Electric spindle of industrial robot

Abstract

The motorized spindle of the industrial robot comprises a motorized spindle body, the motorized spindle body is provided with a rack part, and a driving shaft is arranged at the driving end of the motorized spindle body; the mounting seat is provided with a mounting plate, the mounting seat is telescopically provided with a cutter joint, and the driving shaft and the cutter joint are connected in a sleeving manner and are telescopically matched; a driving gear is rotationally connected into the operation shell, the driving gear is meshed with the rack part, the driving gear is in key connection with a rotating shaft, the operation disc is connected with one end of the rotating shaft, an elastic winding piece is arranged between the driving disc and the other end of the rotating shaft, and a limiting frame used for limiting the driving disc is detachably connected to the operation shell; and the locking mechanism is used for locking or releasing the electric spindle body on the corresponding butt joint frame. According to the electric spindle of the industrial robot, workers do not need to operate a dismounting tool for one-by-one dismounting and mounting, dismounting and mounting operation is convenient, the machining precision is improved, and the applicability is good.

Description

Technical Field

[0001] The present invention relates to the technical field of electric spindles, and particularly to an electric spindle for an industrial robot. Background Art

[0002] An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device for the industrial field. It can automatically perform operations and is a machine that realizes various functions by its own power and control ability. The end of the robotic arm of an industrial robot is the operating end, and an electric spindle is usually installed on the operating end. The electric spindle is connected to different processing tools, such as grinding tools, cutting tools, drilling tools, etc., so as to replace different processing tools according to the processing requirements of the workpiece to perform corresponding processing operations. An electric spindle generally consists of components such as a housing, a core shaft, a stator, and a rotor. Among them, the housing is generally fixed to the operating end of the industrial robot by a bolt connection method. When replacing the electric spindle, disassembly tools such as screwdrivers and wrenches need to be used for disassembly operations one by one, and the disassembly and assembly operations are relatively inconvenient. In addition, when the industrial robot uses the electric spindle to perform operations such as grinding and cutting on the workpiece, when the electric spindle rotates at a high speed, vibrations may be generated due to imbalance, cutting force fluctuations, etc. The vibrations generated by the tool are directly transmitted to the robotic arm of the industrial robot, affecting the processing accuracy. Summary of the Invention

[0003] The purpose of the present invention is to design an electric spindle for an industrial robot to solve the above-mentioned technical deficiencies, which does not require the operator to use disassembly tools for disassembly and assembly one by one, the disassembly and assembly operations are relatively convenient, and the processing accuracy is improved, and the applicability is better.

[0004] To solve the above technical problems, the technical solution of the present invention is: an electric spindle for an industrial robot, comprising:

[0005] An electric spindle body, a travel groove is provided on the side wall of the electric spindle body, a rack portion is provided in the travel groove, and a drive shaft is provided at the drive end of the electric spindle body;

[0006] Mounting base, the mounting base is provided with a mounting plate connected to an industrial robot, a protective plate is telescopically arranged on a side wall of the mounting base close to the mounting plate, the protective plate is provided with a first elastic telescopic member, so that the protective plate has a tendency to protrude outwards, a tool joint is rotatably connected to the protective plate, two docking frames arranged at intervals are arranged on the mounting base, a docking hole for inserting the main body of the electric spindle is formed through the docking frame, the main body of the electric spindle sequentially passes through the two docking holes towards the side close to the tool joint, a driving groove for inserting the driving shaft is formed in the tool joint, at least one driving surface is formed on an outer wall of the driving shaft, an inner wall of the driving groove abuts against the driving surface, the driving shaft is sleeved and telescopically matched with the tool joint, and a stroke spacing is reserved between an inner wall of the driving groove and an end surface of the driving shaft;

[0007] Operation shell, the operation shell is fixedly connected to the two docking frames, a side wall of the operation shell close to the docking hole is provided with an opening, a driving gear is rotatably connected in the operation shell, the driving gear extends out of the opening of the operation shell and is located in the stroke groove, the driving gear is meshed with the rack portion, a rotating shaft is key-connected to the driving gear, two ends of the rotating shaft penetrate through and are rotatably matched with two sides of the operation shell, an operation disc and a driving disc are respectively arranged on two sides of the operation shell, the operation disc is connected to one end of the rotating shaft, an elastic winding member is arranged between the driving disc and the other end of the rotating shaft, so that the driving gear has a tendency of rotating back, and a limiting frame for limiting the driving disc is detachably connected to a side wall of the operation shell far away from the opening;

[0008] At least one locking mechanism, the locking mechanism is arranged on the docking frame, and the locking mechanism is used for locking or releasing the main body of the electric spindle on the corresponding docking frame.

[0009] Preferably, the protective plate comprises a first movable plate and a second movable plate, the second movable plate is vertically arranged on the first movable plate, the second movable plate is arranged opposite to the driving shaft, and the second movable plate covers a part around the driving shaft.

