Precise nut turning center for driving humanoid robot joints

Abstract

The invention relates to the technical field of machine tools, in particular to a precision nut turning center for driving humanoid robot joints, which comprises a frame, a drilling mechanism, a transfer mechanism and an auxiliary mechanism are arranged on the frame, and the drilling mechanism comprises a sliding seat slidably connected to the outer wall of the frame. By means of the arranged transfer mechanism, the transfer frame drives the bearing groove to rotate to be aligned with the guide groove, the nut blank located at the bottommost part of the guide groove falls into the bearing groove, the transfer frame drives the nut blank to be aligned with the drill bit, drilling machining is conducted, automatic clamping and positioning during feeding are achieved, and meanwhile after the process is completed, the nut blank can be automatically clamped and positioned. Compared with the prior art with a clamp reloading neutral period, the device has the advantages that the time occupied by clamp reloading is utilized, feeding is achieved at a rear station when machining is conducted at a front station, the machining interval is shortened, and the working efficiency is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of machine tool technology, and in particular to a precision nut turning center for joint drive of humanoid robots. Background Technology

[0002] Planetary roller screws are devices that convert linear motion into rotational motion by rolling rollers between a screw and a nut. Planetary roller screws are commonly used in the core transmission of humanoid robots. As a precision transmission component, the machining quality of the nut directly determines the joint performance of the robot. A screw and nut turning center is a mechanical device for drilling holes in the nut. In existing technologies, when processing nuts, it is necessary to clamp and position the nut blank using a fixture. After processing is completed, there is a gap period for changing the fixture, which affects processing efficiency. Especially in mass production scenarios, each fixture change takes a certain amount of time, which greatly extends the production cycle. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of existing technologies by proposing a precision nut turning center for humanoid robot joint drive. This invention utilizes a transfer mechanism to rotate the transfer frame and align the receiving groove with the guide groove. The nut blank at the bottom of the guide groove falls into the receiving groove. The transfer frame then aligns the nut blank with the drill bit for drilling, achieving automatic clamping and positioning during loading. After completing the above process, the receiving groove aligns with the guide groove, and the process is repeated for continuous loading. Compared to existing technologies with fixture changeover gaps, this device utilizes the time spent on fixture changes to allow loading at the next station while processing at the previous station, shortening the processing interval and significantly improving work efficiency.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: a precision nut turning center for humanoid robot joint drive, comprising a frame, on which a drilling mechanism, a transfer mechanism, and an auxiliary mechanism are provided. The drilling mechanism includes a slide block slidably connected to the outer wall of the frame, and a drill bit rotatably connected to the outer wall of the slide block. The transfer mechanism includes a guide groove fixed to the frame for storing nut blanks, and two sets of symmetrically distributed clamping blocks slidably connected to the inner wall of the guide groove. A transfer frame is rotatably connected to the inner wall of the guide groove via a rotating shaft, and four equidistant circles are formed on the outer ring wall of the transfer frame. The device comprises a circumferentially distributed receiving groove, each with a clearance hole at the center of its inner wall to accommodate the drill bit. Each receiving groove is equipped with an electric clamp and a chamfer on its inner wall. A tilting motor for driving the transfer frame is installed on the outer wall of the guide trough. A material drop cover is installed on the outer wall of the guide trough away from the drilling mechanism. The auxiliary mechanism is located at the bottom of the guide trough. The axis of the transfer frame is perpendicular to and intersects the axis of the drill bit. The transfer frame drives the receiving groove through the drilling mechanism, the auxiliary mechanism, and the material drop cover in sequence, aligning it with the guide trough in one cycle.

[0005] Preferably, a limiting groove is provided on the outer wall of one set of clamping blocks, and a limiting plate that is slidably inserted into the limiting groove is fixed on the outer wall of the other set of clamping blocks. A double-acting linear motor for the two sets of clamping blocks to move in opposite directions is installed on the inner wall of the guide groove.

[0006] Preferably, a first linear motor for driving the slide to move is installed on the outer wall of the frame, a torque motor for driving the drill bit to rotate is installed on the outer wall of the slide, a guide rod is fixed on the outer wall of the guide groove near the slide, and a drill template aligned with the drill bit is slidably connected to the outer wall of the guide rod.

