Online trimming mechanism of humanoid robot joint lead screw nut machining equipment

Abstract

The utility model provides an online trimming mechanism of humanoid robot joint lead screw nut machining equipment, and belongs to the technical field of machinery. The problem of how to improve the working efficiency of equipment is solved. In the online trimming mechanism of the humanoid robot joint lead screw nut machining equipment, the joint lead screw nut machining equipment comprises a rack, a driving piece with the driving end capable of rotating is arranged on the rack in a sliding mode in the transverse direction, a columnar cutter is fixed to the driving end of the driving piece in the transverse direction, and the online trimming mechanism comprises a grinding wheel. A motor capable of sliding in the longitudinal direction is further arranged on the rack, a grinding wheel is fixed to the driving end of the motor, and the outer edge of the grinding wheel is opposite to the outer side wall of the cutter. According to the online trimming mechanism of the humanoid robot joint lead screw nut machining equipment, the working efficiency of the online trimming mechanism can be guaranteed.

Description

Technical Field

[0001] This utility model belongs to the technical field of thread processing equipment, and relates to an online trimming mechanism for a humanoid robot joint screw nut processing equipment. Background Technology

[0002] The joint screw nut machining equipment is used to process the internal threads of screw nuts. In this equipment, the cutting tool is one of the indispensable components for completing the internal thread machining. Specifically, the cutting tool in the prior art is in the shape of a long bar, and milling grooves are provided on its outer side wall along the axial direction. The milling grooves are spirally arranged along the length direction of the cutting tool.

[0003] Regarding the method of machining internal threads on the inner wall of a workpiece, a high-precision ball screw nut composite grinding device disclosed in Chinese Patent (Authorization Announcement No.: CN117381080B) includes: a mounting base; a second mounting platform is fixedly connected to the front end of the upper surface of the mounting base, and a first mounting platform is fixedly connected to the rear end of the upper surface of the mounting base; a clamping mechanism; an internal grinding mechanism; an external grinding mechanism; the external grinding mechanism is mounted on the upper surface of the first mounting platform; and an auxiliary mechanism. A secondary centering mechanism is provided. When the two auxiliary sleeves are in contact, the detection mechanism obtains information and transmits it to an external controller. The controller then sends a signal to a pusher, which activates the secondary centering mechanism to perform secondary centering of the ball screw nut to be machined. When the two auxiliary sleeves are separated, they can clamp the front ends of the ball screw nut from both left and right directions, offsetting some of the backward thrust during internal thread machining, making the overall clamping more stable. The tap disclosed in this prior art is equivalent to a cutting tool.

[0004] However, since the cutting tool needs to be in high-intensity contact with the inner wall of the workpiece for a long time during operation, wear is inevitable after a period of use, so the cutting tool needs to be ground. In this regard, the existing technology often requires the cutting tool to be removed and sent to a grinding machine for clamping and fixing. After being fully ground by the grinding wheel, it is then reassembled.

[0005] While the above methods can achieve the grinding and finishing of cutting tools, they also have significant drawbacks. Specifically, the operator needs to repeatedly disassemble and move the cutting tool, and after the tool is re-clamped, its stability needs to be tested, which is very time-consuming and affects work efficiency. Summary of the Invention

[0006] The purpose of this invention is to address the aforementioned problems in existing technologies by proposing an online trimming mechanism for a humanoid robot joint screw nut processing equipment. The technical problem this invention aims to solve is: how to improve the working efficiency of the equipment.

[0007] The objective of this utility model can be achieved through the following technical solution: an online dressing mechanism for a humanoid robot joint screw nut processing equipment, the joint screw nut processing equipment includes a frame, a drive component with a rotatable drive end is slidably arranged on the frame along the transverse direction, the drive end of the drive component is fixed with a columnar cutter arranged along the transverse direction, the online dressing mechanism includes a grinding wheel, the frame is also provided with a motor that can slide along the longitudinal direction, the grinding wheel is fixed to the drive end of the motor, and the outer edge of the grinding wheel is opposite to the outer wall of the cutter.

