CN215240171U

CN215240171U - Floating polishing device for end effector

Info

Publication number: CN215240171U
Application number: CN202121494989.8U
Authority: CN
Inventors: 卜理伟; 李怀彬; 赵杰
Original assignee: Zhengzhou Linghang Robot Co ltd
Current assignee: Zhengzhou Linghang Robot Co ltd
Priority date: 2021-07-02
Filing date: 2021-07-02
Publication date: 2021-12-21
Anticipated expiration: 2031-07-02

Abstract

The utility model relates to the technical field of polishing devices, in particular to a floating polishing device for an end effector, which comprises an electric spindle, wherein the electric spindle is sleeved with a shell, the upper end of the shell is fixed with an upper flange cover, the lower end of the shell is fixed with a floating outer ring, a positioning ring is fixed on the floating outer ring, a lower flange cover is fixed on the positioning ring, a piston is sleeved on the electric spindle in the shell, a floating ring is sleeved on the electric spindle in the floating outer ring, the outer side end face of the floating ring is rotationally connected with a steel ball, a plurality of strip-shaped limiting grooves are arranged on the inner end face of the floating outer ring, the steel ball is slidably connected in the strip-shaped limiting grooves, an expansion sleeve is fixed on the electric spindle at the lower end of the floating ring, a locking sleeve is sleeved on the expansion sleeve, the deflection of the electric spindle during the deburring is realized by the utility model, the conditions that the rigid cutter is broken or parts are damaged and the like are avoided, and the grinding device has wide application prospect in the technical field of grinding devices.

Description

Floating polishing device for end effector

Technical Field

The utility model belongs to the technical field of grinding device technique and specifically relates to a grinding device floats for end effector.

Background

In the field of traditional robot polishing, a motion track is usually set for an industrial robot, so that polishing of the outer contour of a workpiece is realized through the industrial robot. Before grinding, off-line programming is needed according to geometric data of the workpiece appearance, so that a motion track of the robot in the grinding process is generated, and after the motion track is generated, subsequent workpiece grinding work is carried out according to the motion track. However, since each workpiece has a certain difference from the original designed outline dimension during the production and forming process, the outlines of the workpieces are not completely the same, in this case, uneven grinding occurs if grinding is performed according to the completely same motion track, that is: when the workpiece is in a position with a large outer contour depression, the polishing quality is affected because the polishing head cannot polish the workpiece; when the workpiece is in a position with a large outer contour protrusion, the polishing head is suddenly stressed too much, the workpiece is easily damaged or a rigid polishing cutter connected with an electric spindle is broken, and the working efficiency and the polishing quality are seriously influenced.

SUMMERY OF THE UTILITY MODEL

The invention discloses a floating polishing device for an end effector, which aims to solve the problems that polishing quality is influenced by large outer contour depression on a workpiece in the prior art, and the work efficiency and the polishing quality are seriously influenced by the damage of the workpiece or the breakage of a rigid polishing cutter connected with an electric spindle easily caused by large outer contour protrusion on the workpiece.

The technical proposal of the utility model is that the electric spindle comprises an electric spindle, wherein, the electric spindle is sleeved with a shell, the upper end of the shell is fixed with an upper flange cover, the lower end of the shell is fixed with a floating outer ring, the floating outer ring is fixed with a positioning ring, the positioning ring is fixed with a lower flange cover, the electric spindle in the shell is sleeved with a piston, the outer surfaces of the two ends of the piston are fixed with an upper sealing ring and a lower sealing ring, so that a sealing cylinder structure is formed between the upper sealing ring, the lower sealing ring, the piston and the shell, the upper flange cover and the shell are provided with air inlet holes communicated with the cylinder structure, the electric spindle in the floating outer ring is sleeved with a floating ring, the outer side end surface of the floating ring is provided with a plurality of rotating grooves which are arranged in an annular uniform array, the rotating grooves are connected with steel balls in a rotating way, the inner end surface of the floating outer ring is provided with a plurality of strip-shaped limiting grooves, the steel ball is connected in the strip-shaped limiting groove in a sliding mode, an expansion sleeve is fixed on the electric spindle at the lower end of the floating ring, and a locking sleeve is sleeved on the expansion sleeve.

Preferably, an upper protection sleeve sleeved outside the electric spindle is fixed on the upper flange cover, a lower protection sleeve sleeved outside the electric spindle is fixed on the lower flange cover, and the upper protection sleeve and the lower protection sleeve are both in a circular truncated cone shape made of flexible materials.