[0007] Preferably, a spring is provided between the outer wall of the drilling template and the outer wall of the slide, and a through hole aligned with the guide rod is provided on the outer wall of the slide.

[0008] Preferably, the auxiliary mechanism includes an electric push rod fixed to the inner wall of the bottom of the guide trough, an output end of the electric push rod fixed with a mounting bracket, a number of equidistant circumferentially distributed limiting holes are opened on the outer ring wall of the transfer frame, a limiting rod that can be inserted into the limiting holes is fixed on the outer wall of the mounting bracket, a collection trough is provided on the bottom outer wall of the frame, the collection trough is connected to the guide trough and the discharge hood, and an air pump is installed on the top outer wall of the frame.

[0009] Preferably, a sieve plate that allows chips to pass through is installed on the inner wall of the transition between the material discharge hood and the collection trough, and an outlet is opened on the outer wall of the material discharge hood on the side away from the guide trough, with the sieve plate inclined towards the side where the outlet is located.

[0010] Preferably, the transfer frame has a cylindrical cavity on the side wall near the air pump that communicates with the clearance hole, and the output end of the air pump is equipped with a nozzle located in the cylindrical cavity, with the nozzle facing the side where the material drop hood is located.

[0011] Preferably, the outer wall of the mounting frame is provided with cleaning wheels driven by an independent power source, the air inlet of the air pump is connected to the collection tank, and a magnetic filter is installed at the air inlet of the air pump.

[0012] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention uses a transfer mechanism to rotate the transfer frame to align with the guide trough. The nut blank at the bottom of the guide trough falls into the receiving trough, and the transfer frame aligns the nut blank with the drill bit for drilling. This achieves automatic clamping and positioning during loading. After the above process is completed, the receiving trough aligns with the guide trough, and the above process is repeated for continuous loading. Compared with the prior art, which has a gap in fixture changing, this device utilizes the time occupied by fixture changing to enable loading at the next station while processing at the previous station, shortening the processing interval and greatly improving work efficiency.

[0013] 2. This invention utilizes a compression spring to apply force to the end face of the nut blank, pressing the nut blank tightly within the receiving groove. This prevents the nut blank from falling out of the receiving groove or the electric clamp from disengaging during processing, ensuring the normal progress of the processing. Simultaneously, the drill template guides the drill bit, preventing drilling deviation. Furthermore, as the slide moves, the guide rod on the guide groove inserts into the through hole on the slide, thereby guiding the slide and preventing the slide from causing the drill bit to deviate, further ensuring the normal progress of the processing.

[0014] 3. The present invention, through the auxiliary mechanism, enables the rotating motor to drive the transfer frame to rotate 90 degrees again after drilling is completed. This causes the transfer frame to turn the processed nut to the bottom of the guide trough. At this time, the electric push rod is extended to move the mounting frame upward. The mounting frame drives the limit rod to insert into the limit hole on the transfer frame, thereby locking the angle of the transfer frame and preventing the transfer frame from shifting the nut during drilling, thus further preventing drilling deviation. Attached Figure Description

[0015] Figure 1 This is a three-dimensional schematic diagram of the overall structure proposed in this invention. Figure 1 ; Figure 2 This is a three-dimensional schematic diagram of the overall structure proposed in this invention. Figure 2 ; Figure 3 This is a three-dimensional sectional view of the overall structure proposed in this invention. Figure 1 ; Figure 4 This is a three-dimensional sectional view of the overall structure proposed in this invention. Figure 2 ; Figure 5 This is a three-dimensional schematic diagram of the drilling mechanism proposed in this invention; Figure 6 This is a three-dimensional cross-sectional view of the feed channel proposed in this invention. Figure 1 ; Figure 7 This is a three-dimensional cross-sectional view of the feed channel proposed in this invention. Figure 2 ; Figure 8 This is a three-dimensional sectional view of the transfer frame proposed in this invention.