[0010] Preferably, a first movable hole for slidably connecting the first movable plate is formed through the mounting plate, a mounting shell is detachably connected to the mounting base, an activity cavity is formed on an inner wall of the mounting shell, the activity cavity is communicated with the first movable hole, a first guiding member is arranged on a side wall of the first movable plate far away from the second movable plate, the first guiding member is slidably connected in the activity cavity, and two ends of the first elastic telescopic member respectively abut against opposite sides of the first guiding member and the activity cavity.

[0011] Preferably, the second movable plate is provided with an assembly groove, an assembly plate is detachably connected in the assembly groove, the assembly plate is penetrated with an assembly hole for inserting the tool joint, a bearing member is embedded on the outer wall of the tool joint, the outer ring of the bearing member is fixedly connected with the assembly hole, and the inner ring of the bearing member is fixedly connected with the tool joint.

[0012] Preferably, the axial length of the driving groove is less than the axial length of the driving shaft.

[0013] Preferably, a guide sleeve is arranged on the outer wall of the operation shell, the inner wall of the guide sleeve penetrates through to the inner cavity of the operation shell so that the rotating shaft passes through the guide sleeve, an operation groove for inserting and rotationally matching with the rotating shaft is formed on one side of the operation disk close to the operation shell, an outer convex plate is arranged on the end surface of one end of the rotating shaft inserted into the operation groove, and an inner groove for inserting the outer convex plate is formed on the inner wall of the operation groove.

[0014] Preferably, one side of the operation disk close to the operation shell is of a frustum structure, and in the direction from the guide sleeve to the operation disk, the outer diameter of the frustum structure gradually increases, and the operation groove is formed on the end surface with a smaller outer diameter of the frustum structure;

[0015] A limiting block is arranged on the outer side wall of the driving disk, and at least two symmetrically arranged limiting surfaces are formed on the outer wall of the limiting block;

[0016] The limiting frame is in a C shape, a first limiting member and a second limiting member are respectively arranged on two sides of the limiting frame, the first limiting member is provided with a first limiting groove for the guide sleeve to pass through, two relatively inclined guiding inclined surfaces are formed on the inner wall of the first limiting groove, and the two guiding inclined surfaces are abutted against the conical surface of the frustum structure to limit the operation disk at a position far from the rotating shaft, the second limiting member is provided with a second limiting groove, and the inner wall of the second limiting groove is abutted against the two symmetrically arranged limiting surfaces.

[0017] Preferably, a first fitting ring surrounding its edge is formed on the inner side wall of the driving disk, a second fitting ring for sleeving and rotationally matching with the first fitting ring is arranged on the outer wall of the operation shell, a snap spring is embedded on the inner wall of the first fitting ring, an avoidance groove for the snap spring to rotationally match with is formed on the outer wall of the second fitting ring, a connecting portion is arranged on the inner side wall of the driving disk, the connecting portion abuts against the inner wall of the first fitting ring, one end of the elastic winding member is fixedly connected to the connecting portion, and the other end of the elastic winding member is fixedly connected to one end of the rotating shaft close to the driving disk.

[0018] Preferably, the locking mechanism includes a docking shell, a locking rod and an operating knob. A second moving hole for the sliding connection of the locking rod is formed through the side wall of the docking shell close to the travel groove. A locking structure is arranged at the inner end of the locking rod. The locking structure is inserted into the travel groove and is in concave-convex fit with the rack portion. A second guiding member is arranged at the outer end of the locking rod. A guiding groove for the sliding connection of the second guiding member is formed in the inner wall of the second moving hole. A second elastic telescopic member is arranged between the guiding groove and the second guiding member so that the locking rod has a tendency to retract inward. A driving hole communicating with the second moving hole is formed in the side wall of the docking shell away from the travel groove. An operating rod is arranged at the center of the operating knob. The operating rod is threadedly connected in the driving hole and abuts against the inner end of the locking rod.

[0019] Preferably, the electric spindle body includes a housing, a stator, a front end cover, a rear end cover, a core shaft and a rotor. The housing is in the shape of a square cylinder. Chamfered mounting surfaces are provided at the four corners of the housing. The front end cover and the rear end cover are detachably connected to the front opening and the rear opening of the housing. The docking hole and the housing are adapted in shape. The outer walls of the front end cover and the rear end cover are both matched with the outer wall of the housing. Bearing chambers are arranged on the inner walls of the two side openings of the housing. Bearing structures for the core shaft to be sleeved are arranged in the bearing chambers. The stator is arranged in the housing. The rotor is arranged on the core shaft and the rotor is matched with the stator. The end of the core shaft extending out of the front end cover is the driving end of the electric spindle body. The driving shaft is fixedly connected to the core shaft.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] 1. When assembling the electric spindle, the electric spindle body passes through two docking holes in sequence towards the side close to the tool joint. The staff can operate the tool joint to rotate so that it is inserted and matched with the drive shaft of the electric spindle body at the correct position. Under the action of the first elastic telescopic member, the protective plate has a tendency to protrude outwards, so that a spacing for the electric spindle body to translate is reserved between the tool joint and the mounting seat. During the process of the electric spindle body translating close to the tool joint, by means of the cooperation between the rack portion and the drive gear, the translation of the electric spindle drives the drive gear to rotate. The limiting frame is installed on the operation shell to limit the operation disc, and the limited operation piece limits one end of the elastic winding member. The rotating drive gear drives the elastic winding member to generate torsion, thereby buffering the impact when the electric spindle body translates close to the tool joint, preventing the electric spindle body from continuing to translate to ensure that there is a stroke spacing between the inner wall of the drive slot and the end face of the drive shaft. After that, the electric spindle body is locked on the corresponding docking frame through the locking mechanism, and by disassembling the limiting frame to release the limit on the operation disc, the elastic winding member is released. Finally, the limiting frame is installed on the docking frame to limit the operation disc, completing the assembly operation of the electric spindle. There is no need for the staff to operate disassembly tools one by one for disassembly and assembly, and the disassembly and assembly operations are relatively convenient, so that the staff can disassemble, assemble and replace the electric spindle body according to needs.

