A worm manufacturing cutter applied to a humanoid robot dexterous hand

Abstract

The utility model relates to the field of machining, disclose a kind of applied to anthropomorphic robot dexterous hand worm manufacturing cutter, including tool holder, the front of tool holder is provided with cutter head, the front surface of cutter head is fixedly installed with multiple groups cyclone milling cutter by mounting assembly annular array, the center of multiple groups cyclone milling cutter is all provided with mounting hole, the front surface of cutter head is close to the outer ring annular array and is provided with multiple groups cutter groove of providing multiple groups cyclone milling cutter installation space, mounting assembly includes mounting disc and multiple groups limit hole, multiple groups limit hole are respectively set in the inner wall of multiple groups cutter groove and open towards front direction.In the utility model, by pushing mounting disc and driving multiple groups limit rod to insert into corresponding limit hole, multiple groups cyclone milling cutter can be quickly installed, the stability of installation is increased by conical limit rod, without installing or removing bolt one by one, shorten the installation time, reduce the labor intensity of worker, improve dismounting efficiency and processing efficiency.

Description

Technical Field

[0001] This utility model relates to the field of machining, and in particular to a cutting tool for manufacturing worm gears for dexterous hands of humanoid robots. Background Technology

[0002] With the rapid development of robotics technology, humanoid robots, due to their highly anthropomorphic form and function, have shown great application potential in many fields such as service, entertainment, education, and healthcare. As a key component for humanoid robots to interact with the external environment, the performance of the dexterous hand directly determines the robot's operational flexibility and precision. The worm gear of the dexterous hand is an important component of the dexterous hand's transmission system, and its machining accuracy and quality have a crucial impact on the dexterous hand's motion accuracy, stability, and service life.

[0003] In the traditional manufacturing process of worm gears for humanoid robot dexterous hands, the manufacturing of worm gears requires frequent tool changes based on worm gear parameters or wear. However, traditional milling cutters are usually installed in the cutter slot with bolts. When installing and disassembling multiple milling cutters, multiple bolts need to be tightened one by one, which takes a lot of time. This makes the installation process cumbersome, consumes a lot of time and manpower, reduces the efficiency of milling cutter installation and disassembly, and thus reduces the processing efficiency. To address this issue, a new tool for manufacturing worm gears for humanoid robot dexterous hands is proposed. Utility Model Content

[0004] To overcome the above shortcomings, this utility model provides a cutting tool for manufacturing worm gears for dexterous hands of humanoid robots, aiming to solve the problem in the prior art that "traditional milling cutters are installed and disassembled one by one by multiple bolts, resulting in a cumbersome installation process, a lot of time and manpower consumption, and low disassembly and assembly efficiency."

[0005] To achieve the above objectives, this utility model adopts the following technical solution: a tool for manufacturing worm gears for dexterous hands of humanoid robots, comprising a tool holder, a tool disc at the front of the tool holder, and multiple sets of whirl cutters fixedly mounted on the front surface of the tool disc via a ring array of mounting components. Each set of whirl cutters has a mounting hole at its center. The front surface of the tool disc, near the outer ring array, has multiple sets of tool slots providing mounting space for the multiple sets of whirl cutters. The mounting components include a mounting plate and multiple sets of limiting holes. The multiple sets of limiting holes are respectively formed on the inner wall of the multiple sets of tool slots and their openings face forward. The outer ring of the disc is fixedly connected to multiple sets of connecting blocks. Each set of connecting blocks has a limiting rod fixedly connected to its rear surface at the end furthest from the mounting disc. Each set of limiting rods passes through the inner wall of the mounting hole and is inserted into the inner wall of the limiting hole, for quick installation of the multiple sets of cyclone milling cutters. The front surface of the center of the cutter disc has a threaded hole. The center of the mounting disc is fixedly mounted on the front surface of the cutter disc by bolts. The bolts pass through the mounting disc and are threaded into the inner wall of the threaded hole. The front surfaces of the mounting disc and the bolts are provided with positioning components to limit the bolts and prevent them from loosening.

[0006] As a further description of the above technical solution:

[0007] The positioning component includes a positioning block and a limiting block. The positioning block is rotatably connected to the left side of the front surface of the cutter head near the center. The right end of the limiting block is inserted into the inner wall of the positioning groove and contacts and adheres to the front surface of the bolt, which is used to limit the bolt and prevent it from loosening outward.

[0008] As a further description of the above technical solution:

[0009] The end of the limiting rod near the connecting block is cone-shaped.

