CN113458901B

CN113458901B - Robot main shaft floating system for polishing complex structural parts

Info

Publication number: CN113458901B
Application number: CN202110798677.4A
Authority: CN
Inventors: 王鹏彧; 张国荣; 程刚; 胡坤; 汪存益
Original assignee: Anhui Xinjingjie Automation Technology Co ltd
Current assignee: Anhui Xinjingjie Automation Technology Co ltd
Priority date: 2021-07-15
Filing date: 2021-07-15
Publication date: 2022-06-14
Anticipated expiration: 2041-07-15
Also published as: CN113458901A

Abstract

The invention relates to the technical field of a robot main shaft, in particular to a robot main shaft floating system for polishing a complex structural member, which comprises a connecting shell, a main shaft shell and a main shaft, and further comprises a circulating mechanism and a transmission mechanism, wherein the main shaft shell is fixedly connected to the bottom of the connecting shell, the main shaft penetrates through the bottom of the main shaft shell, the main shaft is connected with the bottom of the main shaft shell through a connecting bearing, the circulating mechanism and the transmission mechanism are both arranged in a cavity of the main shaft shell, the lower end of the main shaft is detachably connected with a polishing head, the main shaft floating system can prevent metal powder from entering a gap between the main shaft and a connecting piece, and can clean the gap between the main shaft and the shell, so that the working environment of the main shaft is ensured, meanwhile, the main shaft can be cooled in the rotating process of the main shaft, and the main shaft is prevented from working in a high-temperature environment for a long time, the stability of the working environment of the main shaft is further ensured, and the service life of the main shaft is prolonged.

Description

Robot main shaft floating system for polishing complex structural parts

Technical Field

The invention relates to the technical field of robot spindles, in particular to a robot spindle floating system for polishing complex structural parts.

Background

In order to avoid harm of metal dust to polishing workers, a polishing robot is generally adopted to process and polish the batch-produced castings, automatic processing is achieved, and the processing precision is improved while the processing efficiency is improved.

In the casting burr in-process of polishing, can be along with a large amount of metal powder production, metal powder can probably get into the main shaft casing through the gap between main shaft and the main shaft casing in, influences the main shaft and normally works, probably causes the damage to the interior part of main shaft casing simultaneously, and the main shaft can produce a large amount of heats at high-speed rotation in-process, and the main shaft is when overheated work for a long time, can seriously influence the life of main shaft.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a robot main shaft floating system facing to complex structural part grinding, which can prevent metal powder from entering the gap between a main shaft and a main shaft shell, can clean the gap between the main shaft and the shell, ensures the working environment of the main shaft, can cool the main shaft in the rotation process of the main shaft, prevents the main shaft from working in a high-temperature environment for a long time, further ensures the stability of the working environment of the main shaft, and prolongs the service life of the main shaft.

The technical scheme adopted by the invention for solving the technical problems is as follows: a robot main shaft floating system for polishing complex structural parts comprises a connecting shell, a main shaft shell and a main shaft, and further comprises a circulating mechanism and a transmission mechanism, wherein the main shaft shell is fixedly connected to the bottom of the connecting shell, the main shaft penetrates through the bottom of the main shaft shell, the main shaft is connected with the bottom of the main shaft shell through a connecting bearing, the circulating mechanism and the transmission mechanism are both arranged in a cavity of the main shaft shell, and the lower end of the main shaft is detachably connected with a polishing head;

the utility model discloses a spindle housing, including main shaft outer wall fixedly connected with eccentric wheel, main shaft housing intracavity middle part is arranged in to the eccentric wheel, circulation mechanism is including promoting the hemisphere, pole and return spring inhale, the overhang of eccentric wheel can with promote the hemisphere contact, the one end fixedly connected with pole of inhaling that the eccentric wheel was kept away from to the promotion hemisphere, the pole outer wall cover of inhaling is equipped with return spring, main shaft housing intracavity lateral wall is equipped with the sliding tray, the one end that the eccentric wheel was kept away from to the pole of inhaling is arranged in the sliding tray, pole and sliding tray wall sliding connection inhale, and the pole end of inhaling sets up with the sliding tray is sealed, main shaft housing lateral wall still is equipped with the air flue, the air flue link up the setting with the sliding tray, the first check valve of sliding tray top fixedly connected with, main shaft housing diapire middle part is equipped with the air discharge chamber, the air flue link up the setting with the air discharge chamber, the air flue is equipped with the second check valve with the air flue junction.