[0008] In the online dressing mechanism of the humanoid robot joint screw nut machining equipment of this application, the humanoid robot joint screw nut machining equipment uses a drive component slidably connected to the frame to clamp the tool. During the machining process, on the one hand, the driving force of the drive component controls the rotation of the tool; on the other hand, the sliding action of the drive component realizes the axial movement of the tool, so that the tool inserted into the workpiece can machine the required internal thread on the inner wall of the workpiece. Based on this, in order to improve the working efficiency of the equipment, this application sets up an online dressing mechanism on the frame. Specifically, the online dressing mechanism includes a grinding wheel and a motor. The grinding wheel is fixed to the drive end of the motor and rotated by the motor. The motor is located on one side of the tool, so that the outer edge of the grinding wheel is opposite to the tool, and the sliding direction of the motor is... The sliding directions of the drive components are arranged in a cross pattern. During thread machining or when tool dressing is required, the operator can move the drive components to the predetermined machining position of the tool, and then control the motor to move the grinding wheel closer to the tool. Simultaneously, the drive components drive the tool to rotate, and the motor drives the grinding wheel to rotate. When the grinding wheel contacts the outer wall of the tool, the tool is ground. By controlling the feed rate of the motor and the drive components, fine grinding of different parts of the tool in the axial direction can be completed. Compared with existing technologies, tool grinding and dressing can be completed without disassembling the tool, eliminating the need for repeated tool disassembly and relocation, and reducing the time spent testing the stability of the tool after installation, effectively improving the operator's work efficiency.

[0009] In the online dressing mechanism of the above-mentioned humanoid robot joint screw nut processing equipment, a loading seat and a processing seat are slidably connected on the frame, and the processing seat is located on one side of the loading seat. The driving component is connected and fixed on the processing seat with the driving end facing the loading seat. The cutting tool can slide with the driving component and be positioned directly above the loading seat. A mounting seat located on one side of the cutting tool is fixed on the loading seat, and the motor is connected to the mounting seat. Specifically, a machining base and a loading base are slidably connected on the frame. The loading base serves as a carrier to support the driving component, and the machining base serves as a carrier to support the motor. This allows the motor and driving component to slide on the frame. The displacement of the machining base enables the transfer of the driving component and the cutting tool, allowing the cutting tool to move directly above the loading base for finishing. Simultaneously, this application assembles a mounting base on the loading base, using the mounting base as a carrier to effectively position the motor. When the loading base moves, it can drive the mounting base, the motor mounted on the mounting base, and the grinding wheel fixed to the motor drive end to continuously approach the cutting tool, thereby achieving the grinding of the cutting tool.

[0010] In the online dressing mechanism of the aforementioned humanoid robot joint screw nut processing equipment, the mounting base includes a horizontal mounting part and a vertical mounting part that are plate-shaped and integrally formed. The mounting base is fixed to the loading seat through the horizontal mounting part. An adjustment seat is provided on the side of the vertical mounting part facing the tool. The motor is fixed to the adjustment seat, and the adjustment seat is rotatably connected to the vertical mounting part so that the drive end of the motor can swing up and down. As is known from the prior art, there are various types of tools, and different tools have different dressing requirements. The most obvious difference is the different helix angle of the milling groove on the outer surface of the tool. In this application, the motor is supported by an adjustment seat. Before processing, the operator can rotate the adjustment seat relative to the vertical mounting part of the mounting base to adjust the angle of the motor and the grinding wheel. In particular, for the grinding wheel, the rotation of the adjustment seat is essentially used to adjust the tilt of the grinding wheel so that the grinding angle of the grinding wheel is the same as the helix angle of the milling groove of the tool, thereby ensuring that the online dressing mechanism of the humanoid robot joint screw nut processing equipment has higher applicability.

[0011] In the online dressing mechanism of the aforementioned humanoid robot joint screw nut processing equipment, the adjusting seat is hinged to the vertical mounting part. The adjusting seat has a horizontally extending mounting port for fixing the motor. The vertical mounting part has locking holes extending through its two sides. These locking holes are elongated and curved, and a positioning bolt, screwed to the adjusting seat, passes through each locking hole. Furthermore, the adjusting seat uses the mounting port to support the motor. During adjustment, the positioning bolt, screwed to the adjusting seat, slides within the locking hole in the vertical mounting part. The positioning bolt is guided by the hole wall. After adjustment, the positioning bolt is tightened inwards, using the threaded locking force to position the adjusting seat, ensuring the positioning stability of the grinding wheel during processing.

[0012] In the online dressing mechanism of the aforementioned humanoid robot joint screw nut processing equipment, the adjusting seat has a hinge portion protruding from its outer side wall on the side facing the grinding wheel. The hinge portion and the vertical mounting portion are hinged together by a hinge member. Specifically, the hinge portion and the hinge pin are used to achieve the hinge between the adjusting seat and the mounting seat.