[0022] 2. The tool joint is used to connect the machining tool. When the electric spindle processes the workpiece, the tool joint receives the reverse force of the workpiece, so that the tool joint overcomes the elastic force of the first elastic telescopic member and the tool joint retracts relative to the drive shaft. The first elastic telescopic member provides a pre-tightening force to ensure that the machining tool remains in contact with the machined part of the workpiece. Moreover, when the electric spindle rotates, due to unbalance, cutting force fluctuation, etc., vibrations are generated. The first elastic telescopic member buffers the impact force at the moment when the machining tool contacts the workpiece, avoiding the direct transmission of the vibration impact force to the robotic arm of the industrial robot and improving the machining accuracy.

[0023] 3. When a large adhesive force is required for the workpiece for horizontal machining, the electric spindle body is released by unlocking the locking mechanism. In the case where the inner wall of the drive slot abuts against the end face of the drive shaft, the tool joint and the electric spindle body retract relative to the mounting seat on the mounting seat against the elastic force of the elastic winding member. The first elastic telescopic member and the elastic winding member cooperate to provide a large pre-tightening force to ensure that the machining tool remains in contact with the machined part of the workpiece, so that the electric spindle takes into account the machining requirements of different workpieces and has high applicability. Description of the Drawings

[0024] Figure 1 is a schematic structural diagram of the electric spindle in the embodiment;

[0025] Figure 2It is a schematic structural diagram when the electric spindle is installed on the operating end of an industrial robot for horizontal machining of workpieces in the embodiment;

[0026] Figure 3 It is a cross-section of the electric spindle body and the mounting seat in the embodiment Figure 1 ;

[0027] Figure 4 It is a cross-section of the electric spindle body and the mounting seat in the embodiment Figure 2 ;

[0028] Figure 5 It is a cross-sectional view of the mounting shell in the embodiment;

[0029] Figure 6 It is a cross-sectional view of the electric spindle and the operating shell in the embodiment;

[0030] Figure 7 It is a cross-sectional view of the operating shell in the embodiment;

[0031] Figure 8 It is a cross-sectional view of the drive disk in the embodiment.

[0032] In the figure: 1. Electric spindle body; 11. Housing; 12. Stator; 13. Front end cover; 14. Rear end cover; 15. Core shaft; 16. Rotor; 101. Stroke groove; 102. Rack portion; 103. Stroke plate; 104. Drive shaft; 105. Drive surface; 106. Bearing chamber; 107. Bearing structure; 108. Chamfered mounting surface; 2. Mounting seat; 201. Mounting plate; 202. First moving hole; 203. Mounting shell; 204. Moving cavity; 3. Protective plate; 31. First moving plate; 32. Second moving plate; 301. First guiding member; 302. Assembly groove; 303. Assembly plate; 304. Assembly hole; 305. Bearing member; 4. First elastic telescopic member; 5. Tool joint; 501. Drive groove; 6. Docking frame; 601. Docking hole; 7. Stroke spacing; 8. Operation shell; 801. Second mating ring; 802. Avoidance groove; 803. Guide sleeve; 9. Drive gear; 10. Rotating shaft; 17. Outer convex plate; 18. Operation disk; 1801. Operation groove; 1802. Inner groove; 1803. Frustum structure; 19. Drive disk; 1901. Limit block; 1902. Limiting surface; 1903. First mating ring; 1904. Snap ring; 1905. Connecting portion; 1906. Elastic winding member; 20. Limit frame; 2001. First limiting member; 2002. First limiting groove; 2003. Guiding inclined surface; 2004. Second limiting member; 2005. Second limiting groove; 21. Locking mechanism; 211. Docking shell; 212. Locking rod; 213. Operation knob; 2101. Second moving hole; 2102. Locking structure; 2103. Second guiding member; 2104. Guide groove; 2105. Second elastic telescopic member; 2106. Drive hole; 2107. Operating rod; 22. Industrial robot; 23. Workpiece. Detailed implementation mode

[0033] The present invention will be further described below with reference to the embodiments in conjunction with the accompanying drawings.