[0016] Legend: 1. Frame; 11. Slide; 111. Through hole; 112. First linear motor; 12. Drill bit; 121. Torque motor; 2. Guide chute; 21. Clamping block; 23. Limiting plate; 24. Limiting groove; 25. Double-acting linear motor; 26. Guide rod; 27. Drill template; 271. Spring; 3. Transfer frame; 31. Tilting motor; 32. Receiving groove; 321. Alternating hole; 322. Electric clamp; 323. Chamfer; 33. Limiting hole; 34. Cylinder cavity; 4. Electric push rod; 41. Mounting frame; 42. Cleaning wheel; 43. Limiting rod; 44. Collection trough; 5. Air pump; 51. Nozzle; 52. Magnetic filter; 53. Material discharge cover; 531. Screen plate; 532. Outlet. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0018] See Figures 1 to 8 As shown, a precision nut turning center for humanoid robot joint drive includes a frame 1, on which a drilling mechanism, a transfer mechanism and an auxiliary mechanism are provided; The transfer mechanism includes a guide trough 2 fixed on the frame 1 for storing nut blanks. Two sets of symmetrically distributed clamping blocks 21 are slidably connected to the inner wall of the guide trough 2. A transfer frame 3 is rotatably connected to the inner wall of the guide trough 2 via a rotating shaft. Four equidistantly distributed receiving grooves 32 are opened on the outer ring wall of the transfer frame 3. A clearance hole 321 for accommodating a drill bit 12 is opened at the center of the inner wall of each receiving groove 32. An electric clamp 322 is installed in each receiving groove 32. A chamfer 323 is opened on the inner wall of each receiving groove 32. A flip motor 31 for driving the transfer frame 3 to rotate is installed on the outer wall of the guide trough 2. A limit groove 24 is opened on the outer wall of one set of clamping blocks 21. A limit plate 23 that is slidably inserted into the limit groove 24 is fixed on the outer wall of the other set of clamping blocks 21. A double-acting linear motor 25 for the two sets of clamping blocks 21 to move in opposite directions is installed on the inner wall of the guide trough 2. A material drop cover 53 is installed on the outer wall of the guide trough 2 away from the drilling mechanism. The auxiliary mechanism is located at the bottom of the guide trough 2. The axis of the transfer frame 3 is perpendicular to and intersects the axis of the drill bit 12. The transfer frame 3 drives the receiving groove 32 to pass through the drilling mechanism, the auxiliary mechanism and the material drop cover 53 in sequence and then aligns with the guide trough 2 to complete one cycle.

[0019] It should be noted that the nut blanks are arranged between the two sets of clamping blocks 21 in the guide groove 2. The distance between the two sets of clamping blocks 21 is adjusted by the double-acting linear motor 25 so that the clamping blocks 21 can adapt to nut blanks of different sizes. When adjusting, the distance between the two sets of clamping blocks 21 needs to be slightly larger than the width of the nut blank to ensure that the nut blank can slide freely.

[0020] The flip motor 31 is a stepper motor that drives the transfer frame 3 to rotate 90 degrees each time it operates. During loading, the flip motor 31 drives the transfer frame 3 to rotate. When the transfer frame 3 rotates the receiving groove 32 to align with the guide groove 2, the nut blank at the bottom of the guide groove 2 falls into the receiving groove 32. The electric clamps 322 in the receiving groove 32 are activated to clamp the nut blank, fixing it at the center of the receiving groove 32 by the electric clamps 322 on both sides. Subsequently, the transfer frame... 3. The nut blank is rotated 90 degrees, so that the nut blank in the receiving groove 32 is aligned with the drill bit 12 for drilling. This achieves automatic clamping and positioning during feeding. After the above process is completed, the receiving groove 32 is aligned with the guide groove 2, and the above process is repeated for continuous feeding. Compared with the existing technology that has a gap in fixture changing, this device utilizes the time occupied by fixture changing to realize feeding at the rear station while processing at the front station, shortening the processing interval and greatly improving work efficiency.

[0021] Furthermore, during the aforementioned process, when the receiving groove 32 moves the nut blank away from the guide groove 2, the chamfer 323 provided on the inner wall of the receiving groove 32 can push the subsequent nut blank back into the guide groove 2, ensuring that each receiving groove 32 carries only one nut blank at a time.

[0022] The drilling mechanism includes a slide block 11 slidably connected to the outer wall of the frame 1, a drill bit 12 rotatably connected to the outer wall of the slide block 11, a first linear motor 112 for driving the slide block 11 to move is installed on the outer wall of the frame 1, a torque motor 121 for driving the drill bit 12 to rotate is installed on the outer wall of the slide block 11, a guide rod 26 is fixed on the outer wall of the guide chute 2 near the slide block 11, a drill template 27 aligned with the drill bit 12 is slidably connected to the outer wall of the guide rod 26, a spring 271 is provided between the outer wall of the drill template 27 and the outer wall of the slide block 11, and a through hole 111 aligned with the guide rod 26 is opened on the outer wall of the slide block 11.

