Electric spindle for an industrial robot

Abstract

The electric spindle of the industrial robot disclosed by the application comprises an electric spindle body, a rack part provided on the electric spindle body, and a driving shaft provided on a driving end of the electric spindle body; a mounting seat is provided with a mounting plate, and a tool joint is telescopically arranged on the mounting seat; the driving shaft and the tool joint are sleeved and telescopically matched; an operation shell is rotatably connected with a driving gear inside the operation shell, the driving gear is engaged with the rack part, the driving gear is key-connected with a rotating shaft, an 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 for limiting the driving disc is detachably connected on the operation shell; and a locking mechanism for locking or releasing the electric spindle body on a corresponding docking frame. The electric spindle of the industrial robot does not need workers to operate dismounting tools to dismount one by one, the dismounting operation is more convenient, the machining precision is improved, and the applicability is better.

Description

Technical Field

[0001] This invention relates to the field of electric spindle technology, and particularly to an electric spindle for an industrial robot. Background Technology

[0002] Industrial robots are multi-jointed manipulators or multi-degree-of-freedom machines designed for industrial applications. They can automatically perform tasks, relying on their own power and control capabilities to achieve various functions. The end effector of an industrial robot's arm is the operating end, which typically houses an electric spindle. This spindle connects to different machining tools, such as grinding tools, cutting tools, and drilling tools, allowing for the replacement of different tools to perform corresponding machining operations based on the workpiece's processing requirements. The electric spindle usually consists of a housing, spindle, stator, and rotor. The housing is generally bolted to the operating end of the industrial robot. Replacing the electric spindle requires disassembly using tools such as screwdrivers and wrenches, making the disassembly and assembly process inconvenient. Furthermore, when industrial robots use electric spindles for grinding and cutting workpieces, the high-speed rotation of the spindle can cause vibrations due to imbalance and fluctuations in cutting force. These vibrations are directly transmitted to the robot's arm, affecting machining accuracy. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of the aforementioned technologies by designing an electric spindle for an industrial robot. This design eliminates the need for operators to use disassembly tools to disassemble and reassemble the components, making disassembly and reassembly more convenient. It also improves machining accuracy and has good applicability.

[0004] To solve the above-mentioned technical problems, the technical solution of the present invention is: an electric spindle for an industrial robot, comprising: An electric spindle body, wherein a stroke groove is provided on the side wall of the electric spindle body, a rack portion is provided in the stroke groove, and a drive shaft is provided at the drive end of the electric spindle body; The mounting base includes a mounting plate for connection to an industrial robot. A protective plate is telescopically mounted on the side wall of the mounting base near the mounting plate. The protective plate has a first elastic telescopic component, giving it a tendency to extend outwards. A tool connector is rotatably connected to the protective plate. The mounting base has two spaced-apart docking frames with through-holes for the electric spindle body to insert into. The electric spindle body passes through the two docking holes sequentially towards the side near the tool connector. The tool connector has a drive groove for the drive shaft to insert into. The outer wall of the drive shaft has at least one drive surface. The inner wall of the drive groove abuts against the drive surface. The drive shaft and the tool connector are sleeved and telescopically fitted together. A travel gap is reserved between the inner wall of the drive groove and the end face of the drive shaft. An operating housing is fixedly connected to two docking frames. An opening is located on the side wall of the operating housing near the docking hole. A drive gear is rotatably connected inside the operating housing, extending out of the opening and located within the stroke groove. The drive gear meshes with the rack portion. A rotating shaft is keyed to the drive gear, with both ends passing through and rotatably engaged with the two sides of the operating housing. An operating disc and a drive disc are respectively provided on both sides of the operating housing. The operating disc is connected to one end of the rotating shaft, and an elastic winding element is provided between the drive disc and the other end of the rotating shaft to give the drive gear a tendency to rotate. A limiting frame for limiting the drive disc is detachably connected to the side wall of the operating housing away from its opening. At least one locking mechanism is provided on the docking frame, and the locking mechanism is used to lock or release the electric spindle body onto the corresponding docking frame.

[0005] Preferably, the protective plate includes a first movable plate and a second movable plate, the second movable plate being vertically disposed on the first movable plate, the second movable plate being disposed opposite to the drive shaft, and the second movable plate covering a portion of the area around the drive shaft.

[0006] Preferably, the mounting plate has a first movable hole through which the first movable plate is slidably connected, and a mounting shell is detachably connected to the mounting base. The inner wall of the mounting shell forms a movable cavity, which is connected to the first movable hole. A first guide is provided on the side wall of the first movable plate away from the second movable plate. The first guide is slidably connected in the movable cavity, and the two ends of the first elastic telescopic member abut against the opposite sides of the first guide and the movable cavity, respectively.