Specifically, main shaft outer wall fixedly connected with floating ring, floating ring arrange the eccentric wheel directly over, drive mechanism includes guide bar, slide bar, backup pad, spliced pole and movable pulley, guide bar fixed connection is in main shaft housing intracavity bottom, the slide bar cover is established at the guide bar outer wall, and slide bar and guide bar sliding connection, the slide bar is close to the fixed even backup pad of main shaft one end, the equal fixed connection spliced pole in both ends about the backup pad, the spliced pole is close to the one end rotation of main shaft and is connected with the movable pulley, two outer wall contacts about movable pulley and the floating ring.

Specifically, the bottom of the cavity of the spindle shell is fixedly connected with a telescopic air bag, the telescopic air bag is arranged below the sliding rod, and one side of the telescopic air bag, which is close to the spindle, is fixedly connected with an air nozzle.

Specifically, spindle housing top fixedly connected with lubrication box, intracavity lower part rotate and are connected with first pump oil gear and second pump oil gear, and first pump oil gear and the cooperation setting of second pump oil gear, lubrication box lower extreme fixed connection oil drip pipe, oil drip pipe link up the setting with lubrication box, and oil drip pipe arranges the floating ring top in, and oil drip pipe and spindle outer wall contact.

Specifically, second pump oil gear lateral wall middle part fixedly connected with gear post, gear post run through lubricated case lateral wall, and gear post and lubricated case lateral wall rotate to be connected, and lubricated case one end fixedly connected with drive gear is kept away from to gear post, and fixed surface is connected with the rack board on the slide bar, and the rack board sets up with drive gear meshing.

The invention has the beneficial effects that:

(1) the robot main shaft floating system facing to the complex structural part polishing of the invention is characterized in that when cast part burrs are machined, the main shaft rotates, the polishing head is driven to rotate through the rotation of the main shaft, the cast part is machined through the polishing head, the eccentric wheel is driven to synchronously rotate during the rotation of the main shaft, the protruding end of the eccentric wheel is in contact with the pushing hemisphere and pushes the pushing hemisphere to move along the sliding groove in the direction away from the main shaft, the air suction rod is pushed to synchronously move through the pushing hemisphere, the return spring is compressed, the air suction rod pushes the air in the air passage into the exhaust chamber through the second one-way valve during the movement along the sliding groove, the air in the exhaust chamber continuously flows out through the gap between the main shaft and the connecting bearing, metal powder is prevented from entering the gap between the main shaft and the connecting piece, and the gap between the main shaft and the connecting bearing can be cleaned at the same time, the working environment of the main shaft is ensured, the connecting bearing and the main shaft are cooled in the gas flowing process, the main shaft is prevented from working in a high-temperature environment for a long time, the stability of the working environment of the main shaft is further ensured, and the service life of the main shaft is prolonged.

(2) The invention relates to a robot spindle floating system for polishing a complex structural part, in the process of downward movement of a sliding rod, the sliding rod drives a rack plate to synchronously move downward, the rack plate drives a transmission gear to rotate anticlockwise when moving downward, the transmission gear drives a gear post to synchronously rotate anticlockwise, the gear post drives a second oil pumping gear in a lubricating box to rotate anticlockwise, the second oil pumping gear drives a first oil pumping gear to rotate clockwise, lubricating oil in the lubricating box cannot flow out, when the sliding rod drives the rack plate to synchronously move upward, the rack plate drives the transmission gear to rotate clockwise, the transmission gear drives the gear post to synchronously rotate clockwise, the gear post drives a second oil pumping gear in the lubricating box to rotate clockwise, the second oil pumping gear drives the first oil pumping gear to rotate anticlockwise, and lubricating oil in the lubricating box flows out, and the lubricating oil is uniformly coated on the outer wall of the floating ring in the process of rotating along the outer wall of the floating ring through the sliding wheel, so that the lubrication between the sliding wheel and the floating ring is realized, and the stability of the sliding wheel in the motion process is ensured.