[0034] Refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 6, A motorized spindle of an industrial robot 22, comprising a motorized spindle body 1, a mounting base 2, an operation housing 8 and two oppositely arranged locking mechanisms 21. The motorized spindle body 1 includes a housing 11, a stator 12, a front end cover 13, a rear end cover 14, a core shaft 15 and a rotor 16. The housing 11 is in the shape of a square cylinder, the outer wall cross-section of the housing 11 is square, and its four corners have chamfered mounting surfaces 108. The front end cover 13 and the rear end cover 14 are respectively detachably connected to the front and rear openings of the housing 11 by means of bolt connection. Bearing chambers 106 are provided on the inner walls of the two openings on both sides of the housing 11, and bearing structures 107 for sleeving the core shaft 15 are provided in the bearing chambers 106. The stator 12 is arranged inside the housing 11, the rotor 16 is arranged on the core shaft 15 and the rotor 16 matches the stator 12. The end of the core shaft 15 extending out of the front end cover 13 is the driving end of the motorized spindle body 1, and a driving shaft 104 is fixedly connected to the driving end of the motorized spindle body 1. A driving surface 105 is provided on the circumferential side wall of the driving shaft 104, and the driving surface 105 is a plane. Preferably, the number of driving surfaces 105 can also be set to several, and the driving surfaces 105 enclose to form a regular polygon, such as an equilateral triangle, a square, a regular polygon. A travel plate 103 extending along its length direction is integrally formed on the outer wall of the housing 11, a travel groove 101 is provided on the outer side wall of the travel plate 103, and a rack portion 102 is provided in the travel groove 101. The rack portion 102 includes a number of tooth structures arranged in a linear array.

[0035] The mounting base 2 is provided with a mounting plate 201 for connecting to the industrial robot 22. A protective plate 3 in the shape of an L is telescopically arranged on the side wall of the mounting base 2 close to the mounting plate 201. The protective plate 3 includes a first movable plate 31 and a second movable plate 32. The protective plate 3 is provided with a first elastic telescopic member 4. The second movable plate 32 is vertically arranged on the first movable plate 31. A tool joint 5 is rotatably connected to the second movable plate 32 of the protective plate 3. A driving groove 501 for inserting the driving shaft 104 is provided in the tool joint 5, and the inner wall of the driving groove 501 abuts and cooperates with each driving surface 105.

[0036] Reference Figure 3 , Figure 4 , Figure 5 , An assembly groove 302 is provided in the second movable plate 32. An assembly plate 303 is detachably connected in the assembly groove 302. An assembly hole 304 for inserting the tool joint 5 is provided through the assembly plate 303. A bearing member 305 is embedded on the outer wall of the tool joint 5. A fixed connection is provided between the outer ring of the bearing member 305 and the assembly hole 304, and a fixed connection is provided between the inner ring of the bearing member 305 and the tool joint 5.

[0037] The mounting plate 201 is penetrated with a first moving hole 202 for slidably connecting the first moving plate 31. The mounting base 2 is detachably connected with a mounting shell 203 by means of bolt connection. An activity cavity 204 is formed on the inner wall of the mounting shell 203. The activity cavity 204 communicates with the first moving hole 202. A first guiding member 301 is arranged on the side wall of the first moving plate 31 away from the second moving plate 32. The first guiding member 301 is slidably connected in the activity cavity 204. The first elastic telescopic member 4 is of a spring structure. The two ends of the first elastic telescopic member 4 respectively abut against the opposite sides of the first guiding member 301 and the activity cavity 204, so that the protection plate 3 has a tendency to protrude outwards, to ensure that a spacing for the translation of the main spindle body 1 is reserved between the tool joint 5 and the mounting base 2.

[0038] Two docking frames 6 are arranged on the mounting base 2 at intervals. The docking frames 6 are penetrated with docking holes 601 for inserting the main spindle body 1. The shapes of the docking holes 601 and the outer shell 11 are adapted to each other. The outer walls of the front end cover 13 and the rear end cover 14 are both matched with the outer wall of the outer shell 11, so that both the front end and the rear end of the main spindle body 1 can pass through the docking holes 601.

[0039] Reference Figure 6 、 Figure 7 、 Figure 8 An operation shell 8 is fixedly connected to the two docking frames 6. The side wall of the operation shell 8 close to the docking hole 601 is provided with an opening. A driving gear 9 is rotatably connected in the operation shell 8. The driving gear 9 extends out of the opening of the operation shell 8 and is located in the stroke groove 101. The driving gear 9 meshes with the rack portion 102. A rotating shaft 10 is key-connected to the driving gear 9. The two ends of the rotating shaft 10 penetrate through and are rotatably fitted on both sides of the operation shell 8. An operation disk 18 and a driving disk 19 are respectively arranged on both sides of the operation shell 8. The operation disk 18 is connected to one end of the rotating shaft 10. An elastic winding member 1906 is arranged between the driving disk 19 and the other end of the rotating shaft 10, so that the driving gear 9 has a tendency to rotate. The elastic winding member 1906 can be a flat spiral spring.

