High-precision dynamic balance finish machining device for joint output flange of automatic humanoid robot

Abstract

The utility model relates to the technical field of flange machining, and discloses an automatic humanoid robot joint output flange high-precision dynamic balance finish machining device which comprises a machining device body, an instrument arm is installed at the top of the machining device body, a machining arm is installed at the front end of the instrument arm, and a rotary column is rotationally connected into the machining arm. A machining head is slidably connected into the rotating column, mounting holes are formed in the two ends of the machining head correspondingly, and arc-shaped blocks are fixedly connected to the two ends in the machining arm correspondingly. According to the high-precision dynamic balance finish machining device for the joint output flange of the automatic humanoid robot, a worker inserts a machining head into a rotating column and rotates the rotating column after the machining head is inserted, so that the rotating column drives a push block and an inserting rod to rotate, and the push block gradually makes contact with the thick end of an arc-shaped block; and the arc-shaped block pushes the push block to move and drives the push block to be inserted into the mounting hole, and limited mounting of the machining head is completed.

Description

Technical Field

[0001] This utility model relates to the field of flange processing technology, and in particular to a high-precision dynamic balancing and finishing device for an automated humanoid robot joint output flange. Background Technology

[0002] In the field of high-precision dynamic balancing of joint output flanges for automated humanoid robots, with the rapid development of robot technology, the requirements for dynamic balancing accuracy of joint output flanges are becoming increasingly stringent. High-precision dynamic balancing can significantly reduce vibration and noise during robot operation, improve the robot's motion stability, extend its service life, and ensure its precise operation capability in complex tasks.

[0003] Regarding the above-mentioned and existing related technologies, the inventors believe that the following defects often exist: Existing processing devices are often designed with an emphasis on achieving basic processing functions, while insufficient consideration is given to the replaceability of the processing head. The processing head and the main body of the device are usually designed as an integrated unit or connected by a complex fixing structure, such as using multiple sets of bolts for fastening. The arrangement and tightening sequence of the bolts are subject to strict requirements. This design means that when the processing head needs to be replaced, the operator must spend a lot of time disassembling numerous bolts. Furthermore, when reinstalling a new processing head, it is necessary to strictly follow a specific sequence and torque for tightening. Otherwise, the processing head may be unstable and affect the processing accuracy. Utility Model Content

[0004] The technical problem to be solved by this utility model is that the processing head part of the existing technology is generally difficult to improve. To address this, we propose an automated humanoid robot joint output flange high-precision dynamic balancing finishing device.

[0005] To achieve the above objectives, this application adopts the following technical solution: a high-precision dynamic balancing finishing device for the joint output flange of an automated humanoid robot, comprising a processing device body, an instrument arm mounted on the top of the processing device body, a processing arm mounted on the front end of the instrument arm, a rotating column rotatably connected inside the processing arm, a processing head slidably connected inside the rotating column, mounting holes at both ends of the processing head, arc-shaped blocks fixedly connected at both ends inside the processing arm, adjustment grooves at both ends of the rotating column, push blocks slidably connected inside the adjustment grooves, and a plug rod fixedly connected to the side of the push block near the inside of the adjustment groove.

[0006] Preferably, the processing arm has two annular grooves inside, and two annular blocks are fixedly connected to the outer diameter surface of the rotating column. The surface of the annular blocks is slidably connected to the inside of the annular grooves.

[0007] Preferably, limiting holes are provided on both sides of the processing arm, and shrinkage grooves are provided on both sides of the rotating column. A limiting column is slidably connected inside the shrinkage groove. A storage spring is fixedly connected to the side of the limiting column near the inside of the shrinkage groove, and the side of the storage spring away from the limiting column is fixedly connected to the inside of the shrinkage groove.

[0008] Preferably, guide grooves are provided at both ends of the shrinkage groove, and guide blocks are fixedly connected to both ends of the limiting column, with the surface of the guide blocks slidingly connected to the inside of the guide groove.

[0009] Preferably, the size of the insertion rod is adapted to the size of the mounting hole, and the surface of the insertion rod is inserted into the interior of the mounting hole.

[0010] Preferably, both ends of the adjusting groove are provided with sliding grooves, and both ends of the push block are fixedly connected with sliders, the surface of the sliders being slidably connected to the inside of the sliding grooves.

[0011] Preferably, a return spring is fixedly connected to the side of the push block near the inside of the adjustment groove, and the side of the return spring away from the push block is fixedly connected to the inside of the adjustment groove.

