CN212237883U

CN212237883U - Power device for driving workpiece to rotate

Info

Publication number: CN212237883U
Application number: CN202020704971.5U
Authority: CN
Inventors: 翟大庆; 屈良基; 周宗林
Original assignee: Sichuan Guoruan Science & Technology Development Co ltd
Current assignee: Sichuan Guoruan Technology Group Co Ltd
Priority date: 2020-04-30
Filing date: 2020-04-30
Publication date: 2020-12-29
Anticipated expiration: 2030-04-30

Abstract

The utility model relates to a power device for driving a workpiece to rotate, which comprises a fixed frame, a movable frame, a driving motor and a connector, wherein the movable frame is arranged on the fixed frame and can move relative to the fixed frame; the utility model provides a be used for driving work piece pivoted power device, compact structure, the exquisite power device of design adopt can dismantle the connected mode and cooperate with the position controlling means in the paint spraying technology to the drive sets up in position controlling means's work piece and rotates, in addition, can also effectively solve the connector and the problem of the axis decentraction that connects and the connector be not convenient for resume initial position the problem etc. thereby the work of spraying paint is accomplished to accuracy, high efficiency, low-cost.

Description

Power device for driving workpiece to rotate

Technical Field

The utility model relates to a paint spraying apparatus technical field, concretely relates to be used for driving work piece pivoted power device.

Background

A coating method in which a spray paint (or called spray paint) is dispersed into uniform and fine droplets by a spray gun or a disc atomizer by means of pressure or centrifugal force and applied to the surface of an object to be coated is widely used in industry.

In the prior art, an automatic paint spraying device (such as a robot or the like) is generally used for spraying paint on an object (also called a workpiece), and the automatic paint spraying device is generally arranged in a relatively closed paint spraying space, such as a special paint spraying room or the like; the workpiece to be painted is usually arranged on an orientation control device which can adjust the orientation through rotation, and the orientation control device is connected with a conveying line so as to be sequentially conveyed to a painting station arranged in a painting space through the conveying line (such as a chain conveying line and the like); the direction control device is provided with a joint for connecting the power device, a paint spraying device for spraying paint and a power device for providing power for the direction control device are generally required to be arranged at a paint spraying station, the paint spraying device can adopt the existing paint spraying device, when the direction control device moves to the paint spraying station, the power device can be connected with the direction control device through the joint in the direction control device, so that power is provided for rotation of a workpiece in the paint spraying process, and the existing power device cannot meet the requirement, and needs to be improved urgently.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to improve the not enough that exists among the prior art, provide a compact structure, design exquisite power device, can cooperate with the position control device in the paint spraying technology to the drive sets up in position control device's work piece and rotates, thereby accomplishes the work of spraying paint accurately, high-efficient, low-cost.

The utility model adopts the technical proposal that:

the utility model discloses the problem that the first aspect will be solved is, realizes being connected with dismantling of position control device power device, provides a power device for driving work piece pivoted for solving this problem, including mount, adjustable shelf, driving motor and connector, the adjustable shelf set up in the mount can remove for the mount, driving motor set up in the adjustable shelf, driving motor are used for driving the connector to rotate, connect looks adaptation among connector and the position control device. In the scheme, when the position control device moves to a paint spraying station under the driving of the conveying line, a joint in the position control device usually has a determined position, because the joint is matched with the joint in the position control device, the position of the joint can be changed by adjusting the position of the movable frame, so that the joint can be close to the joint and matched with the joint, when the driving motor rotates, the joint and the joint can be synchronously driven to rotate so as to provide power for the rotation of a workpiece in the position control device, after the painting of the workpiece is finished, the joint in the position control device needs to be separated from the joint of the power device, at the moment, the joint can be separated from the joint by adjusting the position of the movable frame, so that the detachable connection of the power device and the position control device is realized, after the position control device is separated from the power device, the position control device can leave the paint spraying station under the driving of the conveying line, continuing to move ahead, next position control device can move to the station department that sprays paint under the drive of transfer chain, and repeated above-mentioned process can utilize the power device drive to set up in position control device's work piece and rotate at the in-process that sprays paint to accurate, efficient completion work of spraying paint.