[0007] Preferably, the second movable plate has an assembly groove, an assembly plate is detachably connected in the assembly groove, the assembly plate has an assembly hole through which the tool connector is inserted, a bearing component is embedded in the outer wall of the tool connector, the outer ring of the bearing component is fixedly connected to the assembly hole, and the inner ring of the bearing component is fixedly connected to the tool connector.

[0008] Preferably, the axial length of the drive groove is less than the axial length of the drive shaft.

[0009] Preferably, the outer wall of the operating housing is provided with a guide sleeve, and the inner wall of the guide sleeve extends into the inner cavity of the operating housing so that the rotating shaft passes through the guide sleeve. The side of the operating disk near the operating housing is provided with an operating groove for the rotating shaft to be inserted and rotated. The end face of the rotating shaft inserted into the operating groove is provided with an external protrusion plate, and the inner wall of the operating groove is provided with an internal groove for the external protrusion plate to be inserted.

[0010] Preferably, the side of the operating disk near the operating shell is a frustum structure, and the outer diameter of the frustum structure gradually increases in the direction from the guide sleeve to the operating disk, and the operating groove is formed on the end face of the frustum structure with the smaller outer diameter. A limiting block is provided on the outer wall of the drive disk, and the outer wall of the limiting block has at least two symmetrically arranged limiting surfaces. The limiting frame is C-shaped, and a first limiting member and a second limiting member are respectively provided on both sides of the limiting frame. The first limiting member has a first limiting groove for the guide sleeve to pass through. Two relatively inclined guide slopes are formed on the inner wall of the first limiting groove. The two guide slopes abut against the conical surface of the frustum structure to limit the operating disk to a position away from the rotating shaft. The second limiting member has a second limiting groove, and the inner wall of the second limiting groove abuts against two symmetrically arranged limiting surfaces.

[0011] Preferably, the inner wall of the drive disk has a first mating ring around its edge, and the outer wall of the operating housing has a second mating ring for the first mating ring to be fitted and rotated. A retaining spring is embedded in the inner wall of the first mating ring, and a clearance groove for the retaining spring to rotate is formed on the outer wall of the second mating ring. The inner wall of the drive disk has a connecting part that abuts against the inner wall of the first mating ring. One end of the elastic winding member is fixedly connected to the connecting part, and the other end of the elastic winding member is fixedly connected to the end of the rotating shaft near the drive disk.

[0012] Preferably, the locking mechanism includes a docking shell, a locking rod, and an operating knob. The docking shell has a second movable hole through which the locking rod slides on the side wall near the travel groove. The inner end of the locking rod is provided with a locking structure, which is inserted into the travel groove and engages with the rack portion. The outer end of the locking rod is provided with a second guide member. The inner wall of the second movable hole is provided with a guide groove for the second guide member to slide. A second elastic telescopic member is provided between the guide groove and the second guide member to give the locking rod a tendency to retract inward. The side wall of the docking shell away from the travel groove is provided with a driving hole that communicates with the second movable hole. An operating rod is provided at the center of the operating knob. The operating rod is threaded into the driving hole and abuts against the inner end of the locking rod.

[0013] Preferably, the electric spindle body includes a housing, a stator, a front cover, a rear cover, a spindle, and a rotor. The housing is a square cylindrical shape with chamfered mounting surfaces at its four corners. The front cover and the rear cover are detachably connected to the front and rear openings of the housing. The mating holes are shaped to fit the housing. The outer walls of the front cover and the rear cover both mate with the outer wall of the housing. Bearing chambers are provided on the inner walls of the openings on both sides of the housing. The bearing chambers are provided with bearing structures for the spindle to be fitted. The stator is disposed inside the housing. The rotor is disposed on the spindle and matches the stator. The end of the spindle extending out of the front cover is the drive end of the electric spindle body. The drive shaft is fixedly connected to the spindle.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. During assembly of the electric spindle, the spindle body passes through two mating holes sequentially towards the side closest to the tool connector. The operator can rotate the tool connector to correctly position it for insertion with the drive shaft of the electric spindle body. Under the action of the first elastic telescopic component, the protective plate tends to extend outwards, leaving a clearance between the tool connector and the mounting base for the electric spindle body to translate. During the translation of the electric spindle body towards the tool connector, the rack and pinion mechanism, in conjunction with the drive gear, causes the drive gear to rotate. A limit bracket is mounted on the operating housing to limit the operating disc. The limited operating disc limits one end of the elastic winding component, and the rotating drive... The moving gear drives the elastic winding component to twist, thereby buffering the impact when the electric spindle body moves close to the tool joint and preventing the electric spindle body from continuing to move, ensuring that there is a travel gap between the inner wall of the drive groove and the end face of the drive shaft. Then, the electric spindle body is locked on the corresponding docking frame by the locking mechanism, and the elastic winding component is released by disassembling the limit frame to contact the limit of the operation plate. Finally, the limit frame is installed on the docking frame to limit the operation plate, completing the assembly of the electric spindle. There is no need for the operator to use disassembly tools to disassemble and assemble one by one, and the disassembly and assembly operation is relatively convenient, so that the operator can disassemble and replace the electric spindle body as needed.