[0023] It should be noted that when the nut blank in the receiving groove 32 is aligned with the drill bit 12, the starting torque motor 121 drives the drill bit 12 to rotate. At the same time, the first linear motor 112 drives the slide 11 to move closer to the feed groove 2, so that the drill bit 12 gradually approaches the nut blank on the transfer frame 3 to realize the drilling operation. The avoidance hole 321 provided on the inner wall of the receiving groove 32 can prevent interference between the drill bit 12 and the transfer frame 3.

[0024] Meanwhile, during the above process, the slide block 11 pushes the drill template 27 to move through the spring 271, so that the drill template 27 abuts against the end face of the nut blank in the receiving groove 32. The compression spring 271 applies force to the end face of the nut blank, pressing the nut blank tightly in the receiving groove 32, preventing the nut blank from falling out of the receiving groove 32 or the electric clamp 322 from disengaging during the processing, thus ensuring the normal progress of the processing.

[0025] The drill bit 12 is guided by the drill template 27 to prevent the drilling from deviating. Furthermore, as the slide 11 moves, the guide rod 26 on the guide groove 2 is inserted into the through hole 111 on the slide 11, thereby guiding the slide 11 and preventing the slide 11 from causing the drill bit 12 to deviate, thus further ensuring the normal progress of the processing.

[0026] The auxiliary mechanism includes an electric push rod 4 fixed to the inner wall of the bottom of the guide trough 2. The output end of the electric push rod 4 is fixed with a mounting bracket 41. Several sets of equidistantly distributed circumferential limiting holes 33 are opened on the outer ring wall of the transfer frame 3. A limiting rod 43 that can be inserted into the limiting hole 33 is fixed on the outer wall of the mounting bracket 41. A collection trough 44 is provided on the bottom outer wall of the frame 1. The collection trough 44 is connected to the guide trough 2 and the discharge hood 53. An air pump 5 is installed on the top outer wall of the frame 1. A screen plate that can allow chips to pass through is installed on the inner wall of the transition between the discharge hood 53 and the collection trough 44. 531, the outer wall of the material discharge hood 53 away from the material guide trough 2 has an outlet 532. The screen plate 531 is inclined to the side where the outlet 532 is located. The end wall of the transfer frame 3 near the air pump 5 has a cylindrical cavity 34 that communicates with the clearance hole 321. The output end of the air pump 5 is equipped with a nozzle 51 located in the cylindrical cavity 34. The nozzle 51 faces the side where the material discharge hood 53 is located. The outer wall of the mounting frame 41 is equipped with a cleaning wheel 42 driven by an independent power source. The air inlet of the air pump 5 is connected to the collection tank 44. A magnetic filter 52 is installed at the air inlet of the air pump 5.

[0027] It should be noted that after drilling is completed, the flipping motor 31 is started to drive the transfer frame 3 to rotate 90 degrees again, so that the transfer frame 3 drives the processed nut to the bottom of the guide groove 2. At this time, the electric push rod 4 is extended to move the mounting frame 41 upward. The mounting frame 41 drives the limit rod 43 to insert into the limit hole 33 on the transfer frame 3, thereby locking the angle of the transfer frame 3 and preventing the transfer frame 3 from shifting the nut during drilling, thus further preventing drilling deviation.

[0028] At the same time, the mounting bracket 41 drives the cleaning wheel 42 into the drill hole on the nut to clean the burrs and residual chips in the drill hole. The air pump 5 is started to create negative pressure in the collection tank 44. The dust generated during the cleaning process will be sucked into the collection tank 44, thereby avoiding dust.

[0029] After cleaning, the transfer frame 3 drives the nut to turn towards the discharge cover 53. When the clearance hole 321 in the receiving groove 32 is aligned with the nozzle 51, the electric clamp 322 is released to discharge the material. The air pump 5 drives the nozzle 51 to spray out a high-speed airflow, blowing the chips in the clearance hole 321 and the nuts in the receiving groove 32 into the discharge cover 53, realizing automatic cleaning and auxiliary discharge. The chips finally enter the collection groove 44 through the screen plate 531, while the processed nuts slide along the screen plate 531 to the outlet 532, realizing automatic discharge.