Preferably, the vertical section of the through hole in the shell is of an inverted T shape, the vertical section of the piston is of an inverted T shape with the through hole being formed in the axis, an upper clamping groove is formed in the upper end of the outer surface of the piston, the upper sealing ring is clamped and fixed in the upper clamping groove, a lower clamping groove is formed in the lower end of the outer surface of the piston, and the lower sealing ring is clamped and fixed in the lower clamping groove.

Preferably, the communicating part of the air inlet hole communicating with the cylinder structure is arranged at the reducing boundary of the inner wall of the shell.

Preferably, the vertical section of the inner ring of the locking sleeve is T-shaped, the expansion sleeve is connected to the inner ring of the locking sleeve in an interference manner, and the positioning ring corresponds to the locking sleeve and the expansion sleeve.

Preferably, the rotation grooves are semi-ellipsoidal, and the length directions of the electric main shafts of the long half shafts of the rotation grooves are the same.

Preferably, the inner ring diameter of the positioning ring is smaller than the outer ring diameter of the floating ring.

Preferably, the electric spindle comprises a spindle housing, a drive motor, a plug, a rotor and a positioning bearing, the expansion sleeve is fixed on the end face of the outer side of the driving motor, a mounting hole is arranged at one end of the driving motor, which extends to form an output shaft, the inner end surface of the mounting hole close to the opening is provided with an internal thread, one end of the spindle shell extends to form a threaded connector, the threaded connector is in threaded connection with the internal thread, a clamping groove is arranged in the threaded connector, the positioning bearing is fixed in the clamping groove, one end of the rotor penetrates through the main shaft shell along the axis of the main shaft shell, and is connected on the positioning bearing in the clamping groove in an interference manner, one end of the rotor close to the driving motor is provided with a non-circular inserting groove, the plug is fixed on the output shaft of the driving motor, the plug is plugged in the plug groove, and a sealing cover is fixed at one end of the main shaft shell, which is far away from the driving motor.

By adopting the technical scheme of the utility model, the following beneficial effects (1) can be achieved that the piston and the floating ring are convenient to limit in the inner part through the upper flange cover, the lower flange cover, the shell, the floating outer ring and the positioning ring, thereby realizing the effect of main shaft deviation; (2) through the piston, the upper sealing ring, the lower sealing ring, the shell and the air inlet hole, a sealed air cylinder structure is convenient to form among the piston, the upper sealing ring, the lower sealing ring and the shell, and then the air pressure in the air cylinder structure is increased by conveying air from the air inlet hole, so that the whole air cylinder structure moves up and down along the inner side wall of the shell; (3) the floating ring can only slide along the strip-shaped limiting groove under the driving of the steel ball through the floating ring, the steel ball and the strip-shaped limiting groove, so that the electric spindle is convenient to deflect to enable the matched piston to limit the electric spindle, the electric spindle can have a certain deflection amount, and meanwhile, the electric spindle cannot be deflected in a transition manner, and the phenomenon that the electric spindle drives a polishing head to polish workpieces unevenly, or the workpieces are damaged or a rigid polishing cutter connected with the electric spindle is broken is avoided; the technical scheme of the utility model has extensive application prospect in grinding device technical field.

Drawings

Fig. 1 is a cross-sectional view of the floating polishing device for an end effector of the present invention.

Fig. 2 is an enlarged view of the area a in fig. 1.

Fig. 3 is a perspective view of the floating polishing device for an end effector of the present invention.

The electric spindle comprises an electric spindle 1, an electric spindle 2, a shell 3, an upper flange cover 4, a floating outer ring 5, a positioning ring 6, a lower flange cover 7, an upper protective sleeve 8, a lower protective sleeve 9, a piston 10, an upper clamping groove 11, an upper sealing ring 12, a lower clamping groove 13, a lower sealing ring 14, a strip-shaped limiting groove 15, a floating ring 16, a rotating groove 17, a steel ball 18, an expansion sleeve 19, a locking sleeve 101, a driving motor 102, a mounting hole 103, an internal thread 104, a spindle shell 105, a threaded connector 106, a rotor 107, a splicing groove 108, a splicing connector 109, a splicing groove 110, a positioning bearing 111 and a sealing cover.

Detailed Description

The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention, and in the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, and are only for convenience of description of the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as limiting the present invention.

Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance throughout the present disclosure, it being understood that unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and can be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

1-3, including electric main shaft 1, electric main shaft 1 overcoat is equipped with shell 2, the upper end of shell 2 can be dismantled through bolt fastening and be connected with upper flange cover 3, the lower extreme of shell 2 can be dismantled through bolt fastening and be connected with unsteady outer loop 4, can dismantle through bolt fastening and be connected with holding ring 5 on the unsteady outer loop 4, can dismantle through bolt fastening and be connected with lower flange cover 6 on the holding ring 5, be convenient for with upper flange cover 3, shell 2, unsteady outer loop 4, holding ring 5 and lower flange cover 6 link together and form a whole, and then the cover is established outside electric main shaft 1, realize injecing and the protection to the internals, so that electric main shaft 1 can disperse the deflection for above-mentioned part, and then realize better polishing effect. The cover is equipped with piston 9 on the electricity main shaft 1 in the shell 2, the both ends surface of piston 9 leans on the joint to be fixed with upper seal circle 11 and lower seal circle 13, make upper seal circle 11, lower seal circle 13, form sealed cylinder structure between piston 9 and the shell 2, set up the inlet port of intercommunication cylinder structure on upper flange cover 3 and the shell 2, be convenient for through the inlet port to cylinder structure in the air delivery, and then increase the pressure in the cylinder structure, along with the increase of pressure in the cylinder structure, the cylinder structure can wholly move downwards. The electric main shaft 1 in the outer ring 4 that floats is overlapped and is equipped with the floating ring 15, a plurality of rotation grooves 16 that are the even array setting of annular are seted up to the outside terminal surface of floating ring 15, it has steel ball 17 to rotate the internal rotation connection of rotation groove 16, a plurality of bar spacing grooves 14 along electric main shaft 1 length direction are seted up to the interior terminal surface of outer ring 4 that floats, steel ball 17 sliding connection is in bar spacing groove 14, and rotation groove 16 is the semiellipsoid type, and the length direction of the electric main shaft 1 of the long semi-axis of rotation groove 16 is the same, be convenient for prescribe a limit to floating ring 15 in bar spacing groove 14 through steel ball 17 sliding connection, make floating ring 15 only can slide in bar spacing groove 14 under the drive of steel ball 17, utilize rotation groove 16 and bar spacing groove 14 to carry out certain injecing to the deflection of floating ring 15 in addition, and then prescribe a limit to the deflection of electric main shaft 1. The inner ring diameter of the positioning ring 5 is smaller than the outer ring diameter of the floating ring 15, so that the floating ring 15 is limited by the positioning ring 5, and the floating ring 15 is prevented from sliding downwards along the electric spindle 1 too much. Welding or can dismantle through the fix with screw and be connected with the tight cover 18 that expands on the electricity main shaft 1 of floating ring 15 lower extreme, the cover is equipped with lock sleeve 19 on the tight cover 18 that expands, is convenient for link together lock sleeve 19 and the tight cover 18 that expands with electricity main shaft 1, and then prescribe a limit to floating ring 15, avoids floating ring 15 and electricity main shaft 1 too much gliding down, and then breaks away from shell 1 and unsteady outer loop 4. The vertical section of the inner ring of the locking sleeve 19 is T-shaped, and the expansion sleeve 18 is connected to the inner ring of the locking sleeve 19 in an interference manner, so that the locking sleeve 19 and the expansion sleeve 18 can be conveniently connected together. The locking sleeve 19 is fixedly detachably connected with the floating ring 15 through a bolt, so that the floating ring 15 is connected with the expansion sleeve 18 through the locking sleeve 19, the floating ring 15 is fixedly connected with the electric spindle 1, the electric spindle 1 can drive the floating ring 15 to deflect conveniently, and the deflection angle of the electric spindle 1 is limited by the floating ring 15.

As shown in fig. 1-3, the floating polishing device for an end effector is characterized in that an upper protective sleeve 7 sleeved outside an electric spindle 1 is fixed on an upper flange cover 3 in a clamping manner, specifically, a clamping protrusion extends from the upper flange cover 3, a clamping groove is formed in an inner end face of an opening at one end of the upper protective sleeve 7 with a larger diameter, and the clamping protrusion is clamped in the clamping groove to realize clamping connection between the upper flange cover 3 and the upper protective sleeve 7, so that the electric spindle 1 is protected by the upper protective sleeve 7, and meanwhile, dust and scraps generated by polishing are prevented from entering the device through a gap between the electric spindle 1 and the upper flange cover 3 to affect deflection of the electric spindle 1. The lower flange cover 6 is fixedly connected with a lower protective sleeve 8 which is sleeved outside the electric spindle 1 in a clamped mode, specifically, the lower flange cover 6 extends downwards to form a clamping protrusion, a clamping groove is formed in the inner end face of an opening of one end, with the larger diameter, of the lower protective sleeve 8, the clamping protrusion is clamped in the clamping groove to achieve clamping connection of the lower flange cover 6 and the lower protective sleeve 8, the electric spindle 1 is protected through the lower protective sleeve 8 conveniently, and meanwhile, dust and scraps generated by polishing are prevented from entering the device through a gap between the electric spindle 1 and the lower flange cover 6 to affect deflection of the electric spindle 1. Go up lag 7 and lag 8 down and be the round platform shape of flexible material, be convenient for carry out better protection to electric main shaft 1, also be convenient for simultaneously with last flange cover 3 and the connection of lower flange cover 6, in addition through flexible material, like the rubber material for do not receive lag 7 and lag 8's influence down when electric main shaft 1 deflects.