[0013] In the online dressing mechanism of the aforementioned humanoid robot joint screw nut processing equipment, the adjusting seat has a connecting part protruding from its outer wall on the side facing away from the grinding wheel. A hinge seat is fixed to the top of the vertical mounting part, and a swing rod is hinged to the hinge seat. The swing rod is located on the side of the vertical mounting part facing away from the grinding wheel. A connecting block is fixed to the outer wall of the connecting part, and a sliding block is rotatably connected to the connecting block, and the sliding block is slidably connected to the swing rod. During the adjustment process, the operator can hold the free end of the swing rod and pull it upwards or press it downwards, using the swing of the swing rod to squeeze, push, or pull the sliding block, thereby causing the sliding block to drive the adjusting seat to rotate relative to the vertical mounting part of the mounting seat, achieving adaptive adjustment of the grinding angle of the grinding wheel.

[0014] In the online dressing mechanism of the aforementioned humanoid robot joint screw nut processing equipment, a sliding hole is vertically formed on the upper edge of the sliding block, and the swing rod passes through the sliding hole. This allows the sliding block to be slidably connected to the swing rod.

[0015] Compared with existing technologies, the online dressing mechanism of the humanoid robot joint screw nut processing equipment has the following advantages:

[0016] 1. By setting up an online dressing mechanism on the machine frame, the tool can be dressed and ground during the processing gap of the joint screw nut processing equipment or when the tool needs to be dressed and ground. This can be done without disassembling and moving the tool, reducing unnecessary disassembly and adjustment steps and ensuring that the processing efficiency of the equipment is not affected.

[0017] 2. By adjusting and positioning the angle of the grinding wheel, this online dressing mechanism can be used with tools that produce threads with different helix angles, thus improving its adaptability. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the joint screw nut processing equipment.

[0019] Figure 2 This is a schematic diagram of the structure of the joint screw nut processing equipment.

[0020] Figure 3 This is a schematic diagram of the online trimming mechanism.

[0021] Figure 4 This is a structural diagram of an online repair facility from another perspective.

[0022] Figure 5 This is a structural diagram of the mounting base.

[0023] Figure 6 This is a schematic diagram of the adjustment seat.

[0024] Figure 7 This is a schematic diagram of the adjustment seat.

[0025] In the diagram, 1 is the frame; 11 is the drive unit; 12 is the motor; 2 is the loading seat; 3 is the processing seat; 4 is the mounting seat; 41 is the locking hole; 42 is the hinge seat; 421 is the swing arm; 5 is the adjusting seat; 51 is the mounting port; 52 is the hinge part; 53 is the connecting part; 531 is the connecting hole; 6 is the connecting block; 61 is the sliding block; 611 is the sliding hole; 7 is the cutting tool; 8 is the grinding wheel; and 9 is the positioning bolt. Detailed Implementation

[0026] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0027] like Figure 1 and Figure 2As shown, in the online trimming mechanism of the humanoid robot joint screw nut processing equipment, the joint screw nut processing equipment includes a frame 1. A loading seat 2 and a processing seat 3 are slidably connected on the frame 1 through a screw nut. The screw nut drive is a conventional technical means in this field, so the specific structure of this part will not be described in detail in this embodiment. The processing seat 3 is specifically located on one side of the loading seat 2. The loading seat 2 can slide and be positioned along the Z-axis of the frame 1, and the processing seat 3 can slide and be positioned along the X-axis of the frame 1. A driving component 11 is fixed on the processing seat 3 by fasteners. The driving end of the driving component 11 is horizontally set and faces the loading seat 2. A long rod-shaped cutting tool 7 is connected and fixed to the driving section of the driving component 11. As the driving component 11 moves closer to the loading seat 2 with the processing seat 3, the cutting tool 7 can eventually be horizontally positioned directly above the processing seat 3. Specifically, the driving component 11 can be a motor or a rotary cylinder.