[0010] As a further description of the above technical solution:

[0011] A groove is provided on the right side of the front part of the cutter head near the center. The limiting block is slidably connected to the inner wall of the groove and extends outward to the outside of the front surface of the cutter head.

[0012] As a further description of the above technical solution:

[0013] The front surface of the limiting block has a positioning groove near the left side, and the rear surface of the limiting block is elastically connected to the cutter head by a spring.

[0014] As a further description of the above technical solution:

[0015] The limiting block penetrates the front surface of the mounting plate, and the front surface of the mounting plate has a through groove.

[0016] As a further description of the above technical solution:

[0017] The through slot is vertically positioned at the front of the positioning block and is adapted to the circular block.

[0018] As a further description of the above technical solution:

[0019] The positioning block is designed as an L-shape composed of a cylinder and a circular block, with the cylinder rotatably connected to the inner wall of the cutter head and the circular block rotating at the front of the cutter head.

[0020] This utility model has the following beneficial effects:

[0021] 1. In this utility model, multiple sets of cyclone milling cutters are respectively sleeved on the outer wall of the limiting rod, aligned with the tool groove and adjusted into the tool groove. Then, by pushing the mounting plate, multiple sets of limiting rods are inserted into the corresponding limiting holes, which can quickly install multiple sets of cyclone milling cutters. At the same time, the conical-shaped limiting rods increase the stability of the installation. There is no need to install or remove bolts one by one, which shortens the installation time, reduces the labor intensity of workers, and improves the disassembly and assembly efficiency and processing efficiency.

[0022] 2. In this utility model, the positioning block rotates to make its left end round block rotate to the front surface of the bolt, and after the spring is inserted into the positioning groove, the limiting block is reset to achieve the positioning of the positioning block. At this time, the bolt can be limited, which effectively prevents the bolt from loosening due to vibration during processing, and ensures the stability of the tool during high-speed rotation and cutting process. This greatly improves the processing accuracy of the dexterous worm gear, reduces processing errors, and improves product quality. Attached Figure Description

[0023] Figure 1 This is a three-dimensional structural diagram of the overall device in this utility model;

[0024] Figure 2 This is a three-dimensional structural diagram of the cutter head and mounting plate in this utility model;

[0025] Figure 3 This is a three-dimensional structural breakdown diagram of the cutter head, whirl milling cutter, and mounting plate in this utility model;

[0026] Figure 4 This is a cross-sectional view and disassembled schematic diagram of the three-dimensional structure of the cutter head in this utility model.

[0027] Legend:

[0028] 1. Tool holder; 2. Tool head; 3. Mounting assembly; 4. Positioning assembly; 21. Cyclone end mill; 22. Tool groove; 23. Mounting hole; 31. Mounting plate; 32. Limiting rod; 33. Connecting block; 34. Bolt; 35. Limiting hole; 36. Threaded hole; 41. Limiting block; 42. Positioning groove; 43. Positioning block; 44. Through groove; 45. Sliding groove; 46. Spring. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0030] Reference Figure 1 , Figure 3 and Figure 4 This utility model provides an embodiment of a tool for manufacturing the worm gear of a humanoid robot's dexterous hand. It includes a tool holder 1, a tool disc 2 at the front of the tool holder 1, and multiple sets of whirl cutters 21 fixedly mounted on the front surface of the tool disc 2 via a ring array of mounting components 3. These cutters are used to achieve high-precision cutting of the dexterous hand worm gear. Each set of whirl cutters 21 has a mounting hole 23 at its center, providing a through channel for a limiting rod 32. The front surface of the tool disc 2 has multiple sets of tool grooves 22 near the outer ring array, providing mounting space for the multiple sets of whirl cutters 21. These grooves are used for initial positioning of the whirl cutters 21 and limiting their position. The mounting assembly 3 includes a mounting plate 31 and multiple sets of limiting holes 35. The multiple sets of limiting holes 35 are respectively opened on the inner wall of multiple sets of tool grooves 22 with their openings facing forward. The limiting holes 35 are used to cooperate with the limiting rods 32 to achieve the fixed installation of the cyclone milling cutter 21. Multiple sets of connecting blocks 33 are fixedly connected to the outer ring of the mounting plate 31 in a ring array. The connecting blocks 33 are used to connect the mounting plate 31 and the limiting rods 32 and transmit the fastening force. The rear surface of the multiple sets of connecting blocks 33 away from the mounting plate 31 is fixedly connected to the limiting rods 32. The limiting rods 32 are used to penetrate the mounting hole 23 of the cyclone milling cutter 21 and insert into the limiting hole 35 to achieve positioning.