[0040] Preferably, a first fitting ring 1903 around its edge is formed on the inner side wall of the driving disk 19. A second fitting ring 801 for sleeving and rotatably fitting the first fitting ring 1903 is arranged on the outer wall of the operation shell 8. A snap spring 1904 is embedded on the inner wall of the first fitting ring 1903. An avoidance groove 802 for the snap spring 1904 to rotate and fit is formed on the outer wall of the second fitting ring 801. A connecting portion 1905 is arranged on the inner side wall of the driving disk 19. The connecting portion 1905 abuts against the inner wall of the first fitting ring 1903. One end of the elastic winding member 1906 is fixedly connected to the connecting portion 1905, and the other end of the elastic winding member 1906 is fixedly connected to one end of the rotating shaft 10 close to the driving disk 19.

[0041] A limiting frame 20 for limiting the driving disk 19 is detachably connected to the side wall of the operation shell 8 away from its opening. Preferably, the limiting frame 20 is connected to the operation shell 8 through a fastening member. The fastening member can be a bolt structure or a knob structure with a screw rod. The limiting member is provided with a through hole for the rod portion of the fastening member to pass through, and the operation shell 8 is provided with an internal thread hole for the rod portion of the fastening member to be threadedly connected.

[0042] Two locking mechanisms 21 are respectively arranged on the two docking frames 6. The locking mechanism 21 includes a docking shell 211, a locking rod 212 and an operation knob 213. A second moving hole 2101 for the locking rod 212 to slide and connect is penetrated through the side wall of the docking shell 211 close to the stroke groove 101. A locking structure 2102 is arranged at the inner end of the locking rod 212, and a second guiding member 2103 is arranged at the outer end of the locking rod 212. A guiding groove 2104 for the second guiding member 2103 to slide and connect is opened on the inner wall of the second moving hole 2101. A second elastic telescopic member 2105 is arranged between the guiding groove 2104 and the second guiding member 2103 to make the locking rod 212 have a tendency to retract inward. The second elastic telescopic member 2105 is a spring structure.

[0043] A driving hole 2106 communicating with the second moving hole 2101 is opened on the side wall of the docking shell 211 away from the stroke groove 101. An operating rod 2107 is arranged at the center of the operation knob 213. The operating rod 2107 is threadedly connected in the driving hole 2106 and abuts against the inner end of the locking rod 212. By screwing in the operation knob 213, the locking rod 212 is pushed in. The locking rod 212 overcomes the elastic force of the second elastic telescopic member 2105 and translates to drive the locking structure 2102 to be inserted into the stroke groove 101 and engage with the rack portion 102 in a concave-convex manner. Preferably, the locking structure 2102 can be a convex block structure, and the convex block structure is inserted into the tooth space between two adjacent tooth structures. The locking mechanism 21 is used to lock or release the electric spindle body 1 on the corresponding docking frame 6. The locking structure 2102 has another implementation manner. The locking structure 2102 can be a groove structure, and the groove structure is inserted and matched with the tooth structure.

[0044] Reference Figures 1 to 8, when assembling the electric spindle, the electric spindle body 1 sequentially passes through two docking holes 601 toward the side close to the tool joint 5, so that the drive shaft 104 moves translationally close to the tool joint 5. The staff can operate the tool joint 5 to rotate it so that it is inserted and cooperated with the drive shaft 104 of the electric spindle body 1 at the correct position. During the translational movement of the electric spindle body 1 close to the tool joint 5, by using the cooperation between the rack portion 102 and the drive gear 9, the translational movement of the electric spindle drives the drive gear 9 to rotate. The limit frame 20 is installed on the operation shell 8 to limit the operation disk 18, and the limited operation piece limits one end of the elastic winding member 1906. The rotating drive gear 9 drives the elastic winding member 1906 to generate torsion, thereby buffering the impact when the electric spindle body 1 moves translationally close to the tool joint 5 and preventing the electric spindle body 1 from continuing to translate to ensure that there is a travel spacing 7 reserved between the inner wall of the drive groove 501 and the end face of the drive shaft 104, so that the drive shaft 104 and the tool joint 5 are sleeved and telescopically cooperated. After that, the electric spindle body 1 is locked on the corresponding docking frame 6 through the locking mechanism 21 to fix the position of the electric spindle body 1, and by disassembling the limit frame 20 to release the limit on the operation disk 18, the positioned electric spindle body 1 limits the drive gear 9 through the rack portion 102 to prevent it from rotating, so that the elastic winding member 1906 restores deformation and drives the drive disk 19 to rotate, and the elastic winding member 1906 is released. Finally, the limit frame 20 is installed on the operation shell 8 to limit the operation disk 18, and the assembly operation of the electric spindle is completed.