Drawings

The invention is further illustrated by the following examples in conjunction with the drawings.

Fig. 1 is a schematic perspective view of a robot spindle floating system for complex structural member grinding according to the present invention.

Fig. 2 is a sectional view taken along the line a-a in fig. 1 according to the present invention.

Fig. 3 is a sectional view taken along the direction B-B in fig. 2 according to the present invention.

Fig. 4 is a sectional view taken along the direction C-C in fig. 2 according to the present invention.

Fig. 5 is an enlarged view of the invention at M in fig. 2.

Fig. 6 is an enlarged view of the invention at N in fig. 3.

Fig. 7 is a meshing view of the first oil pumping gear and the second oil pumping gear provided by the invention.

In the figure: 1. connecting the shell; 2. a spindle housing; 21. an exhaust chamber; 22. a second one-way valve; 23. an airway; 24. a first check valve; 25. a sliding groove; 3. a main shaft; 31. an eccentric wheel; 32. a floating ring; 33. polishing heads; 34. connecting a bearing; 4. a lubrication box; 41. an oil dripping pipe; 42. a first oil pumping gear; 43. a second oil pumping gear; 44. a gear post; 45. a transmission gear; 6. a circulating mechanism; 61. pushing the hemisphere; 62. a suction rod; 63. a return spring; 8. a transmission mechanism; 81. a guide bar; 82. a slide bar; 83. a support plate; 84. connecting columns; 85. a sliding wheel; 86. a rack plate; 9. a telescopic air bag; 91. an air nozzle.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

As shown in fig. 1-7, a robot spindle floating system for polishing a complex structural member comprises a connecting shell 1, a spindle housing 2 and a spindle 3, and further comprises a circulating mechanism 6 and a transmission mechanism 8, wherein the spindle housing 2 is fixedly connected to the bottom of the connecting shell 1, the spindle 3 penetrates through the bottom of the spindle housing 2, the spindle 3 is connected with the bottom of the spindle housing 2 through a connecting bearing 34, the circulating mechanism 6 and the transmission mechanism 8 are both arranged in a cavity of the spindle housing 2, and a polishing head 33 is detachably connected to the lower end of the spindle 3;

3 outer walls of main shaft fixedly connected with

eccentric wheel

31, 2 intracavity middle parts of main shaft housing are arranged in to eccentric wheel 31, circulation mechanism 6 is including promoting hemisphere 61, air suction rod 62 and return spring 63, the overhang of eccentric wheel 31 can contact with promotion hemisphere 61, promote hemisphere 61 and keep away from eccentric wheel 31's one end fixedly connected with air suction rod 62, air suction rod 62 outer wall cover is equipped with