[0015] 2. The tool connector is used to connect the machining tool. When the electric spindle is machining the workpiece, the tool connector is subjected to the reverse force of the workpiece, so that the tool connector overcomes the elastic force of the first elastic telescopic member and the tool connector retracts relative to the drive shaft. The first elastic telescopic member provides preload to ensure that the machining tool and the machined part of the workpiece remain in contact. Furthermore, when the electric spindle rotates, vibrations are generated due to imbalance, cutting force fluctuations, etc. The first elastic telescopic member buffers the impact force of the machining tool when it contacts the workpiece, preventing the vibration impact force from being directly transmitted to the robotic arm of the industrial robot and improving machining accuracy.

[0016] 3. When a workpiece requires a large contact force for horizontal machining, the electric spindle body is released by unlocking the locking mechanism. With the inner wall of the drive groove abutting against the end face of the drive shaft, the tool connector and the electric spindle body retract relative to the mounting seat against the elastic force of the elastic winding component. The first elastic telescopic component cooperates with the elastic winding component to ensure that the machining tool and the machined part of the workpiece remain in contact through a large preload. This makes the electric spindle suitable for machining different workpieces and has high applicability. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the electric spindle in the embodiment; Figure 2 This is a schematic diagram of the structure of the electric spindle installed on the operating end of an industrial robot to perform horizontal machining on a workpiece in the embodiment; Figure 3 This is a cross-sectional view of the electric spindle body and mounting base in the embodiment. Figure 1 ; Figure 4 This is a cross-sectional view of the electric spindle body and mounting base in the embodiment. Figure 2 ; Figure 5 This is a cross-sectional view of the mounting shell in the embodiment; Figure 6 This is a cross-sectional view of the electric spindle and the operating housing in the embodiment; Figure 7 This is a cross-sectional view of the operating shell in the embodiment; Figure 8 This is a cross-sectional view of the drive disk in the embodiment.

[0018] In the diagram: 1. Electric spindle body; 11. Housing; 12. Stator; 13. Front end cover; 14. Rear end cover; 15. Spindle; 16. Rotor; 101. Stroke groove; 102. Rack section; 103. Stroke plate; 104. Drive shaft; 105. Drive surface; 106. Bearing chamber; 107. Bearing structure; 108. Chamfered mounting surface; 2. Mounting base; 201. Mounting plate; 202. First movable hole; 203. Mounting shell; 20 4. Movable cavity; 3. Protective plate; 31. First movable plate; 32. Second movable plate; 301. First guide component; 302. Assembly groove; 303. Assembly plate; 304. Assembly hole; 305. Bearing component; 4. First elastic telescopic component; 5. Tool joint; 501. Drive groove; 6. Docking frame; 601. Docking hole; 7. Stroke distance; 8. Operating shell; 801. Second mating ring; 802. Clearance groove; 803. Guide sleeve; 9. Drive gear; 10. Rotating shaft; 17. Outer convex plate; 18. Operating disc; 1801. Operating groove; 1802. Inner groove; 1803. Frustum structure; 19. Drive disc; 1901. Limiting block; 1902. Limiting surface; 1903. First mating ring; 1904. Snap ring; 1905. Connecting part; 1906. Elastic winding element; 20. Limiting frame; 2001. First limiting element; 2002. First limiting groove; 20 03. Guide slope; 2004. Second limiting component; 2005. Second limiting groove; 21. Locking mechanism; 211. Docking shell; 212. Locking rod; 213. Operating knob; 2101. Second movable hole; 2102. Locking structure; 2103. Second guide component; 2104. Guide groove; 2105. Second elastic telescopic component; 2106. Drive hole; 2107. Operating lever; 22. Industrial robot; 23. Workpiece. Detailed Implementation

[0019] The present invention will be further described below with reference to the embodiments and accompanying drawings.