In order to facilitate connection of the connector in the azimuth control device, preferably, the connector is a connecting block with a square structure, or the connector is provided with a clamping groove. When the connector includes the connecting block, the joint among the position control device be provided with the draw-in groove of connecting block looks adaptation, when the connector adopted the draw-in groove, the joint among the position control device be provided with the connecting block of draw-in groove looks adaptation, through the cooperation of draw-in groove and connecting block, can realize the connector and connect can dismantle be connected, not only connect conveniently, the separation of being convenient for, but also can synchronous transmission rotary power to the turned angle of accurate control work piece.

Preferably, the output shaft of the driving motor is connected with the connector, or the driving motor is connected with the connector through a transmission part, and the transmission part is one or a combination of a transmission shaft, a coupler, a gear transmission mechanism and a worm-gear rotating mechanism. The transmission parts can realize accurate transmission ratio so as to accurately control the rotation angle of the joint, thereby achieving the purpose of accurately controlling the rotation angle and the direction of the workpiece.

Further, still include the reduction gear, the reduction gear set up in the connector with between the driving motor for the speed reduction.

Furthermore, still include driver part and first sharp module, the adjustable shelf is fixed in through first sharp module the mount, driver part is used for driving the adjustable shelf along the length direction operation of first sharp module. The first linear module is used for restraining the movable frame, so that the movable frame can move along a straight line under the pushing of the driving part, the position of the connector is effectively adjusted, the connector can be moved to the position matched with the connector in the azimuth control device before paint spraying, and after paint spraying is completed, the connector can be restored to the initial position under the driving of the driving part, and the normal operation of the azimuth control device is avoided being interfered.

Preferably, the driving part is a cylinder or a hydraulic cylinder.

The utility model discloses a problem that the second aspect will be solved is, after the connector among the direction control device is connected to the connector among this power device, because there is fit clearance between connector and the joint, lead to the connector and connect the axis decentraction, be unfavorable for the transmission, for solving this problem, further, still include from adjusting the frame, driving motor is fixed in from adjusting the frame, from adjusting the frame through second straight line module set up in the adjustable shelf, just second straight line module with first module mutually perpendicular, from adjusting the both ends of frame respectively through self-balancing spring coupling the adjustable shelf. The position of the connector can be adjusted in two mutually perpendicular directions due to the fact that the second linear module is mutually perpendicular to the first module, wherein the position of the connector in one direction can be adjusted by the aid of the driving component, so that the connector can be matched with the connector, the self-adjusting frame keeps balance under the action of tension of the self-balancing springs on two sides, and in the working process of the driving motor, when a matching gap exists between the connector and the connector, the connector is not concentric with the axis of the connector, interference force is generated inevitably, under the action of the interference force, the self-adjusting frame can overcome the tension of the self-balancing springs and linearly move along the second linear module until the axis of the connector is concentric with the axis of the connector, at the moment, the interference force disappears, the connector and the connector rotate concentrically, and accordingly the purpose of automatically adjusting concentricity is achieved.

Preferably, the first linear module comprises a guide rail and a slide block matched with the guide rail, the guide rail and the slide block are respectively fixed on the fixed frame and the movable frame, and the guide rail and the slide block form a moving pair,

and/or the second linear module comprises a guide rail and a sliding block matched with the guide rail, the guide rail and the sliding block are respectively fixed on the movable frame and the self-adjusting frame, and the guide rail and the sliding block form a sliding pair. The driving part adopts an air cylinder or a hydraulic cylinder, and the movable frame is driven to move relative to the fixed frame by the extension/contraction of the driving part.

The utility model discloses a problem that the third aspect will be solved is, because there is the fit clearance between connector and the joint, when the rotatory round under this power device's drive of joint, the turned angle of connector must be greater than 360 degrees to not position department when initial, be not convenient for cooperate with next position control device's joint, for solving this problem, it is further, still include sensor and controller, the circumferencial direction of connector is provided with the detection portion, sensor and driving motor respectively with the controller links to each other, the sensor is fixed in self-interacting frame is used for detecting produce the sensing signal and send for during the detection portion the controller, the controller is used for control the connector rotates, and is receiving control connector stall during the sensing signal. Therefore, the connector can be restored to the original position after being used every time, and when the connector is located at the position, the connector can be conveniently matched with the connector of the next position control device, so that the technical problem is effectively solved.

Preferably, the detection part is a protrusion or a groove. That is, the outer surface of the detection part is not flush with the outer surface of the connector, so that when the detection part rotates to the position corresponding to the sensor, different sensing signals can be generated, and the purpose of identifying the detection part can be achieved.

