High-precision CNC thread grinding machine with planetary lead screw for humanoid robot joint drive

Abstract

This invention relates to the field of thread processing technology, and more particularly to a high-precision CNC thread grinding machine for a planetary lead screw used in the joint drive of a humanoid robot. The machine includes a bed frame, on which a control system is mounted. A worktable is slidably connected to the outer wall of the bed frame, and a headstock and a tailstock are slidably connected to both ends of the worktable. Through a specially designed handling mechanism, when the detection value of the second rangefinder is lower than a threshold, the control system controls the tilting motor to rotate forward, causing the lead screw to disengage from the loading ring through a clearance opening. Simultaneously, the unloading ring rotates to a position below the lead screw. After processing, the lead screw falls into the unloading ring. During unloading, the tilting motor is controlled to rotate in the reverse direction, causing the unloading ring to move the processed lead screw to a position near the collection groove and slide it into the collection groove through the clearance opening. Simultaneously, the loading ring drives the pre-placed lead screw to complete the aforementioned positioning process again, thereby achieving automatic loading and unloading and greatly improving work efficiency.

Description

Technical Field

[0001] This invention relates to the field of thread processing technology, and in particular to a high-precision CNC thread grinding machine for planetary lead screws used in humanoid robot joint drives. Background Technology

[0002] Planetary roller screws are the core transmission components of humanoid robots. Planetary roller screws are devices that convert linear motion into rotational motion by rolling rollers between the screw and nut. As a major component of mechanical transmission elements, their machining quality directly determines the joint performance of the robot. A screw grinding machine is a mechanical device used to process screw threads.

[0003] Existing machine tools typically use a center rest to support and position the lead screw to be machined. After machining, the lead screw needs to be replaced manually by the operator, which cannot achieve automatic unloading. Furthermore, when the center rest obstructs the contact between the tool and the lead screw, the center rest also needs to be disassembled, which is time-consuming and laborious, and seriously affects production efficiency. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies by proposing a high-precision CNC thread grinding machine for humanoid robot joint drive using planetary lead screws. This invention utilizes a specially designed transport mechanism so that when the detection value of the second rangefinder is lower than a threshold, the control system controls the rotating motor to rotate forward, causing the lead screw to disengage from the loading ring through a clearance opening. Simultaneously, the unloading ring rotates to a position below the lead screw. After processing, the lead screw falls into the unloading ring. During unloading, the rotating motor is controlled to rotate in the reverse direction, causing the unloading ring to move the processed lead screw to the side near the collection trough and slide it into the collection trough through the clearance opening. Simultaneously, the loading ring drives the pre-placed lead screw to complete the aforementioned positioning work again, thereby achieving automatic loading and unloading and greatly improving work efficiency.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a high-precision CNC thread grinding machine for humanoid robot joint drive using planetary lead screws, comprising a bed frame, a control system mounted on the bed frame, a worktable slidably connected to the outer wall of the bed frame, a headstock and a tailstock slidably connected to both ends of the worktable, a dial rotatably connected to the outer wall of the headstock, a center point coaxially distributed with the dial on the tailstock, a transport mechanism mounted on the worktable, and a grinding mechanism mounted on the bed frame. The transport mechanism includes a pair of coaxially distributed tilting frames, which are rotatably connected to the outer walls of the headstock and tailstock via a rotating shaft. Each tilting frame has a loading ring and an unloading ring on its outer walls at both ends. The outer walls of the loading ring and the unloading ring each have a clearance opening on the same side. Each loading ring has several equidistantly distributed electric push rods mounted on its inner wall. The output end of each electric push rod faces the center of the loading ring and is rotatably connected to a caster wheel.

[0006] Preferably, a flipping motor for driving the flipping frame to rotate is installed on the outer wall of the head frame, and a second rangefinder for detecting the length of the lead screw is installed on the outer wall of the head frame. The second rangefinder is electrically connected to the flipping motor through a control system. A linkage rod is fixed on the end wall of one flipping frame and slidably connected to the outer wall of the other flipping frame.

[0007] Preferably, each of the loading rings has several equidistantly distributed circumferential mounting slots on its inner wall, the electric push rod is fixed in the mounting slot, a first rangefinder for measuring the diameter of the lead screw is mounted on the outer wall of the universal wheel, and a third linear motor for adjusting the clamping force of the tip is mounted on the outer wall of the tailstock, the third linear motor and the first rangefinder are electrically connected through a control system.