[0020] refer to Figure 1 , Figure 2 , Figure 3 , Figure 6An electric spindle for an industrial robot 22 includes an electric spindle body 1, a mounting base 2, an operating housing 8, and two oppositely arranged locking mechanisms 21. The electric spindle body 1 includes a housing 11, a stator 12, a front cover 13, a rear cover 14, a spindle 15, and a rotor 16. The housing 11 is a square cylindrical shape with a square cross-section on its outer wall and chamfered mounting surfaces 108 at its four corners. The front cover 13 and the rear cover 14 are detachably connected to the front opening and rear opening of the housing 11 by bolts, respectively. The inner walls of the openings on both sides of the outer casing 11 are provided with bearing chambers 106. Each bearing chamber 106 has a bearing structure 107 for the spindle 15 to be fitted into. The stator 12 is disposed inside the outer casing 11, and the rotor 16 is disposed on the spindle 15 and matched with the stator 12. The end of the spindle 15 extending out of the front end cover 13 is the drive end of the electric spindle body 1. A drive shaft 104 is fixedly connected to the drive end of the electric spindle body 1. A drive surface 105 is provided on the circumferential side wall of the drive shaft 104, and the drive surface 105 is planar. Preferably, the number of drive surfaces 105 can also be several, and the drive surfaces 105 together form a regular polygon, such as an equilateral triangle, square, or regular polygon. The outer wall of the outer shell 11 is integrally formed with a travel plate 103 extending along its length direction. A travel groove 101 is provided on the outer wall of the travel plate 103. A rack portion 102 is provided in the travel groove 101. The rack portion 102 includes a plurality of tooth structures distributed in a straight line array.

[0021] Mounting base 2 is provided with mounting plate 201 connected to industrial robot 22. L-shaped protective plate 3 is telescopically provided on the side wall of mounting base 2 near mounting plate 201. Protective plate 3 includes first movable plate 31 and second movable plate 32. Protective plate 3 is provided with first elastic telescopic member 4. Second movable plate 32 is vertically arranged on first movable plate 31. Second movable plate 32 of protective plate 3 is rotatably connected to tool connector 5. Tool connector 5 has a drive groove 501 for drive shaft 104 to be inserted. The inner wall of drive groove 501 abuts against each drive surface 105.

[0022] refer to Figure 3 , Figure 4 , Figure 5 The second movable plate 32 has an assembly groove 302, and an assembly plate 303 is detachably connected in the assembly groove 302. The assembly plate 303 has an assembly hole 304 through which the tool connector 5 is inserted. A bearing component 305 is embedded in the outer wall of the tool connector 5. The outer ring of the bearing component 305 is fixedly connected to the assembly hole 304, and the inner ring of the bearing component 305 is fixedly connected to the tool connector 5.

[0023] Mounting plate 201 has a first movable hole 202 through which the first movable plate 31 is slidably connected. Mounting base 2 is detachably connected to mounting shell 203 by bolt connection. The inner wall of mounting shell 203 forms a movable cavity 204, which is connected to the first movable hole 202. The side wall of the first movable plate 31 away from the second movable plate 32 is provided with a first guide member 301. The first guide member 301 is slidably connected in the movable cavity 204. The first elastic telescopic member 4 is a spring structure. The two ends of the first elastic telescopic member 4 abut against the opposite sides of the first guide member 301 and the movable cavity 204, so that the protective plate 3 has a tendency to extend outward, so as to ensure that the tool connector 5 and the mounting base 2 have a reserved distance for the translation of the power supply spindle body 1.

[0024] The mounting base 2 is provided with two spaced docking frames 6. The docking frames 6 have docking holes 601 through which the power supply spindle body 1 is inserted. The docking holes 601 are adapted to the shape of the outer shell 11. The outer walls of the front cover 13 and the rear cover 14 are matched with the outer walls of the outer shell 11 so that the front and rear ends of the power supply spindle body 1 can pass through the docking holes 601.

[0025] refer to Figure 6 , Figure 7 , Figure 8 An operating housing 8 is fixedly connected to two docking brackets 6. The operating housing 8 has an opening on its side wall near the docking hole 601. A drive gear 9 is rotatably connected inside the operating housing 8. The drive gear 9 extends out of the opening of the operating housing 8 and is located within the stroke groove 101. The drive gear 9 meshes with the rack portion 102. A rotating shaft 10 is keyed to the drive gear 9. Both ends of the rotating shaft 10 pass through and are rotatably engaged with the two sides of the operating housing 8. An operating disc 18 and a drive disc 19 are respectively provided on the two sides of the operating housing 8. The operating disc 18 is connected to one end of the rotating shaft 10, and an elastic winding element 1906 is provided between the drive disc 19 and the other end of the rotating shaft 10 to give the drive gear 9 a tendency to rotate. The elastic winding element 1906 can be a planar spiral spring.