Preferably, the sensor is a proximity switch, a photoelectric switch, a laser sensor, an ultrasonic sensor, or the like.

Compared with the prior art, use the utility model provides a pair of be used for driving work piece pivoted power device, compact structure, the exquisite power device of design adopt can dismantle the connected mode and cooperate with the position control device among the paint spraying technology to the drive sets up in position control device's work piece and rotates, in addition, can also effectively solve the problem of connector and the axis decentraction that connects and the connector is not convenient for resume initial position's problem etc. is favorable to accurate, high-efficient, accomplish the work of spraying paint with low costs.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of an orientation control apparatus.

Fig. 2 is a schematic structural diagram of a power device according to an embodiment of the present invention.

Fig. 3 is a second schematic structural diagram of a power device according to an embodiment of the present invention.

Fig. 4 is a partial schematic view of a power device provided in an embodiment of the present invention.

Fig. 5 is a schematic diagram of a power device according to an embodiment of the present invention, which is engaged with a joint of an orientation control device.

Fig. 6 is a schematic view of the connector and the adapter after being fitted together.

Fig. 7 is a schematic diagram of the joint after one rotation under the driving of the power device.

Fig. 8 is a schematic view illustrating a connector of a power device according to an embodiment of the present invention recovering to an initial position.

Description of the drawings

A fixed frame 101, a movable frame 102, a driving motor 103, a connector 104, a slot 105, a guide rail 106, a slide block 107, a driving part 108, a self-adjusting frame 109, a self-balancing spring 110, a bracket 111, a sensor 112, a detection part 113,

The system comprises a conveying line 201, an orientation control device 202, a joint 203, a connecting block 204, a hanging bracket joint 205 and a hook 206.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.

Example 1

In the paint spraying process, workpieces to be painted are generally arranged on an orientation control device 202 which can adjust the orientation of the workpieces through rotation, and the orientation control device 202 is generally hung on a conveying line 201 through a hook 206 so as to be sequentially conveyed to a paint spraying station arranged in a paint spraying space through the conveying line 201 (such as a chain conveying line 201 and the like); as shown in fig. 1, the orientation control device 202 includes a frame, a connector 203 for connecting a power device is disposed on one side of the frame, a hanging holder connector 205 for connecting a workpiece hanging holder is disposed at a lower end of the frame, the connector 203 and the hanging holder connector 205 are connected by a power transmission mechanism disposed in the frame and have a fixed transmission ratio, the orientation control device 202 can be moved to a painting station under the driving of a conveying line 201, and at the painting station, the connector 203 of the orientation control device 202 needs to be connected to the power device disposed at the painting station, so that during the painting process, the connector 203 is driven by the power device to rotate, thereby driving the workpiece to rotate, so as to paint all sides of the workpiece.

In order to realize the detachable connection between the power device and the position control device 202, the embodiment provides a power device for driving a workpiece to rotate, which includes a fixed frame 101, a movable frame 102, a driving motor 103 and a connector 104, as shown in fig. 2-5, the movable frame 102 is disposed on the fixed frame 101 and can move relative to the fixed frame 101, the driving motor 103 is disposed on the movable frame 102, the driving motor 103 is used for driving the connector 104 to rotate, and the connector 104 is adapted to a connector 203 in the position control device 202.

In this embodiment, when the position control device 202 moves to the painting station under the driving of the conveying line 201, the joint 203 in the position control device 202 usually has a determined orientation, for example, as shown in fig. 5 and 6, in a vertical upward orientation, since the joint 104 is matched with the joint 203 in the position control device 202, by adjusting the position of the movable frame 102, the position of the joint 104 can be changed, so that the joint 104 can be close to the joint 203 and form fit with the joint 203, when the driving motor 103 rotates, the joint 104 and the joint 203 can be synchronously driven to rotate so as to provide power for the rotation of the workpiece in the position control device 202, when the workpiece is painted, the joint 203 in the position control device 202 needs to be separated from the joint 104 of the power device, and at this time, by adjusting the position of the movable frame 102, the joint 104 can be separated from the joint 203, thereby realize being connected with dismantling of power device and position control device 202, position control device 202 breaks away from the power device after, can leave the station of spraying paint under the drive of transfer chain 201, continue to move ahead, next position control device 202 can move to the station department of spraying paint under the drive of transfer chain 201, repeated above-mentioned process can be at the in-process that sprays paint, utilize the power device drive to set up in the work piece rotation of position control device 202 to the work of spraying paint is accomplished to accuracy, efficient.