[0008] Preferably, the outer wall of the head frame is equipped with a limiting rod for limiting the rotation angle of the flipping frame, and the outer wall of the bed frame is provided with a collection groove located below the flipping frame.

[0009] Preferably, the tailstock has a sliding groove inside, and a slider and a push plate are slidably connected in the sliding groove. The tip is rotatably connected to the outer wall of the slider through a rotating shaft. A spring is provided between the slider and the outer wall of the push plate. The push plate is fixed to the outer wall of the output end of the third linear motor.

[0010] Preferably, the grinding mechanism includes a bracket slidably connected to the outer wall of the bed frame, a second linear motor for driving the bracket to slide is installed on the outer wall of the bed frame, a wheel frame is rotatably connected to the outer wall of the bracket, and a cutting wheel is rotatably connected to the outer wall of the wheel frame.

[0011] Preferably, a grinding motor for driving the cutter wheel to rotate is installed on the outer wall of the wheel frame, a scale for reading the tilt angle of the cutter wheel is provided on the outer wall of the wheel frame, and a grinding head dresser is provided on the outer wall of the wheel frame.

[0012] Preferably, a first linear motor for driving the worktable to slide is installed on the outer wall of the bed frame, an adjusting screw is rotatably connected to the inner wall of the worktable, the tailstock is threadedly fitted onto the outer wall of the adjusting screw, and a torque motor for driving the dial to rotate is installed on the outer wall of the headstock.

[0013] Compared with the prior art, the beneficial effects of the present invention are:

[0014] 1. The present invention, through the setting of the conveying mechanism, enables the control system to control the flipping motor to rotate forward when the detection value of the second rangefinder is lower than the threshold, so that the lead screw disengages from the loading ring through the clearance port. At the same time, the unloading ring rotates to the underside of the lead screw. After processing, the lead screw falls into the unloading ring. When unloading, the control system controls the flipping motor to rotate in the reverse direction, so that the unloading ring drives the processed lead screw to move to the side near the collection tank and slides into the collection tank through the clearance port. At the same time, the loading ring drives the pre-placed lead screw to complete the above positioning work again, thereby realizing automatic loading and unloading, which greatly improves work efficiency.

[0015] 2. This invention, through the setting of a first rangefinder and a limiting rod, allows the distance between the two flipping frames to change synchronously during the movement of the tailstock, thereby enabling the device to adapt to lead screws of different lengths. Subsequently, the electric push rod is controlled to retract and reset. At the same time, the extension of the electric push rod can be detected by the first rangefinder, thereby calculating the diameter of the lead screw. The control system starts the third linear motor to change the distance between the push plate and the slider, thereby changing the compression of the spring, and thus realizing the adjustment of the clamping force according to the diameter of the lead screw.

[0016] 3. This invention utilizes an electric push rod to place the lead screw within the loading ring through a clearance opening. The electric push rod extends synchronously, causing the universal wheel to abut against the outer wall of the lead screw, thus clamping and fixing the lead screw within the loading ring and ensuring that the lead screw and loading ring are coaxially aligned. A flipping motor drives the flipping frame to rotate in the opposite direction, causing the loading ring to rotate to abut against the limit rod. At this point, the loading ring and the dial are coaxially aligned, further ensuring that the lead screw and dial are coaxially aligned, achieving automatic positioning. This significantly improves work efficiency and is applicable to lead screws of different diameters, enhancing the practicality of the device. Attached Figure Description

[0017] Figure 1 This is a three-dimensional schematic diagram of the overall structure proposed in this invention. Figure 1 ;

[0018] Figure 2 This is a three-dimensional schematic diagram of the overall structure proposed in this invention. Figure 2 ;

[0019] Figure 3 This is a three-dimensional schematic diagram of the workbench proposed in this invention;

[0020] Figure 4 This is a three-dimensional sectional view of the tailstock proposed in this invention;

[0021] Figure 5 This is a three-dimensional schematic diagram of the flipping frame proposed in this invention;

[0022] Figure 6 This is a three-dimensional sectional view of the loading ring proposed in this invention;

[0023] Figure 7 This is a three-dimensional schematic diagram of the head frame proposed in this invention;

[0024] Figure 8 This is a three-dimensional schematic diagram of the grinding mechanism proposed in this invention.

