frame assembly 9 on it. When the slide plate 803 moves to the end, the stepper motor 907 is activated to rotate quantitatively. Each rotation will drive the external gear ring 909 to rotate 180 degrees through the gear 908, and then the workpiece will rotate 180 degrees through the center frame assembly 9. After the rotation is completed, the electric push rod 804 is activated to retract and then the workpiece is reinserted into the three-jaw chuck 303. After one end of the workpiece is in close contact with one side of the upper limit block 304 of the three jaws on the three-jaw chuck 303, the chuck wrench is used to rotate any one of the three bevel teeth on the circumference of the three-jaw chuck 303, so that the three jaws move together toward the center, thereby clamping and fixing the workpiece.

[0088] S8: After the workpiece is reoriented, repeat the steps of the first turning operation to turn the inside of the other end of the workpiece, so that the thread of the second turning coincides with the thread of the first turning. After the turning is completed, return the slide box 601 to the initial position, turn off the drive motor 501 to stop the workpiece from rotating and push it out. Then rotate the thread rod 906 in the opposite direction to loosen the workpiece and remove it.

[0089] S9: While the workpiece is being turned, the electric motor 1004 is started to drive the rotating seat 1002 to rotate. While the rotating seat 1002 is rotating, it will drive the winding rod 1003 on it to rotate, and wind the fine filaments generated during the turning process.

[0090] S10: Before adjusting the workpiece, first activate the electromagnetic pin lock 911 to retract its locking tongue and disengage it from the positioning hole 912, then perform the adjustment operation. After the adjustment operation is completed, restart the electromagnetic pin lock 911 to re-insert its locking tongue into the corresponding positioning hole 912.

[0091] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0092] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A human-shaped robot reverse long nut hard turning processing equipment, comprising a base (1), the upper surface of the base (1) is fixedly connected with a machine tool bed (2), characterized in that, The machine tool body (2) is provided with a depth fixing clamping assembly (3) on one side for clamping and fixing workpieces, and the depth fixing clamping assembly (3) is through type, the upper surface of the base (1) and located on one side of the machine tool body (2) is provided with a suction assembly (4) cooperating with the depth fixing clamping assembly 3 for processing machining chips, the machine tool body (2) is provided with a driving assembly (5) for high-speed rotation of the depth fixing clamping assembly (3), the machine tool body (2) is provided with a turning assembly (6) for turning workpieces, the machine tool body (2) is provided with a linear movement assembly for moving the turning assembly (6) along the machine tool body (2), the machine tool body (2) is provided with a groove (7), the groove (7) is provided with a transverse movement assembly (8), the transverse movement assembly (8) is provided with a center frame assembly (9) for constraining the amplitude of the workpiece, the center frame assembly (9) and the transverse movement assembly 8 are provided with a direction adjusting assembly capable of rotating the direction of the center frame assembly (9); The transverse movement assembly (8) comprises a transverse plate (801) fixedly connected between the inner walls of the longer sides of the groove (7), two symmetrical slide rods (802) are fixedly connected to one side of the transverse plate (801) and the inner wall of one side of the groove (7), a sliding plate (803) is slidably connected to the two slide rods (802), and an electric push rod (804) is fixedly connected to the inner wall of one side of the groove (7) and used for sliding the sliding plate (803) along the slide rod (802). The center frame assembly (9) comprises a rotating column (901) rotatably connected to the upper surface of the sliding plate (803) through a bearing, the top end of the rotating column (901) is fixedly connected with a fixed ring (902), the fixed ring (902) is slidably connected with two symmetrical sliding frames (903), the opposite sides of the two sliding frames (903) are fixedly connected with fixed frames (904), the inner walls of the two sides of the two fixed frames (904) are rotatably connected with two rotating wheels (905) in the same vertical plane, the opposite sides of the two sliding frames (903) are rotatably connected with threaded rods (906) through bearings, and the other ends of the two threaded rods (906) pass through the circumferential outer wall of the fixed ring (902) and are threadedly connected therewith, the direction adjusting assembly comprises a stepping motor (907) fixedly connected to the lower surface of the sliding plate (803), the output shaft end of the stepping motor (907) is key-connected with a gear (908) penetrating through the upper surface of the sliding plate (803), the circumferential outer wall bottom end of the rotating column (901) is fixedly connected with an external gear ring (909) matched with the gear (908), the upper surface of the sliding plate (803) is fixedly connected with a support table (910), and the rotating column (901) penetrates through the support table (910) and is rotatably connected therewith, the upper surface of the support table (910) and located at the positions on the two sides of the rotating column (901) are fixedly connected with electromagnetic pin locks (911), and the circumferential outer wall of the rotating column (901) and located above the support table (910) is provided with two symmetrical positioning holes (912), and the locking tongues of the two electromagnetic pin locks (911) are respectively inserted into the corresponding positioning holes (912).

2. The human-shaped robot reverse long nut hard turning processing equipment according to claim 1, characterized in that, The depth setting clamping assembly (3) comprises a cylindrical seat (301) fixedly connected to one side of the machine tool bed (2), the cylindrical seat (301) is rotatably connected with a communication pipe (302), the other end of the communication pipe (302) is fixedly connected with a three-jaw chuck (303), and the clamping jaws of the three-jaw chuck (303) are fixedly connected with limit blocks (304).