To facilitate the connection of the connector 203 in the orientation control device 202, the connector 104 may be a connecting block 204 with a square structure, or the connector 104 may be provided with a slot 105. When the connector 104 includes the connecting block 204, the joint 203 in the position control device 202 is provided with the draw-in groove 105 with connecting block 204 looks adaptation, as shown in fig. 5 and 6, when the connector 104 adopts the draw-in groove 105, the joint 203 in the position control device 202 is provided with the connecting block 204 of draw-in groove 105 looks adaptation, through the cooperation of draw-in groove 105 with connecting block 204, can realize the connector 104 and connect the dismantled connection of 203, not only connect conveniently, be convenient for the separation, but also can transmit rotary power in step to the turned angle of accurate control work piece.

In this embodiment, the output shaft of the driving motor 103 may be directly connected to the connector 104, or the driving motor 103 may be connected to the connector 104 through a transmission component, the transmission component may be one or a combination of a transmission shaft, a coupler, a gear transmission mechanism, and a worm-gear rotation mechanism, and the transmission component may all realize an accurate transmission ratio, so as to accurately control the rotation angle of the connector 203, thereby achieving the purpose of accurately controlling the rotation angle and the orientation of the workpiece.

In order to realize accurate control, the driving motor 103 may be a motor with a speed reduction function, or the power device further includes a speed reducer, and the speed reducer is arranged between the connector 104 and the driving motor 103 and used for reducing speed; in the present embodiment, the driving motor 103 is a direct-rotation motor, as shown in fig. 2 or fig. 3.

In order to realize the relative movement between the movable frame 102 and the fixed frame 101, there may be various embodiments, and as shown in fig. 2 and fig. 3, the movable frame 102 further includes a driving part 108 and a first linear module, the movable frame 102 is fixed to the fixed frame 101 through the first linear module, and the driving part 108 is configured to drive the movable frame 102 to move along a length direction of the first linear module. The first linear module is used for restraining the movable frame 102, so that the movable frame 102 can move in a straight line under the pushing of the driving part 108, and the position of the connector 104 is effectively adjusted, so that the connector 104 can move to a position where the connector can be matched with the connector 203 in the position control device 202 before paint spraying, and after the paint spraying is completed, the connector 104 can be driven by the driving part 108 to return to the original position, and the normal operation of the position control device 202 is prevented from being interfered.

Preferably, the driving member 108 may be a pneumatic cylinder or a hydraulic cylinder; in this embodiment, the length direction of the first linear module may be configured according to a requirement of matching with the connector 203 in the position control device 202, for example, in this embodiment, initially, the connector 203 in the position control device 202 is provided with a connecting block 204, and the connecting block 204 is vertical, and the movable frame 102 can only move in the vertical direction to smoothly clamp the connector 104 provided with the clamping groove 105 into the connecting block 204, as shown in fig. 5 and 6, so in this embodiment, the first linear module may be vertically arranged, as shown in the figure, so that the movable frame 102 may move up and down in the vertical direction relative to the fixed frame 101, thereby effectively adjusting the position of the connector 104.

The first linear module may adopt a linear module commonly used in the prior art, and the number of the linear modules may be determined according to actual requirements, for example, as shown in fig. 2, the first linear module includes a guide rail 106 and a slider 107 adapted to the guide rail 106, the guide rail 106 and the slider 107 are respectively fixed to the fixed frame 101 and the movable frame 102, and the guide rail 106 and the slider 107 form a moving pair, as shown in the figure, the guide rail 106 is disposed on the fixed frame 101 along a vertical direction, and the fixed frame 101 may be fixed at a painting station.

Preferably, the driving unit 108 may be an air cylinder or a hydraulic cylinder, so that the movable frame 102 can be driven to move relative to the fixed frame 101 by the extension/contraction of the driving unit 108, thereby achieving the purpose of adjusting the position.

It can be understood that the movable frame 102 and the fixed frame 101 respectively have various embodiments, and as shown in fig. 2 and fig. 3, the movable frame 102 is a vertically disposed plate, and the fixed frame 101 includes a vertically disposed plate and a horizontally disposed mounting plate, so as to facilitate the fixing of the fixed frame 101, which is not described herein again.