[0025] Legend:

[0026] 1. Bed frame; 11. First linear motor; 12. Second linear motor; 13. Collection trough; 14. Control system; 2. Worktable; 21. Headstock; 211. Torque motor; 212. Dial; 23. Tailstock; 231. Slide rail; 232. Slider; 233. Center; 234. Push plate; 235. Spring; 236. Third linear motor; 24. Adjusting screw; 3. Bracket; 31. Wheel frame; 311. Scale; 32. Grinding motor; 321. Cutter wheel; 33. Grinding head dresser; 4. Tilting frame; 41. Tilting motor; 42. Loading ring; 421. Alternating slot; 422. Mounting slot; 423. Electric push rod; 424. Caster wheel; 425. First rangefinder; 43. Unloading ring; 44. Limiting rod; 45. Second rangefinder; 46. Linkage rod. Detailed Implementation

[0027] 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.

[0028] See Figures 1 to 8As shown, a high-precision CNC thread grinding machine for humanoid robot joint drive using planetary lead screws includes a bed frame 1, a control system 14 on the bed frame 1, a worktable 2 slidably connected to the outer wall of the bed frame 1, a headstock 21 and a tailstock 23 slidably connected to both ends of the worktable 2, a dial 212 rotatably connected to the outer wall of the headstock 21, a center 233 coaxially distributed with the dial 212 on the tailstock 23, a transport mechanism on the worktable 2, and a grinding mechanism on the bed frame 1.

[0029] The handling mechanism includes a pair of coaxially distributed tilting frames 4. The pair of tilting frames 4 are rotatably connected to the outer walls of the head frame 21 and the tail frame 23 respectively via a rotating shaft. Each tilting frame 4 has a loading ring 42 and a unloading ring 43 on its two outer walls. The outer walls of the loading ring 42 and the unloading ring 43 are provided with a clearance opening 421 on the same side. Each loading ring 42 has several equidistantly distributed electric push rods 423 on its inner wall. The output end of each electric push rod 423 faces the center of the loading ring 42 and is rotatably connected to a caster wheel 424. A tilting motor 41 for driving the tilting frame 4 is installed on the outer wall of the head frame 21. A second rangefinder 45 for detecting the length of the lead screw is installed on the outer wall of the head frame 21. The second rangefinder 45 is electrically connected to the tilting motor 41 through a control system 14. A linkage rod 46 is fixed on the end wall of one tilting frame 4 and slidably connected to the outer wall of the other tilting frame 4.

[0030] Each loading ring 42 has several equidistantly distributed mounting slots 422 on its inner wall. An electric push rod 423 is fixed in the mounting slot 422. A first rangefinder 425 for measuring the diameter of the lead screw is installed on the outer wall of the universal wheel 424. A third linear motor 236 for adjusting the clamping force of the tip 233 is installed on the outer wall of the tailstock 23. The third linear motor 236 and the first rangefinder 425 are electrically connected through the control system 14. A limiting rod 44 for limiting the rotation angle of the tilting frame 4 is installed on the outer wall of the headstock 21. A collection slot 13 located below the tilting frame 4 is provided on the outer wall of the bed frame 1. A sliding groove 231 is provided inside the tailstock 23. A slider 232 and a push plate 234 are slidably connected in the sliding groove 231. The tip 233 is rotatably connected to the outer wall of the slider 232 through a rotating shaft. A spring 235 is provided between the slider 232 and the outer wall of the push plate 234. The push plate 234 is fixed to the outer wall of the output end of the third linear motor 236.

[0031] It should be noted that in the initial state, the tilting frame 4 is driven to rotate in the forward direction by the tilting motor 41, so that the unloading ring 43 abuts against the limiting rod 44 from below. At this time, the loading ring 42 and the clearance port 421 on it are rotated to the upward tilting state, which facilitates loading.

[0032] The lead screw is placed inside the loading ring 42 through the clearance opening 421. The electric push rod 423 is controlled to extend synchronously, so that the electric push rod 423 drives the universal wheel 424 to abut against the outer wall of the lead screw, thereby clamping and fixing the lead screw inside the loading ring 42 and making the lead screw and the loading ring 42 coaxial. The flipping motor 41 drives the flipping frame 4 to rotate in the opposite direction, so that the loading ring 42 rotates to the state of abutting against the limit rod 44. At this time, the loading ring 42 and the dial 212 are coaxial, thus making the lead screw and the dial 212 coaxial, realizing automatic positioning, which greatly improves the working efficiency and can be applied to lead screws of different diameters, improving the practicality of this device.