return spring

63, 2 intracavity lateral walls of main shaft housing are equipped with sliding tray 25, air suction rod 62 keeps away from eccentric wheel 31's one end and arranges in sliding tray 25, air suction rod 62 and sliding tray 25 wall sliding connection, and air suction rod 62 end and sliding tray 25 seal set up, 2 lateral walls of main shaft housing still are equipped with air flue 23, air flue 23 and sliding tray 25 link up the setting, first check valve 24 of sliding tray 25 top fixedly connected with, 2 diapire middle parts of main shaft housing are equipped with air discharge chamber 21, air flue 23 and air discharge chamber 21 link up the setting, the joint of the air passage 23 and the exhaust chamber 21 is provided with a second one-way valve 22, the main shaft 3 and the robot are indirectly connected by arranging the connecting shell 1, the main shaft 3 is protected, a stable working environment is provided for the main shaft 3 by arranging the main shaft shell 2, the circulating mechanism 6 and the transmission mechanism 8 are protected, the circulation of air inside and outside the main shaft shell 2 is accelerated by arranging the circulating mechanism 6, metal powder is prevented from entering the gap between the main shaft and the connecting piece, the gap between the main shaft and the shell can be cleaned, the working environment of the main shaft 3 is ensured, the temperature of the main shaft is reduced by accelerating the flow of the air, the quick and effective transmission of power is realized by arranging the transmission mechanism 8, the heat dissipation of the main shaft 3 is accelerated, the main shaft is prevented from working in a high-temperature environment for a long time, and the working environment stability of the main shaft is further ensured, meanwhile, the service life of the main shaft is prolonged, when the burr of the casting is processed, the main shaft 3 rotates, the polishing head 33 is driven to rotate through the rotation of the main shaft 3, the casting is processed through the polishing head 33, the eccentric wheel 31 is driven to synchronously rotate in the rotation process of the main shaft 3, the protruding end of the eccentric wheel 31 is in contact with the pushing hemisphere 61 and pushes the pushing hemisphere 61 to move along the sliding groove 25 towards the direction far away from the main shaft 3, the air suction rod 62 is pushed to synchronously move through the pushing hemisphere 61, the return spring 63 is compressed, the air suction rod 62 pushes the air in the air passage 23 into the exhaust chamber 21 through the second one-way valve 22 in the movement process along the sliding groove 25, the air in the exhaust chamber 21 continuously flows out through the gap between the main shaft 3 and the connecting bearing 34, the metal powder is prevented from entering into the gap between the main shaft and the connecting piece, and the gap between the main shaft 3 and the connecting bearing 34 can be cleaned at the same time, the working environment of the main shaft is ensured, in the gas flowing process, the cooling of the connecting bearing 34 and the main shaft 3 is realized, when the protruding end of the eccentric wheel 31 is separated from the pushing hemisphere 61, the return spring 63 recovers the original state, the pushing hemisphere 61 is driven to move towards the direction close to the main shaft 3, the pushing hemisphere 61 drives the air suction rod 62 to move towards the direction close to the main shaft 3 along the sliding groove 25, in the moving process of the air suction rod 62, the gas inside the main shaft shell 2 enters the air passage 23 through the first one-way valve 24, the gas enters the exhaust chamber 21 through the air passage 23 and is exhausted, so that the high-temperature gas in the main shaft shell 2 is rapidly exhausted, the circulation of the gas inside and outside the main shaft shell 2 is accelerated, and the cooling of the main shaft 3 is further realized.

Specifically, the outer wall of the main shaft 3 is fixedly connected with a floating ring 32, the floating ring 32 is arranged right above the eccentric wheel 31, the transmission mechanism 8 comprises a guide rod 81, a sliding rod 82, a support plate 83, a connecting column 84 and a sliding wheel 85, the guide rod 81 is fixedly connected to the bottom in the cavity of the main shaft shell 2, the sliding rod 82 is sleeved on the outer wall of the guide rod 81, the sliding rod 82 is in sliding connection with the guide rod 81, one end of the sliding rod 82 close to the main shaft 3 is fixedly connected with the support plate 83, the upper end and the lower end of the support plate 83 are fixedly connected with the connecting column 84, one end of the connecting column 84 close to the main shaft 3 is rotatably connected with the sliding wheel 85, the sliding wheel 85 is in contact with the upper outer wall and the lower outer wall of the floating ring 32, the main shaft 3 drives the floating ring 32 to synchronously rotate, the sliding wheel 85 rotates along the outer wall of the floating ring 32 in the rotating process, and simultaneously drives the sliding wheel 85 to reciprocate up and down along the main shaft 3 direction, when the sliding wheel 85 moves downwards, the sliding wheel 85 drives the connecting column 84 to move downwards synchronously, the connecting column 84 drives the supporting plate 83 to move downwards, the supporting plate 83 drives the sliding rod 82 to slide downwards along the guide rod 81 simultaneously, and the guide rod 81 plays a limiting role in limiting the sliding rod 82, so that the sliding rod 82 is prevented from rotating.

Specifically, 2 intracavity bottom fixedly connected with flexible gasbags 9 of main shaft housing, slide bar 82 below is arranged in to flexible gasbags 9, flexible gasbags 9 is close to one side fixedly connected with air nozzle 91 of main shaft 3, in the downstream process at slide bar 82, slide bar 82 extrudes flexible gasbags 9, gas in the flexible gasbags 9 is with crossing air nozzle 91 blowout, gaseous flow direction main shaft 3, accelerate the air flow around the main shaft 3, further realization is to the cooling of main shaft 3, avoid the main shaft to work under high temperature environment for a long time, the operational environment who has further ensured the main shaft is stable, the life-span of main shaft has been prolonged simultaneously.