[0012] The technical effects and advantages of this utility model are as follows:

[0013] In this invention, the operator inserts a processing head into the rotating column. After the processing head is inserted, the operator rotates the rotating column, causing the rotating column to drive the push block and the insertion rod to rotate. The push block gradually comes into contact with the thicker end of the arc-shaped block, causing the arc-shaped block to push the push block to move and drive the push block to be inserted into the installation hole, thus completing the installation of the processing head. Attached Figure Description

[0014] The disclosure of this utility model is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this utility model. In the drawings, the same reference numerals are used to refer to the same parts:

[0015] Figure 1 This is a schematic diagram of the main structure of this utility model;

[0016] Figure 2 This is a schematic diagram of a partial explosion structure of the present invention;

[0017] Figure 3 This is a partial exploded view of the processing arm of this utility model;

[0018] Figure 4 This is a schematic diagram of the internal structure of the processing arm of this utility model;

[0019] Figure 5 This is a schematic diagram of the partial explosion structure of the rotating column of this utility model.

[0020] Legend: 1. Processing device body; 2. Machine arm; 3. Processing arm; 4. Rotary column; 5. Processing head; 6. Mounting hole; 7. Arc block; 8. Limiting column; 9. Adjusting groove; 10. Push block; 11. Insert rod; 12. Annular groove; 13. Annular block; 14. Limiting hole; 15. Shrinkage groove; 16. Storage spring; 17. Guide groove; 18. Guide block; 19. Slide groove; 20. Sliding block; 21. Return spring. Detailed Implementation

[0021] Based on the technical solution of this utility model, without changing the essential spirit of this utility model, those skilled in the art can propose various interchangeable structural methods and implementation methods. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative descriptions of the technical solution of this utility model, and should not be regarded as the entirety of this utility model or as a limitation or restriction of the technical solution of this utility model.

[0022] Reference Figure 1 - Figure 5 As shown, this utility model provides a technical solution: a high-precision dynamic balancing finishing device for the joint output flange of an automated humanoid robot, including a processing device body 1, an instrument arm 2 installed on the top of the processing device body 1, a processing arm 3 installed at the front end of the instrument arm 2, a rotating column 4 rotatably connected inside the processing arm 3, a processing head 5 slidably connected inside the rotating column 4, mounting holes 6 opened at both ends of the processing head 5, arc blocks 7 fixedly connected at both ends inside the processing arm 3, adjustment grooves 9 opened at both ends of the rotating column 4, a push block 10 slidably connected inside the adjustment groove 9, and a plug rod 11 fixedly connected to the side of the push block 10 near the inside of the adjustment groove 9;

[0023] Specifically: The operator inserts the processing head 5 into the rotating column 4. After the processing head 5 is inserted, the operator rotates the rotating column 4, causing the rotating column 4 to drive the push block 10 and the insertion rod 11 to rotate. The push block 10 gradually comes into contact with the thicker end of the arc-shaped block 7, causing the arc-shaped block 7 to push the push block 10 to move and drive the push block 10 to be inserted into the mounting hole 6, thus completing the installation of the processing head 5.

[0024] Reference Figure 4 and Figure 5 As shown in this embodiment: the processing arm 3 has two annular grooves 12 inside, and two annular blocks 13 are fixedly connected to the outer diameter surface of the rotating column 4. The surface of the annular blocks 13 is slidably connected to the inside of the annular grooves 12.

[0025] Specifically: When the rotating column 4 rotates inside the processing arm 3, the two annular blocks 13 will slide along the corresponding annular grooves 12. This sliding connection design not only ensures the stability of the rotation of the rotating column 4, but also effectively prevents the rotating column 4 from shaking or shifting during the rotation process.

[0026] Reference Figure 4 and Figure 5 As shown in this embodiment: limiting holes 14 are provided on both sides of the processing arm 3, and shrinkage grooves 15 are provided on both sides of the rotating column 4. A limiting column 8 is slidably connected inside the shrinkage groove 15. A storage spring 16 is fixedly connected to the side of the limiting column 8 near the inside of the shrinkage groove 15, and the side of the storage spring 16 away from the limiting column 8 is fixedly connected to the inside of the shrinkage groove 15.

[0027] Specifically: After the operator rotates the rotating column 4 to align the insertion rod 11 with the mounting hole 6, the rotating column 4 drives the limiting column 8 to align with the limiting hole 14. At the same time, the storage spring 16 is released, and under the action of the rebound force of the storage spring 16, the limiting column 8 is quickly inserted into the interior of the limiting hole 14 to limit the rotating column 4.

[0028] Reference Figure 5 As shown in this embodiment: guide grooves 17 are provided at both ends of the shrinkage groove 15, and guide blocks 18 are fixedly connected to both ends of the limiting column 8. The surface of the guide block 18 is slidably connected to the inside of the guide groove 17.

[0029] Specifically: During the sliding of the limiting post 8, the guide block 18 slides along the inner wall of the guide groove 17. The guide groove 17 and the guide block 18 play a guiding and limiting role in the movement of the limiting post 8, avoiding the phenomenon of the limiting post 8 deviating during the movement, and further improving the stability of the movement of the limiting post 8.

