Electric spindle floating device, electric spindle and robot

Abstract

The present invention provides an electric spindle floating device, an electric spindle and a robot, and relates to the field of electric spindle floating technology. The electric spindle floating device includes a base and a spindle floating connection disk; the spindle floating connection disk is connected to the base through a screw, and the spindle floating connection disk can move axially and radially along the base; a plurality of cylinders are provided on the base, and the openings of the cylinders face the spindle floating connection disk, a piston is provided in the cylinder, a ball is provided on the top of the piston, and a ball seat abutting against the ball is provided on one side of the spindle floating connection disk. The electric spindle includes an electric spindle floating device. The robot includes an electric spindle. The technical effect of good burr removal effect is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of electric spindle floating, and in particular to an electric spindle floating device, an electric spindle and a robot. Background Art

[0002] As the industry has been developing towards Industry 4.0 (intelligent production), my country's Industry 3.0 (fully automated production) goal has not been fully achieved, especially in the front-end grinding process of the foundry industry. Due to the complex and irregular structure of the casting, the surfaces, holes and edges that need to be polished are distributed around the casting, making grinding difficult.

[0003] At present, there are mainly the following methods for deburring castings: using manual grinding to remove burrs on castings has the disadvantages of low production efficiency and high labor intensity; using a fixed trajectory of a manipulator to remove burrs has the disadvantages that the manipulator can only grind the burrs on the castings in a fixed manner, and will not automatically remove the burrs on the castings as the shape of the castings changes, which is easy to damage the castings during deburring. Since the deformation of the castings and the size of the burrs often deviate from the ideal state, it is easy to cause problems such as overcutting of the workpiece surface or inability to remove the burrs. The deburring effect does not meet the requirements, which is not conducive to subsequent processing. If the castings are changed, the operating program of the manipulator must be modified before the castings can be deburred; using a special machine tool to remove burrs on castings according to a fixed trajectory also has the above problems. When the actual contour of the workpiece deviates from the ideal contour size, the tool is easy to cut into the workpiece body, resulting in overcutting of the workpiece.

[0004] Therefore, providing an electric spindle floating device, an electric spindle and a robot with good burr removal effect has become an important technical problem to be solved by those skilled in the art. Summary of the invention

[0005] The object of the present invention is to provide an electric spindle floating device, an electric spindle and a robot, so as to alleviate the technical problem of poor deburring effect of the electric spindle in the prior art.

[0006] In a first aspect, an embodiment of the present invention provides an electric spindle floating device, comprising a base and a spindle floating connection plate;

[0007] The main shaft floating connection plate is connected to the base through a screw, and the main shaft floating connection plate can move axially and radially along the base;

[0008] A plurality of cylinders are provided on the base, and the openings of the cylinders face the main shaft floating connection plate. A piston is provided in the cylinder, a ball is provided on the top of the piston, and a ball seat abutting against the ball is provided on one side of the main shaft floating connection plate.

[0009] In combination with the first aspect, an embodiment of the present invention provides a possible implementation of the first aspect, wherein an air supply channel is provided at one end of the base away from the spindle floating connection plate, and the plurality of cylinders are all connected to the air supply channel;

[0010] An air supply port connected to the air supply channel is provided on the side wall of the base.

[0011] In combination with the first aspect, an embodiment of the present invention provides a possible implementation of the first aspect, wherein an air supply groove is provided at one end of the base away from the main shaft floating connection disk, and a sealing cover is provided at one end of the base away from the main shaft floating connection disk, and the air supply groove and the sealing cover form the air supply channel.

[0012] In combination with the first aspect, an embodiment of the present invention provides a possible implementation of the first aspect, wherein a dust cover is provided at one end of the base close to the spindle floating connection plate.

[0013] In combination with the first aspect, an embodiment of the present invention provides a possible implementation of the first aspect, wherein a seal is provided at one end of the dust cover away from the base, and the inner ring of the seal abuts against the outer ring of the main shaft floating connection plate.

[0014] In combination with the first aspect, an embodiment of the present invention provides a possible implementation of the first aspect, wherein an adapter plate is provided at one end of the base away from the spindle floating connection plate, and a robot flange is connected to the adapter plate.

[0015] In combination with the first aspect, an embodiment of the present invention provides a possible implementation of the first aspect, wherein the adapter plate is detachably connected to the base, and the adapter plate is detachably connected to the robot flange.

[0016] In combination with the first aspect, an embodiment of the present invention provides a possible implementation of the first aspect, wherein the threaded member is a plug screw.

[0017] In a second aspect, an embodiment of the present invention provides an electric spindle, including the electric spindle floating device.

[0018] In a third aspect, an embodiment of the present invention provides a robot comprising the electric spindle.