[0031] Furthermore, multiple sets of limiting rods 32 respectively penetrate the inner wall of the mounting hole 23 and are respectively inserted into the inner wall of the multiple sets of limiting holes 35, for quick installation of multiple sets of cyclone milling cutters 21. The front surface of the center of the cutter head 2 is provided with a threaded hole 36, which is used to cooperate with the bolt 34 to fix the mounting plate 31. The center of the mounting plate 31 is fixedly installed on the front surface of the cutter head 2 by the bolt 34, which is used to fasten the mounting plate 31 to the cutter head 2 and at the same time quickly fix the multiple sets of cyclone milling cutters 21. The bolt 34 penetrates the mounting plate 31 and is threaded into the inner wall of the threaded hole 36. The front surfaces of the mounting plate 31 and the bolt 34 are provided with positioning components 4, which are used to limit the bolt 34 to prevent it from loosening. The end of the limiting rod 32 near the connecting block 33 is set in a conical shape. The conical shape can squeeze the inner wall of the mounting hole 23 so that it always contracts inward, further improving the stability of the installation.

[0032] Reference Figure 2 , Figure 3 and Figure 4 The positioning component 4 includes a positioning block 43 and a limiting block 41. The positioning block 43 is rotatably connected to the left side of the front surface of the cutter head 2 near the center. The positioning block 43 and the limiting block 41 cooperate to provide double limiting for the bolt 34. The right end of the limiting block 41 is inserted into the inner wall of the positioning groove 42 and contacts and adheres to the front surface of the bolt 34 to limit the bolt 34 and prevent it from loosening outward. A sliding groove 45 is provided on the right side of the front part of the cutter head 2 near the center, providing space for the spring 46 to move and also providing space for the limiting block. The sliding space 41 has a limiting block 41 that is slidably connected to the inner wall of the slide groove 45. The limiting block 41 extends outward to the front surface of the cutter head 2 and outward to the front surface of the mounting plate 31. After the positioning block 43 rotates, it is inserted into the positioning groove 42 to limit the bolt 34 and prevent the bolt 34 from loosening. The front surface of the limiting block 41 has a positioning groove 42 near the left side. The left end of the L-shaped positioning block 43 is inserted into the positioning groove 42 to limit the bolt 34 and prevent the bolt 34 from moving outward and becoming loose.

[0033] Furthermore, the rear surface of the limiting block 41 is elastically connected to the cutter head 2 by a spring 46. By pressing the limiting block 41 inward, the positioning groove 42 can be moved inward, thereby releasing the limiting of the positioning block 43. At this time, the positioning block 43 can be rotated to align with the through groove 44, and the mounting plate 31 can be removed, thus facilitating the quick and easy removal and replacement of multiple sets of cyclone milling cutters 21. The limiting block 41 penetrates the front surface of the mounting plate 31, and the front surface of the mounting plate 31 has a through groove 44, which provides a through passage for the positioning block 43. The through groove 44 is vertically set at the front of the positioning block 43 and matches the round block. The positioning block 43 is designed as an L-shape composed of a cylinder and a round block. The cylinder is rotatably connected to the inner wall of the cutter head 2, and the round block rotates at the front of the cutter head 2. The L-shaped positioning block 43 is supported by the cylinder, and the round block blocks the front surface of the bolt 34 to limit its position, so that the bolt 34 is stably installed and prevents it from loosening and moving outward, thereby increasing the stability of the installation.

[0034] Working principle: In use, first, the cyclone milling cutter 21 is inserted through and sleeved onto the outer wall of the limiting rod 32. Then, the moving mounting plate 31 drives multiple sets of cyclone milling cutters 21 into the cutter groove 22. After adjustment, the cutter groove 22 is initially positioned. At this time, the mounting hole 23 in the center of the cyclone milling cutter 21 corresponds to the limiting hole 35 on the inner wall of the cutter groove 22. Then, the mounting plate 31 is pushed to drive the limiting rod 32 into the limiting hole 35. The conical end of the limiting rod 32 near the connecting block 33 will squeeze the inner wall of the mounting hole 23, causing it to contract inward, further improving the installation stability. At this time, the central bolt 34 is inserted through the mounting plate 31 and screwed into the threaded hole 36 of the cutter disc 2 for installation. While the mounting plate 31 is fastened to the cutter head 2, multiple sets of cyclone milling cutters 21 are quickly fixed. Finally, by pressing the limiting block 41 inward, it slides in the slide groove 45 and compresses the spring 46. Then, the positioning block 43 is rotated so that its left end is aligned with the positioning groove 42. After releasing the pressure on the limiting block 41, the limiting block 41 is reset by the elastic force of the spring 46. Then, the left end of the positioning block 43 is inserted into the positioning groove 42 opened on the left side of the front surface of the limiting block 41. At this time, the positioning block 43 contacts and blocks the front surface of the bolt 34. The bolt 34 is double-limited by the cooperation of the positioning block 43 and the limiting block 41, so that the bolt 34 is stably installed and prevented from loosening and moving outward.