[0028] Combination Figure 3-7 The online trimming mechanism includes a mounting base 4 fixed to the loading seat 2 by fasteners. The mounting base 4 is located on one side of the cutter 7. Specifically, it includes a horizontally arranged horizontal mounting part 41 and a vertically arranged vertical mounting part 42. The horizontal mounting part 41 is locked to the loading seat 2 by screws. The online trimming mechanism also includes an adjusting seat 5 and a horizontally arranged motor 12. The adjusting seat 5 has a mounting port 51 opened horizontally. The motor 12 is fixed in the mounting port 51 and its two ends protrude from the two ends of the mounting port 51. The motor 12 is mounted on the outer wall of the adjusting seat 5. The length direction of the mounting opening 51 is provided with a deformation slot that penetrates the inner wall of the mounting opening 51. The existence of the deformation slot makes the inner diameter of the mounting opening 51 slightly larger than the outer diameter of the motor 12, ensuring that the motor 12 can be smoothly inserted. Then, by fasteners passing through the deformation slot and continuously locking it, the deformation slot deforms, achieving the purpose of clamping the outer wall of the motor 12 through the inner wall of the mounting opening 51. The online dressing mechanism also includes a grinding wheel 8 fixed to the drive end of the motor 12. Thanks to the arrangement of the motor 12, the grinding wheel 8 is arranged vertically and its outer edge is opposite to the outer wall of the tool 7.

[0029] The adjusting seat 5 has an outwardly protruding hinge portion 52 on the side wall near the grinding wheel 8. The hinge portion 52 has a hinge hole. A corresponding hinge auxiliary hole is provided on the plate surface of the vertical mounting part 42 near one side edge. The adjusting seat 5 and the vertical mounting part 42 are sequentially inserted through the hinge hole and the hinge auxiliary hole by a hinge pin. Then, a nut or threaded sleeve that is screwed to the hinge pin is provided on the other side plate surface of the vertical mounting part 42, thereby realizing the rotatable connection of the adjusting seat 5 to the vertical mounting part 42.

[0030] On the side wall of the adjusting seat 5 facing away from the grinding wheel 8, there is a connecting part 53 with an outward protrusion. A connecting hole 531 is provided on the side wall of the connecting part 53 opposite to the plate surface of the vertical mounting part 42. A locking hole 421 is provided on the plate surface of the vertical mounting part 42 near the other edge. The locking hole 421 is specifically elongated and curved into an arc shape. A positioning bolt 9 passes through the locking hole 421 and is screwed into the connecting hole 531. It is worth mentioning that there can be several connecting holes 531. Several connecting holes 531 are all opposite to the locking hole and are spaced apart along the length direction of the locking hole 421.

[0031] A hinge seat 422 is fixed at the top of the vertical mounting part 42. The hinge seat 422 is specifically located near the side of the vertical mounting part 42 facing away from the grinding wheel 8. A swing rod 4221 located on one side of the vertical mounting part 42 is hinged in the hinge seat 422. Specifically, a hinge block is rotatably connected to the hinge seat 422 by a pin. The swing rod 4221 is fixed to the hinge block by screwing, interference fit, or direct welding. A connecting block 6 is screwed to the outer wall of the connecting part 53 by fasteners. A sliding block 61 is rotatably connected to the side wall of the connecting block 6 by fasteners. A sliding hole 611 is opened vertically along the upper and lower ends of the sliding block 61. The swing rod 4221 passes through the sliding hole 611 and its outer peripheral wall is in contact with the inner peripheral wall of the sliding hole 611.

[0032] Operating principle: The operator drives the machining seat 3 to move the drive component 11 and the cutting tool 7 on the drive component 11 to the designated position (that is, the cutting tool 7 is directly above the loading seat 2). Then, the drive component 11 and the motor 12 are started at the same time. At this time, the cutting tool 7 and the grinding wheel 8 are rotating. When the angle of the grinding wheel 8 matches the thread helix angle on the outer surface of the cutting tool 7, the loading seat 2 drives the mounting seat 4, the adjusting seat 5, the motor 12 and the grinding wheel 8 to continuously approach the cutting tool 7 until the outer edge of the grinding wheel 8 contacts the outer wall of the cutting tool 7, thereby achieving one grinding of the cutting tool 7. Then, the loading seat 2 and the machining seat 3 are reasonably controlled to move forward and backward, and different parts of the cutting tool 7 are ground using the same grinding method.

[0033] For tools 7 with different thread helix angles, after loosening the positioning bolt 9 appropriately, the operator can hold the swing arm 4221 and pull it upward or press it downward as needed, so that the adjusting seat 5 rotates around the hinge. At this time, the motor 12 and the grinding wheel 8 connected to the drive end of the motor 12 can be affected and rotate synchronously with a small amplitude. Under the premise of ensuring that the grinding angle of the grinding wheel 8 matches the thread helix angle of the tool 7, tighten the positioning bolt 9 so that the adjusting seat 5, the motor 12 and the grinding wheel 8 are kept in position. Then, the tool 7 can be ground and dressed in the aforementioned operation method.