Specifically, the top of the spindle housing 2 is fixedly connected with a lubrication box 4, the lower part in the cavity is rotatably connected with a first oil pumping gear 42 and a second oil pumping gear 43, the first oil pumping gear 42 and the second oil pumping gear 43 are arranged in a matching manner, the lower end of the lubrication box 4 is fixedly connected with an oil dripping pipe 41, the oil dripping pipe 41 is arranged in a penetrating manner with the lubrication box 4, the oil dripping pipe 41 is arranged above the floating ring 32, the oil dripping pipe 41 is in contact with the outer wall of the spindle 3, when the second oil pumping gear 43 rotates counterclockwise, the second oil pumping gear 43 drives the first oil pumping gear 42 to rotate clockwise, at the moment, the lubricating oil in the lubrication box 4 cannot flow out, when the second oil pumping gear 43 rotates clockwise, the transmission gear 45 drives the gear post 44 to synchronously rotate clockwise, the gear post 44 drives the second oil pumping gear 43 in the lubrication box 4 to rotate clockwise, the second oil pumping gear 43 drives the first oil pumping gear 42 to rotate counterclockwise, at this time, the lubricating oil inside the lubricating box 4 flows out and drops to the surface of the floating ring 32 through the oil dropping pipe 41, and the lubricating oil is uniformly coated on the outer wall of the floating ring 32 in the rotating process of the sliding wheel 85 along the outer wall of the floating ring 32, so that the lubrication between the sliding wheel 85 and the floating ring 32 is realized, and the stability of the sliding wheel 85 in the moving process is ensured.

Specifically, the middle part of the side wall of the second oil pumping gear 43 is fixedly connected with a gear post 44, the gear post 44 penetrates through the side wall of the lubricating box 4, the gear post 44 is rotatably connected with the side wall of the lubricating box 4, one end of the gear post 44, which is far away from the lubricating box 4, is fixedly connected with a transmission gear 45, the upper surface of the sliding rod 82 is fixedly connected with a rack plate 86, the rack plate 86 is meshed with the transmission gear 45, in the downward movement process of the sliding rod 82, the sliding rod 82 drives the rack plate 86 to synchronously move downwards, the rack plate 86 drives the transmission gear 45 to rotate anticlockwise when moving downwards, the transmission gear 45 drives the gear post 44 to synchronously rotate anticlockwise, the gear post 44 drives the second oil pumping gear 43 in the lubricating box 4 to rotate anticlockwise, the second oil pumping gear 43 drives the first oil pumping gear 42 to rotate clockwise, at the moment, the lubricating oil in the lubricating box 4 cannot flow out, when the sliding rod 82 drives the rack plate 86 to synchronously move upwards, the rack plate 86 drives the transmission gear 45 to rotate clockwise, the transmission gear 45 drives the gear post 44 to rotate clockwise synchronously, the gear post 44 drives the second oil pumping gear 43 in the lubricating box 4 to rotate clockwise, the second oil pumping gear 43 drives the first oil pumping gear 42 to rotate anticlockwise, lubricating oil inside the lubricating box 4 flows out at the moment, the lubricating oil is dripped to the surface of the floating ring 32 through the oil dripping pipe 41, the sliding wheel 85 rotates along the outer wall of the floating ring 32, the lubricating oil is uniformly coated on the outer wall of the floating ring 32, lubrication between the sliding wheel 85 and the floating ring 32 is achieved, and stability of the sliding wheel 85 in the movement process is guaranteed.