[0033] By rotating the adjusting screw 24, the tailstock 23 slides along the worktable 2 under the action of the threaded engagement, changing the distance between the tailstock 23 and the headstock 21. This causes the lead screw to be clamped by the dial 212 and the tip 233, which are close to each other. During the movement of the tailstock 23, the distance between the two flipping frames 4 is changed simultaneously, so that the device can adapt to lead screws of different lengths. Then, the electric push rod 423 is controlled to retract and reset. At the same time, during the above process, the extension of the electric push rod 423 can be detected by the first rangefinder 425, so that the diameter of the lead screw can be calculated. The control system 14 starts the third linear motor 236, changing the distance between the push plate 234 and the slider 232, thereby changing the compression of the spring 235, and thus realizing the adjustment of the clamping force according to the diameter of the lead screw.

[0034] After the lead screw is clamped by the dial 212 and the center 233, the length of the lead screw is detected by the second rangefinder 45. When the detection value of the second rangefinder 45 exceeds the threshold, it indicates that the lead screw is too long and is easily affected by deflection. At this time, the tilting motor 41 does not work, and the loading ring 42 remains coaxial with the dial 212 to support the lead screw during processing. The cutting wheel 321 in the grinding mechanism contacts the lead screw through the clearance 421 without interference. When the detection value of the second rangefinder 45 is lower than the threshold, the lead screw is shorter and more rigid, and does not need to be supported. At this time, the control system 14 controls the tilting motor 41 to rotate forward, so that the lead screw disengages from the loading ring 42 through the clearance 421, and the unloading ring 43 disengages from below. When the positioning rod 44 abuts, the loading ring 42 and its clearance opening 421 rotate to an upward angle. At the same time, the unloading ring 43 rotates to the bottom of the lead screw to receive the processed lead screw. The lead screw to be processed next is placed in the loading ring 42 in advance to prepare for the next loading. When unloading, the dial 212 and the top 233 are released, so that the processed lead screw falls into the unloading ring 43. The flip motor 41 is controlled to rotate in the opposite direction, so that the unloading ring 43 drives the processed lead screw to move to the side close to the collection tank 13 and slides into the collection tank 13 through the clearance opening 421. At the same time, the loading ring 42 drives the pre-placed lead screw to complete the above positioning work again, thereby realizing automatic loading and unloading, which greatly improves work efficiency.

[0035] Furthermore, the threshold of the second rangefinder 45 should be the maximum length of the smallest diameter lead screw that is not affected by deflection. This threshold can be determined by the length-to-diameter ratio of the shaft. Generally, when the length-to-diameter ratio of the shaft is less than or equal to five, it is a short and thick shaft that will not have obvious deflection deformation. Thus, no matter how the diameter of the lead screw changes, as long as its length exceeds the threshold, the conveying mechanism will trigger the support action. The included angle of the opening of the clearance port 421 is the angle between two tangents that pass through the center of the lead screw and are tangent to the outer circle of the cutter wheel 321, so that the cutter wheel 321 can contact the lead screw through the clearance port 421.

[0036] After clamping is completed, the start torque motor 211 drives the lead screw to rotate, and the first linear motor 11 drives the worktable 2 to move along the bed frame 1, and the lead screw is processed by the grinding mechanism.

[0037] The grinding mechanism includes a bracket 3 slidably connected to the outer wall of the bed frame 1. A second linear motor 12 for driving the bracket 3 to slide is installed on the outer wall of the bed frame 1. A wheel frame 31 is rotatably connected to the outer wall of the bracket 3. A cutting wheel 321 is rotatably connected to the outer wall of the wheel frame 31. A grinding motor 32 for driving the cutting wheel 321 to rotate is installed on the outer wall of the wheel frame 31. A scale 311 for reading the tilt angle of the cutting wheel 321 is provided on the outer wall of the wheel frame 31. A grinding head dresser 33 is provided on the outer wall of the wheel frame 31. A first linear motor 11 for driving the worktable 2 to slide is installed on the outer wall of the bed frame 1. An adjusting screw 24 is rotatably connected to the inner wall of the worktable 2. The tailstock 23 is threadedly fitted onto the outer wall of the adjusting screw 24. A torque motor 211 for driving the dial 212 to rotate is installed on the outer wall of the headstock 21.