[0026] Preferably, the inner wall of the drive disk 19 has a first mating ring 1903 forming around its edge, and the outer wall of the operating housing 8 is provided with a second mating ring 801 for the first mating ring 1903 to be sleeved and rotated. A retaining ring 1904 is embedded in the inner wall of the first mating ring 1903, and a clearance groove 802 is provided on the outer wall of the second mating ring 801 for the retaining ring 1904 to rotate. The inner wall of the drive disk 19 has a connecting part 1905, which abuts against the inner wall of the first mating ring 1903. One end of the elastic winding member 1906 is fixedly connected to the connecting part 1905, and the other end of the elastic winding member 1906 is fixedly connected to the end of the rotating shaft 10 near the drive disk 19.

[0027] A limiting bracket 20 for limiting the drive disc 19 is detachably connected to the side wall of the operating housing 8 away from its opening. Preferably, the limiting bracket 20 is connected to the operating housing 8 by a fastener, which can be a bolt structure or a knob structure with a screw. The limiting member has a through hole through which the rod of the fastener passes. The operating housing 8 has an internal thread hole for the rod of the fastener to be threaded.

[0028] Two locking mechanisms 21 are respectively mounted on two docking frames 6. Each locking mechanism 21 includes 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 near the travel groove 101. A locking structure 2102 is provided on the inner end of the locking rod 212, and a second guide member 2103 is provided on the outer end of the locking rod 212. A guide groove 2104 for sliding connection of the second guide member 2103 is provided on the inner wall of the second movable hole 2101. A second elastic telescopic member 2105 is provided between the guide groove 2104 and the second guide member 2103 to give the locking rod 212 a tendency to retract inward. The second elastic telescopic member 2105 is a spring structure.

[0029] The side wall of the docking housing 211 away from the travel groove 101 has a drive hole 2106 communicating with the second movable hole 2101. An operating lever 2107 is located at the center of the operating knob 213. The operating lever 2107 is threaded into the drive hole 2106 and abuts against the inner end of the locking lever 212. By rotating the operating knob 213, the locking lever 212 is pushed in, overcoming the elastic force of the second elastic telescopic member 2105 to move and drive the locking structure 2102 to insert into the travel groove 101 and engage with the rack portion 102. Preferably, the locking structure 2102 can be a protrusion structure, which is inserted between the teeth of two adjacent tooth structures. The locking mechanism 21 is used to lock or release the electric spindle body 1 onto the corresponding docking frame 6. Alternatively, the locking structure 2102 can be a groove structure, which engages with the tooth structure.

[0030] refer to Figures 1 to 8During the assembly of the electric spindle, the electric spindle body 1 passes through two mating holes 601 sequentially towards the side near the tool connector 5, allowing the drive shaft 104 to move closer to the tool connector 5. The operator can rotate the tool connector 5 to correctly engage with the drive shaft 104 of the electric spindle body 1. During the translation of the electric spindle body 1 towards the tool connector 5, the rack 102 engages with the drive gear 9, causing the electric spindle body 1 to rotate the drive gear 9. The limit bracket 20 is mounted on the operating housing 8 to limit the operating disc 18. The limited operating disc 18 limits one end of the elastic winding member 1906. The rotating drive gear 9 causes the elastic winding member 1906 to twist, thereby buffering the translation of the electric spindle body 1 towards the tool connector 5. The impact prevents the electric spindle body 1 from continuing to translate, ensuring that the inner wall of the drive groove 501 and the end face of the drive shaft 104 are reserved with a travel gap 7 so that the drive shaft 104 and the tool connector 5 can be sleeved and telescopically fitted. Then, the electric spindle body 1 is locked on the corresponding docking frame 6 by the locking mechanism 21 to fix the position of the electric spindle body 1. And by disassembling the limit frame 20 to contact the limit of the operation plate 18, the positioned electric spindle body 1 is limited by the rack part 102 to prevent the drive gear 9 from rotating, so that the elastic winding member 1906 returns to its deformation and drives the drive plate 19 to rotate. The elastic winding member 1906 is released. Finally, the limit frame 20 is installed on the operation shell 8 to limit the operation plate 18, completing the assembly operation of the electric spindle.