The working principle is as follows: when the machining process is carried out on the burrs of the casting, the main shaft 3 rotates to drive the grinding head 33 to rotate, the casting is machined through the grinding head 33, the eccentric wheel 31 is driven to synchronously rotate in the rotating process of the main shaft 3, the protruding end of the eccentric wheel 31 is in contact with the push hemisphere 61 in the rotating process of the eccentric wheel 31 and pushes the push hemisphere 61 to move along the sliding groove 25 in the direction away from the main shaft 3, the air suction rod 62 is pushed to synchronously move through the push hemisphere 61, the return spring 63 is compressed, the air suction rod 62 pushes the air in the air passage 23 into the exhaust chamber 21 through the second one-way valve 22 in the moving process along the sliding groove 25, the air in the exhaust chamber 21 continuously flows out through the gap between the main shaft 3 and the connecting bearing 34, metal powder is prevented from entering the gap between the main shaft and the connecting piece, and meanwhile, the gap between the main shaft 3 and the connecting bearing 34 can be cleaned, the working environment of the main shaft is ensured, the connecting bearing 34 and the main shaft 3 are cooled in the gas flowing process, when the protruding end of the eccentric wheel 31 is separated from the pushing hemisphere 61, the return spring 63 restores the original state, the pushing hemisphere 61 is driven to move towards the direction close to the main shaft 3, the pushing hemisphere 61 drives the air suction rod 62 to move towards the direction close to the main shaft 3 along the sliding groove 25, in the moving process of the air suction rod 62, gas inside the main shaft shell 2 enters the air passage 23 through the first one-way valve 24, the gas enters the exhaust chamber 21 through the air passage 23 and is exhausted, so that high-temperature gas inside the main shaft shell 2 is rapidly exhausted, the circulation of gas inside and outside the main shaft shell 2 is accelerated, the cooling of the main shaft 3 is further realized, in the rotating process of the main shaft 3, the main shaft 3 drives the floating ring 32 to synchronously rotate, in the rotating process of the floating ring 32, the sliding wheel 85 rotates along the outer wall of the floating ring 32, meanwhile, the floating ring 32 drives the sliding wheel 85 to reciprocate up and down along the direction of the main shaft 3, when the sliding wheel 85 moves downwards, the sliding wheel 85 drives the connecting post 84 to synchronously move downwards, the connecting post 84 drives the supporting plate 83 to move downwards, the supporting plate 83 simultaneously drives the sliding rod 82 to slide downwards along the guide rod 81, the guide rod 81 plays a role in limiting the sliding rod 82 so as to prevent the sliding rod 82 from rotating, in the downward movement process of the sliding rod 82, the sliding rod 82 extrudes the telescopic air bag 9, gas in the telescopic air bag 9 is sprayed out through the air nozzle 91 and flows towards the main shaft 3, the air flow around the main shaft 3 is accelerated, the main shaft 3 is further cooled, the main shaft is prevented from working in a high-temperature environment for a long time, the working environment of the main shaft is further ensured to be stable, the service life of the main shaft is prolonged, in the downward movement process of the sliding rod 82, the sliding rod 82 drives the rack plate 86 to synchronously move downwards, when the rack plate 86 moves downwards, the transmission gear 45 is driven to rotate anticlockwise, the transmission gear 45 drives the gear post 44 to synchronously rotate anticlockwise, the gear post 44 drives the second oil pumping gear 43 in the lubricating box 4 to rotate anticlockwise, the second oil pumping gear 43 drives the first oil pumping gear 42 to rotate clockwise, at the moment, the lubricating oil in the lubricating box 4 cannot flow out, when the sliding rod 82 drives the rack plate 86 to synchronously move upwards, the rack plate 86 drives the transmission gear 45 to rotate clockwise, the transmission gear 45 drives the gear post 44 to synchronously rotate clockwise, the gear post 44 drives the second oil pumping gear 43 in the lubricating box 4 to rotate clockwise, the second oil pumping gear 43 drives the first oil pumping gear 42 to rotate anticlockwise, at the moment, the lubricating oil in the lubricating box 4 flows out and drops on the surface of the floating ring 32 through the oil dropping pipe 41, and during the rotation process along the outer wall of the floating ring 32 through the sliding wheel 85, the lubricating oil is uniformly coated on the outer wall of the floating ring 32, lubrication between the sliding wheel 85 and the floating ring 32 is realized, and the stability of the sliding wheel 85 in the movement process is ensured.