[0019] Beneficial effects:

[0020] An embodiment of the present invention provides an electric spindle floating device, including a base and a spindle floating connection disk; the spindle floating connection disk is connected to the base through a threaded member, and the spindle floating connection disk can move axially and radially along the base; a plurality of cylinders are provided on the base, and the openings of the cylinders face the spindle floating connection disk, a piston is provided in the cylinder, a ball is provided on the top of the piston, and a ball seat abutting the ball is provided on one side of the spindle floating connection disk.

[0021] When in use, the floating force of the spindle can be kept constant by inflating air into the cylinder. When the size of the workpiece deviates, the tool on the spindle will be subjected to the reaction force of the workpiece, so that the spindle will be subjected to force. The spindle will move axially or radially under the force. When the spindle moves axially, it may compress the piston to shrink into the cylinder. When the spindle moves radially, the spindle will compress the piston and deflect the moving angle relative to the piston. The setting of the ball facilitates the rotation of the spindle, so that the floating connecting plate of the spindle can float under the force of the workpiece, so that the tool and the workpiece can be kept in contact within a certain deviation range, and the contact force between the tool and the workpiece is also kept constant, so that the tool can follow the contour for processing, and the cutting amount is relatively uniform, thereby improving the effect of removing burrs.

[0022] The embodiment of the present invention provides an electric spindle, including an electric spindle floating device. Compared with the prior art, the electric spindle has the above advantages, which will not be described in detail here.

[0023] The embodiment of the present invention provides a robot including an electric spindle. Compared with the prior art, the robot has the above advantages, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 An exploded schematic diagram of an electric spindle floating device provided by an embodiment of the present invention;

[0026] Figure 2 A front view of the electric spindle floating device provided by an embodiment of the present invention;

[0027] Figure 3 for Figure 2 Sectional view of AA in the middle;

[0028] Figure 4 A front view of a base in an electric spindle floating device provided by an embodiment of the present invention;

[0029] Figure 5 for Figure 4 Cross-sectional view of the middle BB;

[0030] Figure 6 A front view of a spindle floating connection plate in an electric spindle floating device provided in an embodiment of the present invention;

[0031] Figure 7 for Figure 6 Cross-sectional view of CC.

[0032] icon:

[0033] 100-base; 110-cylinder; 120-piston; 130-ball; 140-air supply port;

[0034] 200-spindle floating connection plate; 210-ball seat;

[0035] 300-threaded parts;

[0036] 400-air supply channel; 410-air supply groove; 420-sealing cover;

[0037] 500-dust cover;

[0038] 600-seals;

[0039] 700-adapter board;

[0040] 800-Robot flange. DETAILED DESCRIPTION

[0041] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0043] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0044] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] The present invention is further described in detail below through specific embodiments in conjunction with the accompanying drawings.

[0046] See also Figure 1-Figure 7 As shown, an embodiment of the present invention provides an electric spindle floating device, including a base 100 and a spindle floating connection disk 200; the spindle floating connection disk 200 is connected to the base 100 by a screw member 300, and the spindle floating connection disk 200 can move axially and radially along the base 100; a plurality of cylinders 110 are provided on the base 100, and the openings of the cylinders 110 face the spindle floating connection disk 200, a piston 120 is provided in the cylinder 110, a ball 130 is provided on the top of the piston 120, and a ball seat 210 abutting against the ball 130 is provided on one side of the spindle floating connection disk 200.

[0047] When in use, the floating force of the spindle can be kept constant by inflating air into the cylinder 110. When the size of the workpiece deviates, the tool on the spindle will be subjected to the reaction force of the workpiece, so that the spindle will be subjected to force. The spindle will move axially or radially under the force. When the spindle moves axially, it may compress the piston 120 to shrink into the cylinder 110. When the spindle moves radially, the spindle will compress the piston 120 and deflect the moving angle relative to the piston 120. The arrangement of the ball 130 facilitates the rotation of the spindle, so that the spindle floating connecting plate 200 can float under the force of the workpiece, so that the tool and the workpiece can be kept in contact within a certain deviation range, and the contact force between the tool and the workpiece is also kept constant, so that the tool can follow the contour for processing, and the cutting amount is relatively uniform, ensuring the consistency of processing quality.

[0048] Specifically, a plurality of cylinders 110 are disposed in the base 100 , and the floating of the spindle is achieved through the cooperation between the plurality of cylinders 110 and the spindle floating connection plate 200 .