[0031] Mounting base 2 serves as an intermediate component, connecting to the operating end of industrial robot 22 via bolts. It serves to connect the electric spindle body 1 to the operating end of industrial robot 22. During the assembly and disassembly of electric spindle body 1 and mounting base 2, there is no need for personnel to use disassembly tools to disassemble and assemble them one by one, making the disassembly and assembly operations convenient. This allows personnel to disassemble, assemble, and replace electric spindle body 1 as needed.

[0032] The tool connector 5 is used to connect the machining tool. When the electric spindle is machining the workpiece 23, the second movable plate 32 is positioned opposite to the drive shaft 104. The second movable plate 32 covers a portion of the area around the drive shaft 104 and blocks the chips generated by the machining tool during machining, thereby protecting the drive shaft 104. The tool connector 5 is subjected to the reverse force of the workpiece 23, causing the tool connector 5 to overcome the elastic force of the first elastic telescopic member 4 and retract relative to the drive shaft 104. The first elastic telescopic member 4 provides a preload force to ensure that the machining tool and the machined part of the workpiece 23 remain in contact. Furthermore, when the electric spindle rotates, vibrations caused by imbalance, cutting force fluctuations, etc., are generated, the first elastic telescopic member 4 buffers the impact force of the machining tool contacting the workpiece 23 at the moment of contact, preventing the vibration impact force from being directly transmitted to the operating end of the industrial robot 22, thus improving machining accuracy.

[0033] Preferably, the axial length of the drive groove 501 is less than the axial length of the drive shaft 104, ensuring that the tool connector 5 only moves on the drive shaft 104 and avoiding contact between the tool connector 5 and the front end of the electric spindle body 1.

[0034] When the workpiece 23 requires a large contact force for horizontal machining, the locking mechanism 21 is used to unlock and release the electric spindle body 1. When the inner wall of the drive groove 501 abuts against the end face of the drive shaft 104, the tool connector 5 and the electric spindle body 1 retract relative to 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 ensure that the machining tool and the machined part of the workpiece 23 remain in contact through a large preload. This makes the electric spindle able to meet the machining needs of different workpieces 23 and has high applicability.

[0035] Preferably, the outer wall of the operating housing 8 is provided with a guide sleeve 803, and the inner wall of the guide sleeve 803 extends into the inner cavity of the operating housing 8 so that the rotating shaft 10 passes through the guide sleeve 803. The side of the operating disk 18 near the operating housing 8 is provided with an operating groove 1801 for the rotating shaft 10 to be inserted and rotated. The end face of the end of the rotating shaft 10 inserted into the operating groove 1801 is provided with an external protrusion plate 17. The inner wall of the operating groove 1801 is provided with an internal groove 1802 for the external protrusion plate 17 to be inserted, so that the rotating shaft 10 and the operating disk 18 have a linkage state and a separation state. When the rotating shaft 10 is inserted into the operating groove 1801 and the outer protrusion 17 is completely separated from the inner groove 1802, the rotating shaft 10 and the operating disc 18 are in a separated state. The operating disc 18 and the rotating shaft 10 rotate in coordination to avoid the operating disc 18 interfering with the rotation of the rotating shaft 10. When the rotating shaft 10 is inserted into the operating slot 1801 and the outer protrusion 17 is engaged with the inner groove 1802, the rotating shaft 10 and the operating disk 18 are in a linked state. The rotation of the operating disk 18 can drive the rotating shaft 10 to rotate, thereby driving the drive gear 9 to rotate. The drive gear 9 uses gear and rack transmission to drive the electric spindle body 1 to translate relative to the mounting base 2, adjust the position of the electric spindle body 1, and thus control the distance of the stroke pitch 7.

[0036] Preferably, the outer convex plate 17 can adopt an irregular plate structure. When the rotating shaft 10 and the operating plate 18 are separated, the operator can remove and hold the operating plate 18 separately to prevent unauthorized personnel from operating the rotating shaft 10 to rotate it and adjust the position of the electric spindle body 1.

[0037] The side of the operating disc 18 near the operating housing 8 is a frustum structure 1803. The outer diameter of the frustum structure 1803 gradually increases in the direction from the guide sleeve 803 to the operating disc 18. The operating groove 1801 is formed on the end face of the frustum structure 1803 with the smaller outer diameter. A limit block 1901 is provided on the outer wall of the drive disc 19. The outer wall of the limit block 1901 forms at least two symmetrically arranged limit surfaces 1902. The limit frame 20 is C-shaped. A first limit member 2001 and a second limit member 2004 are respectively provided on both sides of the limit frame 20. The first limit member 2001 has a first limit groove 2002 for the guide sleeve 803 to pass through, and the second limit member 2004 has a second limit groove 2005.