[0045] The mounting seat 2 is used as an intermediate member, and it is connected to the operating end of the industrial robot 22 by means of bolt connection, and is used to connect the electric spindle body 1 and the operating end of the industrial robot 22. During the disassembly and assembly process of the electric spindle body 1 and the mounting seat 2, it is not necessary for the staff to operate the disassembly tools one by one for disassembly and assembly, and the disassembly and assembly operations are relatively convenient, so that the staff can disassemble and replace the electric spindle body 1 according to needs.

[0046] The tool joint 5 is used to connect the machining tool. When the electric spindle processes the workpiece 23, the second movable plate 32 is arranged opposite to the drive shaft 104, and the second movable plate 32 covers a part around the drive shaft 104. The second movable plate 32 blocks the chips generated during machining by the machining tool, thereby protecting the drive shaft 104. The tool joint 5 receives the reverse force of the workpiece 23, so that the tool joint 5 overcomes the elastic force of the first elastic telescopic member 4 and the tool joint 5 retracts relative to the drive shaft 104. The first elastic telescopic member 4 provides a pre-tightening force to ensure that the machining tool is kept in contact with the machined part of the workpiece 23. Moreover, when the electric spindle rotates, due to unbalance, cutting force fluctuation, etc., vibrations are generated. The first elastic telescopic member 4 buffers the impact force at the moment when the machining tool contacts the workpiece 23, and avoids the vibration impact force being directly transmitted to the operating end of the industrial robot 22, thereby improving the machining accuracy.

[0047] Preferably, the axial length of the driving groove 501 is less than the axial length of the driving shaft 104, ensuring that the tool joint 5 only moves translationally on the driving shaft 104 and preventing the tool joint 5 from contacting the front end portion of the motorized spindle body 1.

[0048] When a relatively large adhesion force is required for the workpiece 23 for horizontal machining, the locking mechanism 21 is unlocked to release the motorized spindle body 1. In the case where the inner wall of the driving groove 501 contacts the end face of the driving shaft 104, the tool joint 5 and the motorized spindle body 1 retreat relative to the mounting base 2 on the mounting base 2 against the elastic force of the elastic winding member 1906. The first elastic telescopic member 4 cooperates with the elastic winding member 1906 to apply a relatively large pre-tightening force to ensure that the machining tool remains in contact with the machined portion of the workpiece 23, enabling the motorized spindle to accommodate the machining requirements of different workpieces 23 and having high applicability.

[0049] Preferably, a guide sleeve 803 is provided on the outer wall of the operation shell 8. The inner wall of the guide sleeve 803 penetrates through to the inner cavity of the operation shell 8 so that the rotating shaft 10 passes through the guide sleeve 803. An operation groove 1801 for inserting and rotatably mating the rotating shaft 10 is provided on a side portion of the operation disc 18 close to the operation shell 8. An outer convex plate 17 is provided on the end face of one end of the rotating shaft 10 inserted into the operation groove 1801. An inner groove 1802 for inserting the outer convex plate 17 is provided on the inner wall of the operation groove 1801, so that a linkage state and a separation state are provided between the rotating shaft 10 and the operation disc 18;

[0050] When the rotating shaft 10 is inserted into the operation groove 1801 and the outer convex plate 17 is completely separated from the inner groove 1802, the rotating shaft 10 and the operation disc 18 are in a separated state, and the operation disc 18 rotates in cooperation with the rotating shaft 10 to prevent the operation disc 18 from interfering with the rotation of the rotating shaft 10;

[0051] When the rotating shaft 10 is inserted into the operation groove 1801 and the outer convex plate 17 is inserted and mated with the inner groove 1802, the rotating shaft 10 and the operation disc 18 are in a linkage state. Rotating the operation disc 18 can drive the rotating shaft 10 to rotate, thereby driving the driving gear 9 to rotate. The driving gear 9 uses the gear and rack transmission to drive the motorized spindle body 1 to translate relative to the mounting base 2, adjust the position of the motorized spindle body 1, and thus control the distance of the stroke spacing 7.

[0052] Preferably, the outer convex plate 17 can adopt a special-shaped plate structure. When the rotating shaft 10 and the operation disc 18 are in a separated state, the operator can separately remove and hold the operation disc 18 to prevent non-operator from operating the rotating shaft 10 to rotate it and thus adjust the position of the motorized spindle body 1.

[0053] One side of the operation panel 18 close to the operation housing 8 is a frustum structure 1803. In the direction from the guide sleeve 803 to the operation panel 18, the outer diameter of the frustum structure 1803 gradually increases. The operation groove 1801 is formed on the end face with a smaller outer diameter of the frustum structure 1803. A limiting block 1901 is provided on the outer side wall of the driving disk 19, and at least two symmetrically arranged limiting surfaces 1902 are formed on the outer wall of the limiting block 1901. The limiting frame 20 is C-shaped. A first limiting member 2001 and a second limiting member 2004 are respectively provided on both sides of the limiting frame 20. The first limiting member 2001 is provided with a first limiting groove 2002 for the guide sleeve 803 to pass through, and the second limiting member 2004 is provided with a second limiting groove 2005.