[0049] Specifically, by changing the air pressure in the multiple cylinders 110, the floating force of the electric spindle floating device provided in this embodiment can be adjusted, that is, when the air pressure in the cylinder 110 increases, the tool needs to be subjected to a greater force to float, and vice versa, when the air pressure in the cylinder 110 decreases, the tool is subjected to a smaller force to drive the spindle to float. By utilizing the adjustable floating force function of the electric spindle floating device provided in this embodiment, the size of the floating force can be controlled in real time by the robot. When working on the water outlet position of the workpiece, a larger floating force can be switched, and when working on the seam line of the workpiece, a smaller floating force can be switched. The purpose of changing the cutting amount is achieved by adjusting the floating force, which also greatly reduces the dependence on the robot trajectory.

[0050] The spindle floating connection disk 200 is arranged on the base 100 through the screw member 300, and the spindle floating connection disk 200 can be axially and radially fixed relative to the base 100. Specifically, a through hole is provided on the spindle floating connection disk 200, and the through hole is a light hole, and a threaded hole is provided on the base 100. The screw member 300 passes through the through hole and is screwed into the threaded hole, so that the spindle floating connection disk 200 is connected to the base 100, and the screw member 300 does not press the spindle floating connection disk 200 on the base 100, and the inner diameter of the through hole is larger than the outer diameter of the screw member 300, so that the spindle floating connection disk 200 can move axially and radially relative to the base 100, so that the spindle floating connection disk 200 can float relative to the base 100. The screw member 300 can be a plug screw.

[0051] Among them, a plurality of cylinders 110 are arranged on the base 100, a piston 120 is arranged in the cylinder 110, and a ball 130 is arranged on the top of the piston 120. When the spindle floating connection disk 200 is set on the base 100 through the threaded member 300 and the cylinder 110 is inflated, the ball 130 on the top of the piston 120 can abut against the ball seat 210 on the spindle floating connection disk 200, so that when the spindle floating connection disk 200 deflects relative to the piston 120, the friction force of the spindle floating connection disk 200 is reduced by the ball 130, and the interference of the friction force on the floating force is reduced, thereby improving the floating sensitivity of the electric spindle floating device provided in this embodiment. In addition, by setting the ball 130, the spindle floating disk and the piston 120 can be prevented from getting stuck.

[0052] It should be noted that the outer diameter of the ball seat 210 on the main shaft floating connection plate 200 is smaller than the inner diameter of the cylinder 110, and the distance between the outer wall of the ball seat 210 and the inner wall of the cylinder 110 is greater than the distance between the balls 130, thereby preventing the balls 130 from escaping from the cylinder 110.

[0053] It should also be noted that three cylinders 110 are provided on the base 100, and the three cylinders 110 are evenly distributed along the circumference of the base 100. Among them, four or more cylinders 110 can also be provided on the base 100, and the multiple cylinders 110 are evenly distributed along the circumference of the base 100 to ensure that the floating force is evenly distributed along the axial direction.

[0054] See also Figure 1-Figure 7 As shown, in an optional scheme of this embodiment, an air supply channel 400 is opened at one end of the base 100 away from the main shaft floating connection plate 200, and multiple cylinders 110 are connected to the air supply channel 400; an air supply port 140 connected to the air supply channel 400 is opened on the side wall of the base 100.

[0055] Specifically, an air supply channel 400 is opened on the base 100, and the air supply channel 400 provides power to multiple cylinders 110 at the same time, which is easy to operate and ensures that the air pressure in the multiple cylinders 110 is consistent, which is easy to control and improves the floating stability.

[0056] See also Figure 1-Figure 7 As shown, in an optional scheme of this embodiment, an air supply groove 410 is opened at one end of the base 100 away from the main shaft floating connection disk 200, and a sealing cover 420 is provided at one end of the base 100 away from the main shaft floating connection disk 200, and the air supply groove 410 and the sealing cover 420 form an air supply channel 400.

[0057] Specifically, an air supply groove 410 is opened at one end of the base 100 away from the main shaft floating connection disk 200, and the air supply groove 410 is connected with multiple cylinders 110, and the cylinder 110 is connected with the air supply port 140 on the side wall of the base 100, and the cavity gas flowing in from the air supply port 140 can flow into the air supply groove 410; and a sealing cover 420 is provided at one end of the base 100 away from the main shaft floating connection disk 200, and the sealing cover 420 is fixedly set on the base 100. When the sealing cover 420 is set on the base 100, the sealing cover 420 can close the air supply groove 410, thereby forming an air supply channel 400.

[0058] The air supply groove 410 is annular, and the plurality of cylinders 110 are connected to the air supply groove 410 , so that the air pressure in the plurality of cylinders 110 is consistent.

[0059] See also Figure 1-Figure 7 As shown, in an optional solution of this embodiment, a dust cover 500 is provided at one end of the base 100 close to the main shaft floating connection plate 200 .