[0035] When it is necessary to remove and replace the cyclone milling cutter 21, press the limiting block 41 inward to move the positioning groove 42 inward, release the limiting of the positioning block 43, rotate the positioning block 43 to align with the through groove 44, then unscrew the bolt 34 and remove the mounting plate 31 to achieve quick removal and replacement of the cyclone milling cutter 21.

[0036] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model 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 utility model should be included within the protection scope of the present utility model.

Claims

1. A tool for manufacturing worm for dexterous hand of humanoid robot, comprising a tool holder (1), characterized in that: The front of the tool holder (1) is provided with a tool disc (2). The front surface of the tool disc (2) is fixedly mounted with multiple sets of cyclone milling cutters (21) by a ring array of mounting components (3). Each set of cyclone milling cutters (21) has a mounting hole (23) at its center. The front surface of the tool disc (2) near the outer ring array has multiple sets of tool slots (22) to provide mounting space for the multiple sets of cyclone milling cutters (21). The mounting component (3) includes a mounting plate (31) and multiple sets of limiting holes (35). The multiple sets of limiting holes (35) are respectively opened on the inner wall of the multiple sets of tool slots (22) and their openings face forward. The outer ring array of the mounting plate (31) is fixedly connected with multiple sets of connecting blocks (33). Limiting rods (32) are fixedly connected to the rear surface of the end away from the mounting plate (31). Multiple sets of limiting rods (32) are respectively connected to the inner wall of the mounting hole (23) and respectively inserted into the inner wall of multiple sets of limiting holes (35) for quick installation of multiple sets of cyclone milling cutters (21). A threaded hole (36) is opened on the front surface of the center of the cutter head (2). The center of the mounting plate (31) is fixedly installed on the front surface of the cutter head (2) by bolts (34). The bolts (34) penetrate the mounting plate (31) and are threaded on the inner wall of the threaded hole (36). The front surfaces of the mounting plate (31) and the bolts (34) are provided with positioning components (4) for limiting the bolts (34) to prevent them from loosening.

2. The tool for manufacturing worm of a dexterous hand of a humanoid robot according to claim 1, wherein: The positioning component (4) includes a positioning block (43) and a limiting block (41). The positioning block (43) is rotatably connected to the left side of the front surface of the cutter head (2) near the center. The right end of the limiting block (41) is inserted into the inner wall of the positioning groove (42) and contacts and adheres to the front surface of the bolt (34) to limit the bolt (34) and prevent it from loosening outward.

3. The tool for manufacturing worm of a dexterous hand of a humanoid robot according to claim 1, wherein: The end of the limiting rod (32) near the connecting block (33) is cone-shaped.

4. The tool for manufacturing worm of a dexterous hand of a humanoid robot according to claim 2, wherein: A groove (45) is provided on the right side of the front part of the cutter head (2) near the center. The limiting block (41) is slidably connected to the inner wall of the groove (45) and extends outward to the front surface of the cutter head (2).

5. The tool for manufacturing worm of a dexterous hand of a humanoid robot according to claim 4, wherein: The front surface of the limiting block (41) is provided with a positioning groove (42) near the left side, and the rear surface of the limiting block (41) is elastically connected to the cutter head (2) by a spring (46).

6. The tool for manufacturing worm of a dexterous hand of a humanoid robot according to claim 5, wherein: The limiting block (41) penetrates the front surface of the mounting plate (31), and the front surface of the mounting plate (31) is provided with a through groove (44).

7. The tool for manufacturing worm of a dexterous hand of a humanoid robot according to claim 6, wherein: The through slot (44) is vertically arranged at the front of the positioning block (43) and is adapted to the round block.

8. The tool for manufacturing worm of a dexterous hand of a humanoid robot according to claim 2, wherein: The positioning block (43) is designed as an L-shape composed of a cylinder and a round block, with the cylinder rotatably connected to the inner wall of the cutter head (2) and the round block rotatably connected to the front of the cutter head (2).

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