[0054] When the limiting frame 20 is installed on the operation housing 8, through the cooperation of the first limiting groove 2002 and the guide sleeve 803 and the cooperation of the second limiting groove 2005 and the limiting block 1901, the limiting frame 20 is assembled in place on the operation housing 8.

[0055] Two relatively inclined guiding inclined surfaces 2003 are formed on the inner wall of the first limiting groove 2002. The two guiding inclined surfaces 2003 are in contact with the conical surface of the frustum structure 1803 to limit the operation panel 18 at a position far from the rotating shaft 10, so that the rotating shaft 10 and the operation panel 18 are in a separated state. The inner wall of the second limiting groove 2005 is in contact with the two symmetrically arranged limiting surfaces 1902 to limit the driving disk 19.

[0056] Of course, the above are only typical examples of the present invention. In addition, the present invention can also have many other specific implementation manners. Any technical solutions formed by equivalent substitution or equivalent transformation fall within the scope of protection required by the present invention.

Claims

1. An electric spindle for an industrial robot, characterized in that: include: An electric spindle body (1), wherein a travel groove (101) is provided on a side wall of the electric spindle body (1), a rack portion (102) is provided in the travel groove (101), and a drive shaft (104) is provided at the drive end of the electric spindle body (1); A mounting seat (2), the mounting seat (2) being provided with a mounting plate (201) connected to an industrial robot (22), a protective plate (3) being telescopically provided on a side wall of the mounting seat (2) close to the mounting plate (201), the protective plate (3) being provided with a first elastic telescopic member (4) so ​​that the protective plate (3) has a tendency to extend outward, the protective plate (3) being rotatably connected to a tool joint (5), the mounting seat (2) being provided with two docking frames (6) arranged at intervals, the docking frames (6) being penetrated by a docking hole (601) for the electric spindle body (1) to be plugged in, the The electric spindle body (1) passes through the two docking holes (601) in sequence toward the side close to the tool joint (5); the tool joint (5) is provided with a driving groove (501) for the driving shaft (104) to be inserted; the outer wall of the driving shaft (104) is formed with at least one driving surface (105); the inner wall of the driving groove (501) is in contact with the driving surface (105); the driving shaft (104) and the tool joint (5) are sleeved and telescopically matched; a travel spacing (7) is reserved between the inner wall of the driving groove (501) and the end surface of the driving shaft (104); An operating shell (8) is fixedly connected to the two docking frames (6). The operating shell (8) is arranged near the side wall opening of the docking hole (601). A driving gear (9) is rotatably connected inside the operating shell (8). The driving gear (9) extends out of the opening of the operating shell (8) and is located in the travel groove (101). The driving gear (9) is meshed with the rack portion (102). The driving gear (9) is key-connected to a rotating shaft (10). Both ends of the rotating shaft (10) penetrate through and rotatably engaged with the two sides of the operating shell (8), the two sides of the operating shell (8) are respectively provided with an operating disk (18) and a driving disk (19), the operating disk (18) is connected to one end of the rotating shaft (10), an elastic winding member (1906) is provided between the driving disk (19) and the other end of the rotating shaft (10), so that the driving gear (9) has a tendency to rotate, and a limiting frame (20) for limiting the driving disk (19) is detachably connected to the side wall of the operating shell (8) away from its opening; At least one locking mechanism (21), the locking mechanism (21) being arranged on the docking frame (6), the locking mechanism (21) being used to lock or release the electric spindle body (1) on the corresponding docking frame (6).

2. The electric spindle of an industrial robot according to claim 1, characterized in that: The protective plate (3) comprises a first movable plate (31) and a second movable plate (32), wherein the second movable plate (32) is vertically arranged on the first movable plate (31), the second movable plate (32) is arranged opposite to the driving shaft (104), and the second movable plate (32) covers a part of the periphery of the driving shaft (104).

3. The electric spindle of an industrial robot according to claim 2, characterized in that: The mounting plate (201) is penetrated by a first movable hole (202) for the first movable plate (31) to be slidably connected, and a mounting shell (203) is detachably connected to the mounting seat (2), and an movable cavity (204) is formed on the inner wall of the mounting shell (203), and the movable cavity (204) is connected to the first movable hole (202). A first guide member (301) is provided on the side wall of the first movable plate (31) away from the second movable plate (32), and the first guide member (301) is slidably connected in the movable cavity (204), and two ends of the first elastic telescopic member (4) are respectively abutted on opposite sides of the first guide member (301) and the movable cavity (204).

4. The electric spindle of an industrial robot according to claim 2, characterized in that: The second movable plate (32) is provided with an assembly groove (302), and an assembly plate (303) is detachably connected in the assembly groove (302), and an assembly hole (304) is passed through the assembly plate (303) for the tool connector (5) to be plugged in, and a bearing member (305) is embedded in the outer wall of the tool connector (5), and the outer ring of the bearing member (305) is fixedly connected to the assembly hole (304), and the inner ring of the bearing member (305) is fixedly connected to the tool connector (5).

5. The electric spindle of an industrial robot according to claim 1, characterized in that: The axial length of the driving groove (501) is smaller than the axial length of the driving shaft (104).