[0038] It should be noted that the second linear motor 12 drives the bracket 3 to slide the wheel frame 31, which can change the feed depth of the cutter wheel 321. By rotating the wheel frame 31, the tilt angle of the cutter wheel 321 can be changed, thereby adapting to lead screws with different helix angles. The grinding head dresser 33 can dress the cutter wheel 321, reducing the tool changing frequency while improving the adaptability of the device.

[0039] In addition, the bed frame 1 is equipped with a cooling system and a magnetic filter (not shown in the figure) for cooling, filtering and recycling the cutting fluid.

[0040] Working principle:

[0041] In the initial state, the tilting frame 4 is driven to rotate in the forward direction by the tilting motor 41, so that the unloading ring 43 abuts against the limiting rod 44 from below. At this time, the loading ring 42 and the clearance opening 421 on it are rotated to the upward tilting state to facilitate loading.

[0042] The lead screw is placed inside the loading ring 42 through the clearance opening 421. The electric push rod 423 is controlled to extend synchronously, so that the electric push rod 423 drives the universal wheel 424 to abut against the outer wall of the lead screw, thereby clamping and fixing the lead screw inside the loading ring 42 and making the lead screw and the loading ring 42 coaxially distributed. The flipping motor 41 drives the flipping frame 4 to rotate in the opposite direction, so that the loading ring 42 rotates to the state of abutting against the limit rod 44. At this time, the loading ring 42 and the dial 212 are coaxially distributed, thus making the lead screw and the dial 212 coaxially distributed, realizing automatic positioning, greatly improving work efficiency, and can be applied to lead screws of different diameters, improving the practicality of this device;

[0043] By rotating the adjusting screw 24, the tailstock 23 slides along the worktable 2 under the action of the threaded engagement, changing the distance between the tailstock 23 and the headstock 21, thereby causing the lead screw to be clamped by the dial 212 and the tip 233 that are close to each other. During the movement of the tailstock 23, the distance between the two flipping frames 4 is changed synchronously, so that the device can adapt to lead screws of different lengths. Then, the electric push rod 423 is controlled to retract and reset. At the same time, during the above process, the extension of the electric push rod 423 can be detected by the first rangefinder 425, so that the diameter of the lead screw can be calculated. When the detection value of the first rangefinder 425 exceeds the preset value, the control system 14 starts the third linear motor 236, changes the distance between the push plate 234 and the slider 232, thereby increasing the compression of the spring 235, and thus realizing the adjustment of the clamping force according to the diameter of the lead screw. This threshold can be set as the minimum lead screw diameter, so that as the diameter of the lead screw increases, the clamping force of the tip 233 increases synchronously.

[0044] After the lead screw is clamped by the dial 212 and the center 233, the length of the lead screw is detected by the second distance measuring instrument 45. When the detection value of the second distance measuring instrument 45 exceeds the threshold, it indicates that the lead screw is too long and is easily affected by deflection. At this time, the flip motor 41 does not work, and the loading ring 42 remains coaxial with the dial 212 to support the lead screw during the processing. The cutting wheel 321 in the grinding mechanism contacts the lead screw through the clearance 421 and there is no interference.

[0045] When the detection value of the second rangefinder 45 is lower than the threshold, the lead screw is shorter and more rigid, so it does not need to be supported. At this time, the control system 14 controls the flip motor 41 to rotate in the forward direction, so that the lead screw disengages from the loading ring 42 through the clearance port 421. The unloading ring 43 abuts against the limit rod 44 from below. At this time, the loading ring 42 and the clearance port 421 on it rotate to the upward angle. At the same time, the unloading ring 43 rotates to the bottom of the lead screw to receive the processed lead screw and place the lead screw to be processed in advance in the loading ring 42 to prepare for the next loading. When unloading, the dial 212 and the top 233 are released, so that the processed lead screw falls into the unloading ring 43. The flip motor 41 is controlled to rotate in the reverse direction, so that the unloading ring 43 drives the processed lead screw to move to the side close to the collection tank 13 and slides into the collection tank 13 through the clearance port 421. At the same time, the loading ring 42 drives the pre-placed lead screw to complete the above positioning work again, thereby realizing automatic loading and unloading, which greatly improves work efficiency.

[0046] After clamping is completed, the start torque motor 211 drives the lead screw to rotate, and the first linear motor 11 drives the worktable 2 to move along the bed frame 1, and the lead screw is processed by the grinding mechanism.