[0060] Specifically, a dust cover 500 is provided on the base 100, and the dust cover 500 is provided on one end of the base 100 close to the main shaft floating connecting plate 200. The provision of the dust cover 500 can reduce or even prevent external impurities and dust from entering the cylinder 110, thereby preventing adverse effects on the activities between the piston 120 and the cylinder 110, and preventing adverse effects on the activities between the ball seat 210 and the piston 120 and the ball 130.

[0061] See also Figure 1-Figure 7 As shown, in an optional solution of this embodiment, a seal 600 is provided at one end of the dust cover 500 away from the base 100 , and the inner ring of the seal 600 abuts against the outer ring of the main shaft floating connection plate 200 .

[0062] Specifically, a seal 600 is provided on the dust shield 500 , and the inner ring of the seal 600 can abut against the outer ring of the main shaft floating connection plate 200 to prevent foreign matter or dust in the main shaft direction from entering the cylinder 110 .

[0063] In an optional solution of this embodiment, an adapter plate 700 is provided at one end of the base 100 away from the spindle floating connection plate 200 , and a robot flange 800 is connected to the adapter plate 700 .

[0064] Specifically, one end of the base 100 away from the spindle floating connection plate 200 is connected to the robot flange 800 through the adapter plate 700, so that the electric spindle equipped with the electric spindle floating device is installed on the robot for operation.

[0065] In an optional solution of this embodiment, the adapter plate 700 is detachably connected to the base 100 , and the adapter plate 700 is detachably connected to the robot flange 800 .

[0066] Specifically, the adapter plate 700 is detachably connected to the base 100, and the base 100 can be replaced with different adapter plates 700 for connection according to different robots. Moreover, when the adapter plate 700 is damaged, it can be easily replaced.

[0067] Specifically, the adapter plate 700 and the robot flange 800 are detachably connected, and the adapter plate 700 can be replaced with different robot flanges 800 for connection according to different robots. Moreover, when the adapter plate 700 or the robot flange 800 is damaged, it can be easily replaced.

[0068] This embodiment provides an electric spindle, including an electric spindle floating device.

[0069] Specifically, the electric spindle has the above advantages compared with the prior art, which will not be described in detail here.

[0070] This embodiment provides a robot including an electric spindle.

[0071] Specifically, the robot has the above advantages compared with the prior art, which will not be elaborated here.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An electric spindle floating device, characterized in that: include: A base (100) and a main shaft floating connection plate (200); The main shaft floating connection plate (200) is connected to the base (100) via a threaded member (300), and the main shaft floating connection plate (200) is capable of moving axially and radially along the base (100); A plurality of cylinders (110) are provided on the base (100), and the openings of the cylinders (110) face the main shaft floating connection plate (200). A piston (120) is provided in the cylinder (110), a ball (130) is provided on the top of the piston (120), and a ball seat (210) abutting against the ball (130) is provided on one side of the main shaft floating connection plate (200); An air supply channel (400) is provided at one end of the base (100) away from the main shaft floating connection plate (200), and the plurality of cylinders (110) are all in communication with the air supply channel (400); an air supply port (140) connected to the air supply channel (400) is provided on the side wall of the base (100); An air supply groove (410) is provided at one end of the base (100) away from the main shaft floating connection disk (200), and a sealing cover (420) is provided at one end of the base (100) away from the main shaft floating connection disk (200), and the air supply groove (410) and the sealing cover (420) form the air supply channel (400); The spindle floating connection disk (200) is provided with a through hole, and the through hole is a light hole, and the inner diameter of the through hole is larger than the outer diameter of the threaded member (300), so that the spindle floating connection disk (200) can move axially and radially relative to the base (100).

2. The electric spindle floating device according to claim 1, characterized in that: A dustproof shield (500) is provided at one end of the base (100) close to the main shaft floating connection plate (200).

3. The electric spindle floating device according to claim 2, characterized in that: A sealing member (600) is provided at one end of the dustproof shield (500) away from the base (100), and the inner ring of the sealing member (600) abuts against the outer ring of the main shaft floating connection plate (200).

4. The electric spindle floating device according to claim 1, characterized in that: An adapter plate (700) is provided at one end of the base (100) away from the spindle floating connection plate (200), and a robot flange (800) is connected to the adapter plate (700).

5. The electric spindle floating device according to claim 4, characterized in that: The adapter plate (700) is detachably connected to the base (100), and the adapter plate (700) is detachably connected to the robot flange (800).

6. The electric spindle floating device according to claim 5, characterized in that: The threaded member (300) is a plug screw.

7. An electric spindle, characterized in that: It comprises the electric spindle floating device as described in any one of claims 1-6.

8. A robot, characterized in that: Comprising the electric spindle as claimed in claim 7.

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