[0038] When the limiting frame 20 is installed on the operating housing 8, the limiting frame 20 is aligned and assembled on the operating 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 inner wall of the first limiting groove 2002 has two relatively inclined guide slopes 2003, which abut against the conical surface of the frustum structure 1803 to limit the operating disk 18 to a position away from the rotating shaft 10, so that the rotating shaft 10 and the operating disk 18 are separated. The inner wall of the second limiting groove 2005 abuts against two symmetrically arranged limiting surfaces 1902 to limit the drive disk 19.

[0039] Of course, the above are just typical examples of the present invention. In addition, the present invention may have many other specific embodiments. All technical solutions formed by equivalent substitution or equivalent transformation fall within the scope of protection claimed by the present invention.

Claims

1. An electric spindle for an industrial robot, characterized in that, include: An electric spindle body (1) has a stroke groove (101) on its side wall, a rack portion (102) is provided in the stroke groove (101), and a drive shaft (104) is provided at the drive end of the electric spindle body (1). Mounting base (2), the mounting base (2) is provided with mounting plate (201) for connection with industrial robot (22), a protective plate (3) is telescopically provided on the side wall of the mounting base (2) near the mounting plate (201), the protective plate (3) is provided with a first elastic telescopic member (4) so ​​that the protective plate (3) has a tendency to extend outward, the protective plate (3) is rotatably connected to a tool connector (5), the mounting base (2) is provided with two spaced docking frames (6), the docking frames (6) are provided with docking holes (601) for insertion of the electric spindle body (1), the The electric spindle body (1) passes through two mating holes (601) in sequence on the side closer to the tool connector (5). The tool connector (5) has a drive groove (501) for the drive shaft (104) to be inserted. The outer wall of the drive shaft (104) has at least one drive surface (105). The inner wall of the drive groove (501) abuts against the drive surface (105). The drive shaft (104) and the tool connector (5) are sleeved and telescopically fitted. A stroke gap (7) is reserved between the inner wall of the drive groove (501) and the end face of the drive shaft (104). An operating housing (8) is fixedly connected to two docking brackets (6). The operating housing (8) has an opening on the side wall near the docking hole (601). A drive gear (9) is rotatably connected inside the operating housing (8). The drive gear (9) extends out of the opening of the operating housing (8) and is located in the stroke groove (101). The drive gear (9) meshes with the rack portion (102). The drive gear (9) is keyed to a rotating shaft (10). Both ends of the rotating shaft (10) pass through... The operating housing (8) is rotatably fitted on both sides of the operating housing (8). The operating housing (8) is provided with an operating disc (18) and a drive disc (19) on both sides respectively. The operating disc (18) is connected to one end of the rotating shaft (10). An elastic winding member (1906) is provided between the drive disc (19) and the other end of the rotating shaft (10) so that the drive gear (9) has a tendency to rotate. A limiting frame (20) for limiting the drive disc (19) is detachably connected to the side wall of the operating housing (8) away from its opening. At least one locking mechanism (21) is provided on the docking frame (6), and the locking mechanism (21) is used to lock or release the electric spindle body (1) onto the corresponding docking frame (6); The outer wall of the operating housing (8) is provided with a guide sleeve (803), and the inner wall of the guide sleeve (803) extends into the inner cavity of the operating housing (8) so that the rotating shaft (10) passes through the guide sleeve (803). The side of the operating disk (18) near the operating housing (8) is provided with an operating groove (1801) for the rotating shaft (10) to be inserted and rotated. The end face of the end of the rotating shaft (10) inserted into the operating groove (1801) is provided with an external protrusion plate (17), and the inner wall of the operating groove (1801) is provided with an internal groove (1802) for the external protrusion plate (17) to be inserted.

2. The electric spindle of an industrial robot according to claim 1, characterized in that, The protective plate (3) includes a first movable plate (31) and a second movable plate (32). The second movable plate (32) is vertically disposed on the first movable plate (31). The second movable plate (32) is disposed opposite to the drive shaft (104), and the second movable plate (32) covers a portion of the area around the drive shaft (104).