[0034] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

[0035] Although this document frequently uses terms such as frame 1, drive component 11, motor 12, loading seat 2, processing seat 3, mounting seat 4, horizontal mounting part 41, vertical mounting part 42, locking hole 421, hinge seat 422, swing rod 4221, adjusting seat 5, mounting port 51, hinge part 52, connecting part 53, connecting hole 531, connecting block 6, sliding block 61, sliding hole 611, cutting tool 7, grinding wheel 8, and positioning bolt 9, the possibility of using other terms is not excluded. The use of these terms is merely for the convenience of describing and explaining the essence of this utility model; interpreting them as any kind of additional limitation would contradict the spirit of this utility model.

Claims

1. An online dressing mechanism for a humanoid robot joint screw nut processing equipment, the joint screw nut processing equipment including a frame (1), a drive member (11) with a rotatable drive end is slidably arranged on the frame (1) along the transverse direction, the drive end of the drive member (11) is fixed with a columnar cutter (7) arranged along the transverse direction, the online dressing mechanism including a grinding wheel (8), characterized in that, The frame (1) is also equipped with a motor (12) that can slide longitudinally. The grinding wheel (8) is fixed to the drive end of the motor (12), and the outer edge of the grinding wheel (8) is opposite to the outer wall of the tool (7).

2. The online dressing mechanism of the humanoid robot joint screw nut processing equipment according to claim 1, characterized in that, The frame (1) is slidably connected to a loading seat (2) and a processing seat (3), and the processing seat (3) is located on one side of the loading seat (2). The driving component (11) is connected and fixed to the processing seat (3) with its driving end facing the loading seat (2). The cutting tool (7) can slide with the driving component (11) and be positioned directly above the loading seat (2). The loading seat (2) is fixed with a mounting seat (4) located on one side of the cutting tool (7). The motor (12) is connected to the mounting seat (4).

3. The on-line dressing mechanism of anthropomorphic robot joint screw-nut machining apparatus according to claim 2, wherein, The mounting base (4) includes a horizontal mounting part (41) and a vertical mounting part (42) that are plate-shaped and integrally formed. The mounting base (4) is fixed to the loading base (2) through the horizontal mounting part (41). The vertical mounting part (42) has an adjustment seat (5) on the side facing the cutter (7). The motor (12) is fixed to the adjustment seat (5). The adjustment seat (5) is rotatably connected to the vertical mounting part (42) so that the drive end of the motor (12) can swing up and down.

4. The on-line dressing mechanism of anthropomorphic robot joint screw-nut machining apparatus according to claim 3, wherein, The adjusting seat (5) is hinged to the vertical mounting part (42). The adjusting seat (5) has a mounting port (51) for fixing the motor (12) along the horizontal direction. The vertical mounting part (42) has a locking hole (421) that passes through its two sides. The locking hole (421) is long and curved. A positioning bolt (9) that is screwed to the adjusting seat (5) passes through the locking hole (421).

5. The on-line dressing mechanism of anthropomorphic robot joint screw-nut machining apparatus according to claim 4, wherein, The adjusting seat (5) has a hinge portion (52) protruding from its outer side wall on the side facing the grinding wheel (8), and the hinge portion (52) and the vertical mounting portion (42) are hinged together by a hinge member.

6. The on-line dressing mechanism of anthropomorphic robot joint screw-nut machining apparatus according to claim 3 or 4 or 5, characterized in that, The adjusting seat (5) has a connecting part (53) protruding from its outer side wall on the side opposite to the grinding wheel (8). The top of the vertical mounting part (42) is fixed with a hinge seat (422). A swing rod (4221) is hinged in the hinge seat (422), and the swing rod (4221) is located on the side of the vertical mounting part (42) opposite to the grinding wheel (8). A connecting block (6) is fixed on the outer wall of the connecting part (53). A sliding block (61) is rotatably connected to the connecting block (6), and the sliding block (61) is slidably connected to the swing rod (4221).

7. The online dressing mechanism of the humanoid robot joint lead screw nut processing equipment according to claim 6, characterized in that, The sliding block (61) has a vertical sliding hole (611) on its upper edge, and the swing rod (4221) passes through the sliding hole (611).

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