[0030] Reference Figure 2 and Figure 5 As shown, in this embodiment: the size of the insertion rod 11 is adapted to the size of the mounting hole 6, and the surface of the insertion rod 11 is inserted into the interior of the mounting hole 6;

[0031] Specifically, the design of the insertion rod 11 ensures that it can be inserted tightly and securely into the mounting hole 6, and is not easy to loosen or fall off. When the insertion rod 11 is fully inserted into the mounting hole 6, it plays a key locking role, making the structure of the entire device more stable and able to withstand greater external forces and loads.

[0032] Reference Figure 5 As shown in this embodiment: both ends of the adjustment groove 9 are provided with sliding grooves 19, and both ends of the push block 10 are fixedly connected with sliders 20, and the surface of the sliders 20 is slidably connected to the inside of the sliding grooves 19.

[0033] Specifically, when the push block 10 moves horizontally, the slider 20 slides smoothly along the inner wall of the groove 19. This design of the groove 19 and the slider 20 not only provides precise guidance for the movement of the push block 10, but also effectively limits the range of movement of the push block 10, preventing it from deviating or shaking during the movement, thereby ensuring the accuracy and stability of the movement of the push block 10.

[0034] Reference Figure 5 As shown, in this embodiment: a return spring 21 is fixedly connected to the side of the push block 10 near the inside of the adjustment groove 9, and the side of the return spring 21 away from the push block 10 is fixedly connected to the inside of the adjustment groove 9.

[0035] Specifically, the reset spring 21 plays a crucial role. After the push block 10 moves horizontally and reaches the designated position, the reset spring 21 can use its own elastic potential energy to provide a reverse thrust to the push block 10, enabling it to quickly and smoothly return to the initial state. This design not only improves the response speed and stability of the push block 10, but also effectively extends the service life of the device. At the same time, the fixed connection between the reset spring 21, the push block 10, and the adjusting groove 9 ensures its reliability and safety during operation, avoiding device failure caused by loosening or falling off.

[0036] Working principle: The operator inserts the processing head 5 into the rotating column 4. After the processing head 5 is inserted, the operator rotates the rotating column 4, which causes the push block 10 and the insertion rod 11 to rotate. The push block 10 gradually comes into contact with the thicker end of the arc-shaped block 7, causing the arc-shaped block 7 to push the push block 10 to move and insert the push block 10 into the mounting hole 6, thus completing the installation of the processing head 5.

[0037] The technical scope of this utility model is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this utility model, and all such modifications and variations should fall within the protection scope of this utility model.

Claims

1. An automatic high-precision dynamic balancing finishing device for the output flange of a humanoid robot joint, comprising a processing device body, characterized in that: The top of the processing device body is equipped with a machine arm, the front end of the machine arm is equipped with a processing arm, the inside of the processing arm is rotatably connected to a rotating column, the inside of the rotating column is slidably connected to a processing head, both ends of the processing head are provided with mounting holes, both ends of the processing arm are fixedly connected to arc-shaped blocks, both ends of the rotating column are provided with adjustment grooves, the inside of the adjustment grooves is slidably connected to push blocks, and the side of the push blocks near the inside of the adjustment grooves is fixedly connected to an insert rod.

2. The high-precision dynamic balancing finishing device for the output flange of an anthropomorphic robot joint according to claim 1, characterized in that: The processing arm has two annular grooves inside, and two annular blocks are fixedly connected to the outer diameter surface of the rotating column. The surface of the annular blocks is slidably connected to the inside of the annular grooves.

3. The high-precision dynamic balancing finishing device for the output flange of an anthropomorphic robot joint according to claim 1, characterized in that: Both sides of the processing arm are provided with limiting holes, and both sides of the rotating column are provided with shrinkage grooves. A limiting column is slidably connected inside the shrinkage groove. A storage spring is fixedly connected to the side of the limiting column near the inside of the shrinkage groove, and the side of the storage spring away from the limiting column is fixedly connected to the inside of the shrinkage groove.

4. The high-precision dynamic balancing finishing device for the output flange of an anthropomorphic robot joint according to claim 3, characterized in that: Both ends of the shrinkage groove are provided with guide grooves, and both ends of the limiting column are fixedly connected with guide blocks. The surface of the guide block is slidably connected to the inside of the guide groove.

5. The high-precision dynamic balancing finishing device for the output flange of an anthropomorphic robot joint according to claim 1, characterized in that: The size of the insertion rod is adapted to the size of the mounting hole, and the surface of the insertion rod is inserted into the interior of the mounting hole.

6. The high-precision dynamic balancing finishing device for the output flange of an anthropomorphic robot joint according to claim 1, characterized in that: The adjustment groove has sliding grooves at both ends, and the push block has sliders fixedly connected to both ends. The surface of the sliders is slidably connected to the inside of the sliding grooves.

7. The high-precision dynamic balancing finishing device for the output flange of an anthropomorphic robot joint according to claim 1, characterized in that: A reset spring is fixedly connected to the side of the push block near the inside of the adjustment groove, and the side of the reset spring away from the push block is fixedly connected to the inside of the adjustment groove.

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