3. The electric spindle of an industrial robot according to claim 2, characterized in that, The mounting plate (201) has a first movable hole (202) through which the first movable plate (31) is slidably connected. The mounting base (2) is detachably connected to a mounting shell (203). The inner wall of the mounting shell (203) forms a movable cavity (204). The movable cavity (204) is connected to the first movable hole (202). The side wall of the first movable plate (31) away from the second movable plate (32) is provided with a first guide member (301). The first guide member (301) is slidably connected in the movable cavity (204). The two ends of the first elastic telescopic member (4) abut against the 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) has an assembly groove (302), and an assembly plate (303) is detachably connected in the assembly groove (302). The assembly plate (303) has an assembly hole (304) through which the tool connector (5) is inserted. A bearing component (305) is embedded in the outer wall of the tool connector (5). The outer ring of the bearing component (305) is fixedly connected to the assembly hole (304), and the inner ring of the bearing component (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 drive groove (501) is less than the axial length of the drive shaft (104).

6. The electric spindle of an industrial robot according to claim 1, characterized in that, The side of the operating disk (18) near the operating shell (8) is a frustum structure (1803). In the direction from the guide sleeve (803) to the operating disk (18), the outer diameter of the frustum structure (1803) gradually increases. The operating groove (1801) is opened on the end face of the frustum structure (1803) with the smaller outer diameter. A limiting block (1901) is provided on the outer side wall of the drive disk (19), and the outer wall of the limiting block (1901) has at least two symmetrically arranged limiting surfaces (1902). The limiting frame (20) is C-shaped. 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) has a first limiting groove (2002) through which the guide sleeve (803) passes. The inner wall of the first limiting groove (2002) has two relatively inclined guide slopes (2003). The two guide slopes (2003) abut against the conical surface of the frustum structure (1803) to limit the operating disk (18) to a position away from the rotating shaft (10). The second limiting member (2004) has a second limiting groove (2005). The inner wall of the second limiting groove (2005) abuts against two symmetrically arranged limiting surfaces (1902).

7. The electric spindle of an industrial robot according to claim 1, characterized in that, The inner wall of the drive disk (19) has a first mating ring (1903) around its edge. The outer wall of the operating housing (8) is provided with a second mating ring (801) for the first mating ring (1903) to be fitted and rotated. A retaining ring (1904) is embedded in the inner wall of the first mating ring (1903). A clearance groove (802) for the retaining ring (1904) to rotate is provided on the outer wall of the second mating ring (801). The inner wall of the drive disk (19) is provided with a connecting part (1905). The connecting part (1905) abuts against the inner wall of the first mating ring (1903). One end of the elastic winding member (1906) is fixedly connected to the connecting part (1905). The other end of the elastic winding member (1906) is fixedly connected to the end of the rotating shaft (10) near the drive disk (19).

8. The electric spindle of an industrial robot according to claim 1, characterized in that, The locking mechanism (21) includes a docking shell (211), a locking rod (212), and an operating knob (213). The docking shell (211) has a second movable hole (2101) through its side wall near the travel groove (101) for sliding connection of the locking rod (212). The inner end of the locking rod (212) is provided with a locking structure (2102), which is inserted into the travel groove (101) and engages with the rack portion (102). The outer end of the locking rod (212) is provided with a second guide (2103). The inner wall of the second movable hole (2101) is provided with a second guide (2103) for sliding connection of the locking rod (212). The guide groove (2104) is slidably connected to the second guide member (2103). A second elastic telescopic member (2105) is provided between the guide groove (2104) and the second guide member (2103) so that the locking rod (212) has a tendency to retract inward. The side wall of the docking shell (211) away from the stroke groove (101) is provided with a drive hole (2106) that communicates with the second movable hole (2101). An operating rod (2107) is provided at the center of the operating knob (213). The operating rod (2107) is threadedly connected to the drive hole (2106) and abuts against the inner end of the locking rod (212).

9. The electric spindle of an industrial robot according to claim 1, characterized in that, The electric spindle body (1) includes a housing (11), a stator (12), a front cover (13), a rear cover (14), a spindle (15), and a rotor (16). The housing (11) is a square cylindrical shape, and the four corners of the housing (11) have chamfered mounting surfaces (108). The front cover (13) and the rear cover (14) are detachably connected to the front opening and the rear opening of the housing (11). The mating hole (601) is shaped to fit the housing (11). The outer walls of the front cover (13) and the rear cover (14) are both fitted to the outer walls of the housing (11). 1) The outer wall of the outer shell (11) is matched, and the inner walls of the openings on both sides of the outer shell (11) are provided with bearing chambers (106). The bearing chambers (106) are provided with bearing structures (107) for the spindle (15) to be sleeved. The stator (12) is located inside the outer shell (11). The rotor (16) is located on the spindle (15) and the rotor (16) matches the stator (12). The end of the spindle (15) that extends out of the front end cover (13) is the driving end of the electric spindle body (1). The drive shaft (104) is fixedly connected to the spindle (15).

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