Example 2

Because the connector 104 in the power device is detachably connected with the connector 203 in the position control device 202, a fit clearance must exist between the connector 104 and the connector 203, namely, a clearance must exist between the clamping groove 105 and the connecting block 204; after the connecting head 104 of the power device is connected to the joint 203 of the position control device 202, due to the fit clearance between the connecting head 104 and the joint 203, the axes of the connecting head 104 and the joint 203 are not concentric, which is not beneficial to transmission, in order to solve the problem, in the power device provided by this embodiment, the power device further includes a self-adjusting frame 109, as shown in fig. 2 to 5, the driving motor 103 is fixed to the self-adjusting frame 109, the self-adjusting frame 109 is disposed on the movable frame 102 through a second linear module, the second linear module is perpendicular to the first module, two ends of the self-adjusting frame 109 are respectively connected to the movable frame 102 through self-balancing springs 110, as shown in fig. 4, the parameters of the self-balancing springs 110 disposed on two sides are the same. Since the second linear module is perpendicular to the first module, the position of the connecting head 104 can be adjusted in two perpendicular directions, wherein the position of the connecting head 104 in one direction (in this embodiment, the position of the connecting head 104 is adjusted in the vertical direction) can be adjusted by the driving part 108, so that the connecting head 104 can be matched with the connecting head 203, and the self-adjusting bracket 109 keeps balance under the tension of the self-balancing springs 110 on two sides; in the working process of the driving motor 103, when a fit clearance exists between the connector 104 and the connector 203, and the axis of the connector 104 is not concentric with the axis of the connector 203, an interference force is inevitably generated, under the action of the interference force, the self-adjusting frame 109 can overcome the tension of the self-balancing spring 110 and linearly move along the second linear module (in the embodiment, the position of connection is adjusted along the horizontal direction) until the axis of the connector 104 is concentric with the axis of the connector 203, at the moment, the interference force disappears, and the connector 104 and the connector 203 can concentrically rotate, so that the purpose of automatically adjusting concentricity is achieved.

The second linear module can be a linear module commonly used in the prior art, and the number of the linear modules can be determined according to actual requirements, for example, as shown in fig. 2 or fig. 4, the second linear module includes a guide rail 106 and a slide block 107 adapted to the guide rail 106, the guide rail 106 and the slide block 107 are respectively fixed to the movable frame 102 and the self-adjusting frame 109, and the guide rail 106 and the slide block 107 form a moving pair.

Example 3

Because there is a fit clearance between the connector 104 and the connector 203, when the connector 203 is driven by the power device to rotate for one turn and finish painting (return to the original position), as shown in fig. 7, the rotation angle of the connector 104 must be larger than 360 degrees, that is, the connector 104 is not at the original position, as shown in fig. 7, it is inconvenient for the connector 104 to match with the connector 203 of the next position control device 202, to solve this problem, in the power device provided in this embodiment, a sensor 112 and a controller are further included, a detection portion 113 is provided in the circumferential direction of the connector 104, the sensor 112 and the driving motor 103 are respectively connected with the controller, the sensor 112 is fixed to the self-adjusting bracket 109, as shown in fig. 3 and 8, the bracket 111 is fixed to the self-adjusting bracket 109 so as to maintain the relative positions of the driving motor 103 and the connector 104 unchanged, the sensor 112 is used for generating a sensing signal when detecting the detecting portion 113 and sending the sensing signal to the controller, and the controller is used for controlling the connecting head 104 to rotate and controlling the connecting head 104 to stop rotating when receiving the sensing signal, so that the connecting head 104 can be restored to the original position after being used every time, and when the connecting head 104 is in the original position, the connecting head can be conveniently matched with the joint 203 of the next position control device, and the technical problem is effectively solved. Specifically, initially, the sensor 112 corresponds to the connection head 104, after the connection head 104 is separated from the connection head 203 under the driving of the driving component 108, the orientation control device 202 may continue to move forward under the driving of the conveying line 201, while the sensor 112 in the present power device is not corresponding to the connection head 104 in general, that is, there is a misalignment, at this time, the controller may control the driving motor 103 to start and drive the connection head 104 to rotate, when the detection portion 113 disposed on the connection head 104 corresponds to the sensor 112, the sensor 112 generates a sensing signal and sends the sensing signal to the controller, and the controller controls the connection head 104 to stop rotating, so that the connection head 104 may return to the initial position for the next use.