[0030] Working principle: The nut blanks are arranged between two sets of clamping blocks 21 in the guide groove 2. The distance between the two sets of clamping blocks 21 is adjusted by the double-acting linear motor 25 so that the clamping blocks 21 can adapt to nut blanks of different sizes. During loading, the rotating motor 31 drives the transfer frame 3 to rotate. When the transfer frame 3 rotates the receiving groove 32 to align with the guide groove 2, the nut blank at the bottom of the guide groove 2 falls into the receiving groove 32. The electric clamp 322 in the receiving groove 32 is activated to clamp the nut blank, so that the nut blank is fixed at the center of the receiving groove 32 by the electric clamps 322 on both sides. Then, the transfer frame 3 drives the nut blank to rotate 90 degrees, so that the nut blank in the receiving groove 32 is aligned with the drill bit 12 for drilling. This realizes automatic clamping and positioning during loading. After the above process is completed, the receiving groove 32 is aligned with the guide groove 2, and the above process is repeated for continuous loading. Compared with the existing technology with the gap period of clamp changing, this device uses the time occupied by clamp changing to realize loading at the back station while processing at the front station, shortening the processing interval and greatly improving work efficiency. When the nut blank in the receiving groove 32 is aligned with the drill bit 12, the torque motor 121 is started to drive the drill bit 12 to rotate. At the same time, the first linear motor 112 drives the slide 11 to move closer to the feed groove 2, so that the drill bit 12 gradually approaches the nut blank on the transfer frame 3 to realize the drilling operation. The avoidance hole 321 provided on the inner wall of the receiving groove 32 can avoid interference between the drill bit 12 and the transfer frame 3. Meanwhile, during the above process, the slide block 11 pushes the drill template 27 to move through the spring 271, so that the drill template 27 abuts against the end face of the nut blank in the receiving groove 32. The compression spring 271 applies force to the end face of the nut blank, pressing the nut blank tightly in the receiving groove 32, thus preventing the nut blank from falling out of the receiving groove 32 or the electric clamp 322 from disengaging during the processing, ensuring the normal progress of the processing. The drill bit 12 is guided by the drill template 27 to prevent the drilling from deviating. Furthermore, as the slide 11 moves, the guide rod 26 on the guide groove 2 is inserted into the through hole 111 on the slide 11, thereby guiding the slide 11 and preventing the slide 11 from causing the drill bit 12 to deviate, thus further ensuring the normal progress of the processing. After drilling is completed, the flipping motor 31 is started to drive the transfer frame 3 to rotate 90 degrees again, so that the transfer frame 3 drives the processed nut to the bottom of the guide groove 2. At this time, the electric push rod 4 is extended to move the mounting frame 41 upward. The mounting frame 41 drives the limit rod 43 to insert into the limit hole 33 on the transfer frame 3, thereby locking the angle of the transfer frame 3 and preventing the transfer frame 3 from shifting the nut during drilling, thus further preventing drilling deviation. At the same time, the mounting bracket 41 drives the cleaning wheel 42 into the drill hole on the nut to clean the burrs and residual chips in the drill hole. The air pump 5 is started to create negative pressure in the collection tank 44. The dust generated during the cleaning process will be sucked into the collection tank 44, thereby avoiding dust. After cleaning, the transfer frame 3 drives the nut to turn towards the discharge cover 53. When the clearance hole 321 in the receiving groove 32 is aligned with the nozzle 51, the electric clamp 322 is released to discharge the material. The air pump 5 drives the nozzle 51 to spray out a high-speed airflow, blowing the chips in the clearance hole 321 and the nuts in the receiving groove 32 into the discharge cover 53, realizing automatic cleaning and assisted discharge. The chips finally enter the collection groove 44 through the screen plate 531, while the processed nuts slide along the screen plate 531 to the outlet 532.