6. The electric spindle of an industrial robot according to claim 1, characterized in that: The outer wall of the operating shell (8) is provided with a guide sleeve (803), and the inner wall of the guide sleeve (803) penetrates into the inner cavity of the operating shell (8) so that the rotating shaft (10) passes through the guide sleeve (803). The operating plate (18) is provided with an operating groove (1801) on one side close to the operating shell (8) for the rotating shaft (10) to be plugged in and rotatably matched. An outer convex plate (17) is provided on the end surface of one end of the rotating shaft (10) inserted into the operating groove (1801), and an inner groove (1802) is provided on the inner wall of the operating groove (1801) for the outer convex plate (17) to be plugged in.

7. The electric spindle of an industrial robot according to claim 6, characterized in that: A side portion of the operating disk (18) close to the operating shell (8) is a frustum structure (1803), and the outer diameter of the frustum structure (1803) gradually increases in the direction from the guide sleeve (803) to the operating disk (18), and the operating groove (1801) is provided on the end surface of the frustum structure (1803) with a smaller outer diameter; A limiting block (1901) is provided on the outer side wall of the driving disk (19), and the outer wall of the limiting block (1901) is formed with at least two symmetrically arranged limiting surfaces (1902); The limiting frame (20) is C-shaped, and the two sides of the limiting frame (20) are respectively provided with a first limiting member (2001) and a second limiting member (2004), the first limiting member (2001) is provided with a first limiting groove (2002) for the guide sleeve (803) to pass through, and the inner wall of the first limiting groove (2002) is formed with two relatively inclined guide slopes (2003), the two guiding slopes (2003) abut against the conical surface of the frustum structure (1803) to limit the operating disk (18) at a position away from the rotating shaft (10), and the second limiting member (2004) is provided with a second limiting groove (2005), and the inner wall of the second limiting groove (2005) abuts against the two symmetrically arranged limiting surfaces (1902).

8. The electric spindle of an industrial robot according to claim 1, characterized in that: The inner wall of the driving disk (19) is formed with a first matching ring (1903) around its edge, and the outer wall of the operating shell (8) is provided with a second matching ring (801) for sleeve-engaging and rotatably matching with the first matching ring (1903). A retaining spring (1904) is embedded on the inner wall of the first matching ring (1903), and an escape groove (802) for rotatably matching with the retaining spring (1904) is provided on the outer wall of the second matching ring (801). The inner wall of the driving disk (19) is provided with a connecting portion (1905), and the connecting portion (1905) is in conflict with the inner wall of the first matching ring (1903). One end of the elastic winding member (1906) is fixedly connected to the connecting portion (1905), and the other end of the elastic winding member (1906) is fixedly connected to one end of the rotating shaft (10) close to the driving disk (19).

9. The electric spindle of an industrial robot according to claim 1, characterized in that: The locking mechanism (21) comprises a docking shell (211), a locking rod (212) and an operating knob (213); a second movable hole (2101) for sliding connection of the locking rod (212) is provided through the side wall of the docking shell (211) close to the travel groove (101); a locking structure (2102) is provided at the inner end of the locking rod (212); the locking structure (2102) is inserted into the travel groove (101) and is concavely matched with the rack part (102); a second guide member (2103) is provided at the outer end of the locking rod (212); a second movable hole (2101) is provided on the inner wall of the second movable hole (2101 ... A guide groove (2104) is slidably connected to the two guide members (2103), and a second elastic telescopic member (2105) is arranged between the guide groove (2104) and the second guide member (2103) so that the locking rod (212) has a tendency to retreat inwardly. A driving hole (2106) connected to the second movable hole (2101) is opened on the side wall of the docking shell (211) away from the travel groove (101), and an operating rod (2107) is arranged at the center of the operating knob (213). The operating rod (2107) is threadedly connected to the driving hole (2106) and abuts against the inner end of the locking rod (212).

10. The electric spindle of an industrial robot according to claim 1, characterized in that: The electric spindle body (1) comprises a housing (11), a stator (12), a front end cover (13), a rear end cover (14), a core shaft (15) and a rotor (16); the housing (11) is in the shape of a square cylinder; the four corners of the housing (11) have chamfered mounting surfaces (108); the front end cover (13) and the rear end cover (14) are detachably connected to the front opening and the rear opening of the housing (11); the docking hole (601) and the housing (11) are adapted in shape; the outer wall of the front end cover (13) and the outer wall of the rear end cover (14) are both connected to the housing (11) The outer wall of the housing (11) is matched with the outer wall of the housing (11), the inner walls of the openings on both sides of the housing (11) are provided with bearing chambers (106), the bearing chambers (106) are provided with bearing structures (107) for the core shaft (15) to be sleeved, the stator (12) is arranged in the housing (11), the rotor (16) is arranged on the core shaft (15) and the rotor (16) matches the stator (12), the end of the core shaft (15) extending out of the front end cover (13) is the driving end of the electric spindle body (1), and the driving shaft (104) and the core shaft (15) are fixedly connected.

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