The foregoing shows and describes the general principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the embodiments and descriptions given above are only illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a robot main shaft floating system towards complicated structure is polished, includes connecting shell (1), spindle housing (2) and main shaft (3), its characterized in that: the main shaft floating system further comprises a circulating mechanism (6) and a transmission mechanism (8), the main shaft shell (2) is fixedly connected to the bottom of the connecting shell (1), the main shaft (3) penetrates through the bottom of the main shaft shell (2), the main shaft (3) is connected with the bottom of the main shaft shell (2) through a connecting bearing (34), the circulating mechanism (6) and the transmission mechanism (8) are both arranged in the cavity of the main shaft shell (2), and the lower end of the main shaft (3) is detachably connected with a polishing head (33);

the outer wall of the main shaft (3) is fixedly connected with an eccentric wheel (31), the eccentric wheel (31) is arranged in the middle of the cavity of the main shaft shell (2), the circulating mechanism (6) comprises a pushing hemisphere (61), an air suction rod (62) and a return spring (63), the protruding end of the eccentric wheel (31) can be in contact with the pushing hemisphere (61), one end, far away from the eccentric wheel (31), of the pushing hemisphere (61) is fixedly connected with an air suction rod (62), the outer wall of the air suction rod (62) is sleeved with the return spring (63), the inner side wall of the cavity of the main shaft shell (2) is provided with a sliding groove (25), one end, far away from the eccentric wheel (31), of the air suction rod (62) is arranged in the sliding groove (25), the air suction rod (62) is in sliding connection with the wall of the sliding groove (25), the tail end of the air suction rod (62) is sealed with the sliding groove (25), the side wall of the main shaft shell (2) is further provided with an air passage (23), and the air passage (23) is communicated with the sliding groove (25), sliding tray (25) top fixedly connected with first check valve (24), main shaft housing (2) diapire middle part is equipped with exhaust chamber (21), air flue (23) link up the setting with exhaust chamber (21), air flue (23) and exhaust chamber (21) junction are equipped with second check valve (22), wherein, in air suction rod (62) motion process, the inside gas of main shaft housing (2) gets into air flue (23) through first check valve (24), gas passes through air flue (23) and gets into exhaust chamber (21), the gaseous continuous gap outflow between through main shaft (3) and connection bearing (34) in exhaust chamber (21).

2. The robot spindle floating system for complex structure grinding of claim 1, wherein: spindle (3) outer wall fixedly connected with float ring (32), directly over eccentric wheel (31) is arranged in float ring (32), drive mechanism (8) are including guide bar (81), slide bar (82), backup pad (83), spliced pole (84) and movable pulley (85), guide bar (81) fixed connection is in spindle housing (2) intracavity bottom, the outer wall of guide bar (81) is established in slide bar (82) cover, and slide bar (82) and guide bar (81) sliding connection, slide bar (82) are close to fixed even backup pad (83) of spindle (3) one end, equal fixed connection spliced pole (84) in both ends about backup pad (83), the one end rotation that spliced pole (84) are close to spindle (3) is connected with movable pulley (85), two outer wall contacts about movable pulley (85) and float ring (32).

3. The robot spindle floating system for complex structure grinding of claim 2, wherein: the inner bottom of the cavity of the main shaft shell (2) is fixedly connected with a telescopic air bag (9), the telescopic air bag (9) is arranged below the sliding rod (82), and one side of the telescopic air bag (9) close to the main shaft (3) is fixedly connected with an air nozzle (91).

4. The robot spindle floating system for complex structure grinding as claimed in claim 3, wherein: spindle housing (2) top fixedly connected with lubricating case (4), intracavity lower part rotates and is connected with first pump oil gear (42) and second pump oil gear (43), and first pump oil gear (42) and second pump oil gear (43) cooperation set up, lubricating case (4) lower extreme fixed connection oil drip pipe (41), and oil drip pipe (41) link up the setting with lubricating case (4), and floating ring (32) top is arranged in oil drip pipe (41), and oil drip pipe (41) and spindle (3) outer wall contact.

5. The robot spindle floating system for complex structure grinding of claim 4, wherein: the middle part of the side wall of the second oil pumping gear (43) is fixedly connected with a gear column (44), the gear column (44) penetrates through the side wall of the lubricating box (4), the gear column (44) is rotatably connected with the side wall of the lubricating box (4), one end of the lubricating box (4) is far away from the gear column (44) and is fixedly connected with a transmission gear (45), the upper surface of the sliding rod (82) is fixedly connected with a rack plate (86), and the rack plate (86) is meshed with the transmission gear (45).