[0047] 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 high-precision CNC thread grinding machine for driving the joints of a humanoid robot using a planetary lead screw, comprising a bed frame (1), characterized in that: The bed frame (1) is equipped with a control system (14), and a worktable (2) is slidably connected to the outer wall of the bed frame (1). The two ends of the worktable (2) are slidably connected to a head frame (21) and a tail frame (23). A dial (212) is rotatably connected to the outer wall of the head frame (21). A center point (233) is provided on the tail frame (23) and distributed on the same axis as the dial (212). A transport mechanism is provided on the worktable (2), and a grinding mechanism is provided on the bed frame (1). The conveying mechanism includes a pair of coaxially distributed tilting frames (4). The pair of tilting frames (4) are rotatably connected to the outer walls of the head frame (21) and the tail frame (23) respectively via a rotating shaft. Each tilting frame (4) has a loading ring (42) and a unloading ring (43) on its two outer walls respectively. The outer walls of the loading ring (42) and the unloading ring (43) are provided with a clearance opening (421) on the same side. Each loading ring (42) has several equidistantly distributed electric push rods (423) installed on its inner wall. The output end of each electric push rod (423) faces the center of the loading ring (42) and is rotatably connected to a caster wheel (424).

2. The high-precision CNC thread grinding machine for planetary lead screws used in humanoid robot joint drive according to claim 1, characterized in that: A flipping motor (41) for driving the flipping frame (4) to rotate is installed on the outer wall of the head frame (21). A second rangefinder (45) for detecting the length of the lead screw is installed on the outer wall of the head frame (21). The second rangefinder (45) and the flipping motor (41) are electrically connected through the control system (14). A linkage rod (46) is fixed on the end wall of one of the flipping frames (4) and slidably connected to the outer wall of the other flipping frame (4).

3. The high-precision CNC thread grinding machine for planetary lead screws used in humanoid robot joint drive according to claim 1, characterized in that: Each loading ring (42) has several equidistantly distributed mounting slots (422) on its inner wall. The electric push rod (423) is fixed in the mounting slot (422). A first rangefinder (425) for measuring the diameter of the lead screw is installed on the outer wall of the universal wheel (424). A third linear motor (236) for adjusting the clamping force of the tip (233) is installed on the outer wall of the tailstock (23). The third linear motor (236) and the first rangefinder (425) are electrically connected through the control system (14).

4. The high-precision CNC thread grinding machine for planetary lead screws used in humanoid robot joint drive according to claim 1, characterized in that: The head frame (21) is equipped with a limiting rod (44) for limiting the rotation angle of the flipping frame (4), and the bed frame (1) is provided with a collection groove (13) located below the flipping frame (4) on the outer wall.

5. The high-precision CNC thread grinding machine for planetary lead screws used in humanoid robot joint drive according to claim 1, characterized in that: The tailstock (23) has a groove (231) inside. A slider (232) and a push plate (234) are slidably connected in the groove (231). The tip (233) is rotatably connected to the outer wall of the slider (232) via a rotating shaft. A spring (235) is provided between the outer wall of the slider (232) and the push plate (234). The push plate (234) is fixed to the outer wall of the output end of the third linear motor (236).

6. The high-precision CNC thread grinding machine for planetary lead screws used in humanoid robot joint drive according to claim 1, characterized in that: The grinding mechanism includes a bracket (3) slidably connected to the outer wall of the bed frame (1), a second linear motor (12) for driving the bracket (3) to slide is installed on the outer wall of the bed frame (1), a wheel frame (31) is rotatably connected to the outer wall of the bracket (3), and a cutting wheel (321) is rotatably connected to the outer wall of the wheel frame (31).

7. The high-precision CNC thread grinding machine for planetary lead screws used in humanoid robot joint drive according to claim 6, characterized in that: A grinding motor (32) for driving the rotation of the cutter wheel (321) is installed on the outer wall of the wheel frame (31), a scale (311) for reading the tilt angle of the cutter wheel (321) is provided on the outer wall of the wheel frame (31), and a grinding head dresser (33) is provided on the outer wall of the wheel frame (31).

8. The high-precision CNC thread grinding machine for planetary lead screws used in humanoid robot joint drive according to claim 1, characterized in that: The outer wall of the bed frame (1) is equipped with a first linear motor (11) for driving the worktable (2) to slide. An adjusting screw (24) is rotatably connected to the inner wall of the worktable (2). The tailstock (23) is threadedly fitted onto the outer wall of the adjusting screw (24). The outer wall of the headstock (21) is equipped with a torque motor (211) for driving the dial (212) to rotate.

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