[0031] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A precision nut turning center for joint drive of a humanoid robot, comprising a frame (1), characterized in that: The frame (1) is equipped with a drilling mechanism, a transfer mechanism and an auxiliary mechanism; The drilling mechanism includes a slide (11) slidably connected to the outer wall of the frame (1), and a drill bit (12) is rotatably connected to the outer wall of the slide (11). The transfer mechanism includes a guide trough (2) fixed on the frame (1) for storing nut blanks. Two sets of symmetrically distributed clamping blocks (21) are slidably connected to the inner wall of the guide trough (2). A transfer frame (3) is rotatably connected to the inner wall of the guide trough (2) via a rotating shaft. Four equidistant circumferentially distributed receiving grooves (32) are opened on the outer ring wall of the transfer frame (3). A clearance hole (321) for accommodating a drill bit (12) is opened at the center of the inner wall of each receiving groove (32). An electric clamp (322) is installed in each receiving groove (32). A chamfer (323) is opened on the inner wall of each receiving groove (32). A flipping motor (31) for driving the transfer frame (3) to rotate is installed on the outer wall of the guide trough (2). A material drop cover (53) is installed on the outer wall of the guide trough (2) away from the drilling mechanism. The auxiliary mechanism is located at the bottom of the guide trough (2). The axis of the transfer frame (3) is perpendicular to and intersects the axis of the drill bit (12). The transfer frame (3) drives the receiving groove (32) to pass through the drilling mechanism, the auxiliary mechanism and the material drop cover (53) in sequence and then aligns with the guide trough (2) for one cycle.

2. The precision nut turning center for humanoid robot joint drive according to claim 1, characterized in that: One set of clamping blocks (21) has a limiting groove (24) on its outer wall, and another set of clamping blocks (21) has a limiting plate (23) that is slidably inserted into the limiting groove (24) on its outer wall. The inner wall of the guide groove (2) is equipped with a double-acting linear motor (25) for the two sets of clamping blocks (21) to move in opposite directions.

3. The precision nut turning center for humanoid robot joint drive according to claim 1, characterized in that: A first linear motor (112) for driving the slide (11) to move is installed on the outer wall of the frame (1). A torque motor (121) for driving the drill bit (12) to rotate is installed on the outer wall of the slide (11). A guide rod (26) is fixed on the outer wall of the guide groove (2) near the slide (11). A drill template (27) aligned with the drill bit (12) is slidably connected to the outer wall of the guide rod (26).

4. The precision nut turning center for humanoid robot joint drive according to claim 3, characterized in that: A spring (271) is provided between the outer wall of the drill template (27) and the outer wall of the slide (11), and a through hole (111) aligned with the guide rod (26) is provided on the outer wall of the slide (11).

5. The precision nut turning center for humanoid robot joint drive according to claim 1, characterized in that: The auxiliary mechanism includes an electric push rod (4) fixed on the inner wall of the bottom of the guide trough (2). The output end of the electric push rod (4) is fixed with a mounting bracket (41). The outer ring wall of the transfer frame (3) is provided with several sets of equidistant circumferentially distributed limiting holes (33). The outer wall of the mounting bracket (41) is fixed with a limiting rod (43) that can be inserted into the limiting hole (33). The bottom outer wall of the frame (1) is provided with a collection trough (44). The collection trough (44) is connected to the guide trough (2) and the discharge cover (53). The top outer wall of the frame (1) is equipped with an air pump (5).

6. The precision nut turning center for humanoid robot joint drive according to claim 5, characterized in that: A sieve plate (531) that allows chips to pass through is installed on the inner wall of the transition between the material discharge hood (53) and the collection trough (44). An outlet (532) is opened on the outer wall of the material discharge hood (53) away from the guide trough (2). The sieve plate (531) is inclined to the side where the outlet (532) is located.

7. The precision nut turning center for humanoid robot joint drive according to claim 5, characterized in that: The transfer frame (3) has a cylindrical cavity (34) on the side wall near the air pump (5) that communicates with the clearance hole (321). The output end of the air pump (5) is equipped with a nozzle (51) located in the cylindrical cavity (34), and the nozzle (51) faces the side where the material drop cover (53) is located.

8. The precision nut turning center for humanoid robot joint drive according to claim 7, characterized in that: The outer wall of the mounting bracket (41) is provided with a cleaning wheel (42) driven by an independent power source. The air inlet of the air pump (5) is connected to the collection tank (44). A magnetic filter (52) is installed at the air inlet of the air pump (5).

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