It is understood that the detecting portion 113 may be a protrusion or a groove, that is, the outer surface of the detecting portion 113 is not flush with the outer surface of the connecting head 104, so that when the detecting portion 113 is rotated to a position corresponding to the sensor 112, different sensing signals can be generated to achieve the purpose of identifying the detecting portion 113. For example, in the present embodiment, the detecting portion 113 is a bolt disposed on a side surface of the connecting head 104, so as to form a protrusion on the side surface of the connecting head 104, as shown in fig. 7 and 8, so as to be capable of cooperating with the sensor 112.

Preferably, the sensor 112 has a plurality of ways to detect the detecting portion 113, in one aspect, the purpose of identifying the detecting portion 113 can be achieved by measuring the distance between the sensor 112 and the side surface of the connecting head 104, at this time, the sensor 112 can adopt a laser sensor 112 or an ultrasonic sensor 112 to detect the distance, in another aspect, the sensor 112 can generate a sensing signal by shielding the sensor 112, at this time, the sensor 112 can be a proximity switch, a photoelectric switch, or the like, and the other sensors 112 capable of achieving similar functions also meet the requirements of the present embodiment, which is not illustrated herein.

It can be understood that the controller may be a controller commonly used in the prior art, such as a single chip, an ARM chip, a PLC, and the like, and a controller having similar functions or capable of achieving similar control effects, and is not illustrated here.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention.

Claims

1. The utility model provides a be used for driving work piece pivoted power device, its characterized in that, includes mount, adjustable shelf, driving motor and connector, the adjustable shelf set up in the mount can remove for the mount, driving motor set up in adjustable shelf, driving motor are used for driving the connector and rotate, connector and the joint looks adaptation among the azimuth control device.

2. The power device for driving the workpiece to rotate according to the claim 1, wherein the connector is a connecting block with a square structure, or the connector is provided with a clamping groove.

3. The power device for driving the workpiece to rotate according to the claim 1 or 2, characterized by further comprising a driving part and a first linear module, wherein the movable frame is fixed on the fixed frame through the first linear module, and the driving part is used for driving the movable frame to move along the length direction of the first linear module.

4. The power device for driving a workpiece to rotate according to claim 3, wherein the driving part is a cylinder or a hydraulic cylinder.

5. The power device for driving rotation of a workpiece according to claim 3, further comprising a self-adjusting frame, wherein the driving motor is fixed to the self-adjusting frame, the self-adjusting frame is arranged on the movable frame through a second linear module, the second linear module is perpendicular to the first linear module, and two ends of the self-adjusting frame are respectively connected with the movable frame through self-balancing springs.

6. The power device for driving the workpiece to rotate according to claim 5, wherein the first linear module comprises a guide rail and a slide block matched with the guide rail, the guide rail and the slide block are respectively fixed on the fixed frame and the movable frame, and the guide rail and the slide block form a moving pair,

and/or the second linear module comprises a guide rail and a sliding block matched with the guide rail, the guide rail and the sliding block are respectively fixed on the movable frame and the self-adjusting frame, and the guide rail and the sliding block form a sliding pair.

7. The power device for driving the rotation of a workpiece according to claim 5, further comprising a sensor and a controller, wherein a detection part is arranged in the circumferential direction of the connecting head, the sensor and the driving motor are respectively connected with the controller, the sensor is fixed on the self-adjusting frame and used for generating a sensing signal when detecting the detection part and sending the sensing signal to the controller, and the controller is used for controlling the rotation of the connecting head and controlling the rotation of the connecting head to stop when receiving the sensing signal.

8. The power device for driving a workpiece to rotate according to claim 7, wherein the detection part is a protrusion or a groove.

9. The power device for driving a workpiece to rotate according to claim 7, wherein the sensor is a proximity switch, a photoelectric switch, a laser sensor or an ultrasonic sensor.

10. The power device for driving a workpiece to rotate according to claim 1 or 2, wherein an output shaft of the driving motor is connected with the connector, or the driving motor is connected with the connector through a transmission part, and the transmission part is one or a combination of a transmission shaft, a coupler, a gear transmission mechanism and a worm-gear rotating mechanism.