3. The humanoid robot reverse long nut hard turning apparatus according to claim 2, wherein, The material suction assembly (4) comprises a through hole (401) formed in the machine tool bed (2) and communicating with the cylindrical seat (301), the through hole (401) is fixedly connected with a circular pipe (402), and one end of the circular pipe (402) is fixedly connected with the cylindrical seat (301), the upper surface of the base (1) is fixedly connected with a fixed table (403), the upper surface of the fixed table (403) is fixedly connected with a centrifugal fan (404), the upper surface of the base (1) and located between the fixed table (403) and the machine tool bed (2) is fixedly connected with a collecting box (406), one side of the collecting box (406) and the air outlet of the centrifugal fan (404) are fixedly connected with a connecting pipe (405) for communication, the other side of the collecting box (406) is fixedly connected with a connecting head (408) in communication therewith, one end of the connecting head (408) is fixedly connected with one end of the circular pipe (402), and the bottom of the collecting box (406) is provided with a drawer (407).

4. The humanoid robot reverse long nut hard turning apparatus according to claim 2, wherein, The top of the machine tool bed (2) is fixedly connected with a driving motor two (501), the output shaft end of the driving motor two (501) is key-connected with a synchronous wheel (502), the circumferential outer wall of the communication pipe (302) is fixedly connected with a synchronous ring (503) used in cooperation with the synchronous wheel (502), and the synchronous ring (503) and the synchronous wheel (502) are drivingly connected through a synchronous belt (504).

5. The humanoid robot reverse long nut hard turning apparatus according to claim 1, wherein, The turning assembly (6) comprises a slide plate box (601) slidably connected to the machine tool bed (2), the top of the slide plate box (601) is fixedly connected with a tool holder (602), a plurality of fixed screws (603) are threadedly connected to the tool holder (602) in a square array, an internally-threaded turning tool rod (604) is fixed between the bottom of the plurality of fixed screws (603) on one side and the inner wall of the tool holder (602) on one side, and the tool holder (602) is provided with a wire winding assembly (10) for winding the wire waste.

6. The humanoid robot reverse long nut hard turning apparatus according to claim 5, wherein, The linear movement assembly comprises a lead screw (11) rotatably connected between the inner walls of the two sides of the machine tool bed (2), and the lead screw (11) passes through the slide plate box (601) and is threadedly connected thereto; guide rods (13) are rotatably connected between the inner walls of the two sides of the machine tool bed (2), and the guide rods (13) pass through the slide plate box (601) and are slidably connected thereto; and a driving motor one (12) is fixedly connected to one side of the machine tool bed (2) to reversely rotate the lead screw (11) along the bearing.

7. The humanoid robot reverse long nut hard turning apparatus according to claim 5, wherein, The wire winding assembly (10) comprises an L-shaped plate (1001) fixedly connected to one side of the tool holder (602), a rotating seat (1002) is rotatably connected to the outer wall of one side of the L-shaped plate (1001) through a bearing, a winding rod (1003) is threadedly connected to the rotating seat (1002), and an electric motor (1004) is fixedly connected to the inner wall of one side of the L-shaped plate (1001) to rotate the rotating seat (1002) along the axial direction.

8. A method for hard turning of reverse long nut of humanoid robot, suitable for a device for hard turning of reverse long nut of humanoid robot according to claim 1, characterized in that, The method comprises the following steps: S1: when the threads of the workpiece need to be turned, first, the workpiece is installed through the center frame assembly (9) to the depth-limiting clamping assembly (3), and the depth of the workpiece inserted into the interior thereof is limited and fixed after the fixation of one end of the workpiece, and the middle part of the workpiece is clamped by the center frame assembly (9) for constraining the amplitude generated in the turning process; S2: after the fixation of the workpiece, the workpiece is rotated at high speed by the driving assembly (5) to prepare for the turning of the internal threads, and the turning assembly (6) is driven to move by the linear movement assembly after the workpiece is rotated, so that the internal threads at one end of the workpiece are turned; S3: After the turning operation is completed at one end of the workpiece, the turning assembly (6) is first sent to the initial position by the linear movement assembly, then the driving assembly (5) is stopped, and the workpiece is released by the depth setting clamping assembly (3) after the workpiece is stopped, but the part clamped by the center frame assembly (9) is always clamped, after the workpiece is released by the depth setting clamping assembly (3), the workpiece is separated from the range of the depth setting clamping assembly (3) by the horizontal movement assembly (8) cooperating with the center frame assembly (9), then the center frame assembly (9) is rotated by 180 degrees by the direction adjusting assembly, then the workpiece is sent into the depth setting clamping assembly (3) again by the horizontal movement assembly (8) cooperating with the center frame assembly (9), then the workpiece is clamped and fixed again, and the front and rear axes of the workpiece coincide before and after the direction adjusting; S4: After the workpiece is fixed again, the workpiece is rotated at high speed by the driving assembly (5), and the turning assembly (6) is moved by the linear movement assembly after the workpiece is rotated, so that the internal thread at the other end of the workpiece is turned, and the turning operation of the internal thread is completed after the threads coincide; S5: After the turning operation of the internal thread of the workpiece is completed, the turning assembly (6) is sent back to the initial position by the linear movement assembly, then the driving assembly (5) is closed, and the workpiece is released by the depth setting clamping assembly (3) and the center frame assembly (9) after the workpiece is stopped, and the workpiece can be taken off; S6: While the turning operation is being performed, the chips generated inside the workpiece during the turning process are sucked out by the material suction assembly (4).

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