As shown in fig. 1-3, in the floating polishing device for an end effector, an upper clamping groove 10 is formed at the upper end of the outer surface of a piston 9, and an upper sealing ring 11 is clamped and fixed in the upper clamping groove 10, so that the piston 9 and the upper sealing ring 11 can be clamped and connected through the upper clamping groove 10. The lower end of the outer surface of the piston 9 is provided with a lower clamping groove 12, and the lower sealing ring 13 is clamped and fixed in the lower clamping groove 12, so that the piston 9 and the lower sealing ring 13 can be clamped and connected conveniently through the lower clamping groove 12. The vertical section of the through hole in the shell 2 is inverted T-shaped, the inverted T-shaped through hole is formed in the vertical section of the piston 9 as the axis, the moving direction of the piston 9 is convenient to limit, when air is ventilated into the cylinder structure, along with increase of air in the cylinder structure, the volume of the cylinder is increased after the piston 9 drives the upper sealing ring 11 and the lower sealing ring 13 to move downwards due to the fact that the diameter of the lower end of the piston 9 is larger than that of the upper end, and the piston 9 is moved. The communicating part of the air inlet hole communicating cylinder structure is arranged at the reducing boundary part of the inner wall of the shell 2, so that the piston 9 can conveniently move downwards after air is introduced from the air inlet hole, and the opening of the air inlet hole is prevented from being separated from the cylinder structure.

The electric main shaft comprises a main shaft shell, a driving motor, a plug-in connector, a rotor and a positioning bearing, the expansion sleeve is fixed on the end face of the outer side of the driving motor, the end of the driving motor, which extends to form the output shaft, is provided with a mounting hole, the inner end surface of the mounting hole, which is close to the opening, is provided with an internal thread, one end of the spindle shell extends to form a threaded connector which is in threaded connection with the internal thread, a clamping groove is formed in the threaded connector, the positioning bearing is connected in the clamping groove in an interference manner, one end of the rotor penetrates through the spindle shell along the axis of the spindle shell, and is connected on the positioning bearing in the clamping groove in an interference manner, one end of the rotor close to the driving motor is provided with a non-circular inserting groove, the plug is fixed on the output shaft of the driving motor, the plug is plugged in the plug groove, and a sealing cover is fixed at one end of the main shaft shell, which is far away from the driving motor.

1-3, the electric spindle 1 comprises a spindle housing 104, a driving motor 101, a plug 108, a rotor 106 and a positioning bearing 110, wherein an expansion sleeve 18 is welded or detachably connected to the outer end face of the driving motor 101 through screw fixation, so that the expansion sleeve 18 and the driving motor 101 are connected together to form a whole, and further the driving motor 101, a locking sleeve 19 and a floating ring 15 are connected together to form a whole. The one end that driving motor 101 extends to have the output shaft has seted up mounting hole 102, mounting hole 102 is close to the open-ended interior terminal surface and has seted up internal thread 103, the one end of main shaft shell 104 extends there is threaded connection head 105, threaded connection head 105 and internal thread 103 threaded connection, be convenient for link together main shaft shell 104 and driving motor 101 and form a whole, and then constitute whole electric main shaft 1's shell body, the quick assembly disassembly of driving motor 101 and main shaft shell 104 of being convenient for simultaneously. A clamping groove 109 is formed in the threaded connector 105, and the positioning bearing 110 is connected in the clamping groove 109 in an interference manner, so that the positioning bearing 110 and the main shaft shell 104 are connected together to form a whole. One end of the rotor 106 penetrates through the main shaft housing 104 along the axis of the main shaft housing 104, and is connected to the positioning bearing 110 in the clamping groove 109 in an interference manner, so that the rotor 106 is supported and limited by the positioning bearing 110, and meanwhile, the rotor 106 is connected with the main shaft housing 104, and further, the rotor 106 is connected with the driving motor 101. One end of the rotor 106 close to the driving motor 101 is provided with a non-circular insertion groove 107, the insertion head 108 is of a non-circular structure, the insertion head 108 is fixed on an output shaft of the driving motor 101 in a welding or threaded connection mode, the insertion head 108 is inserted into the insertion groove 107, the driving motor 101 can be driven to rotate by the aid of the operation of the driving motor 101, the driving motor 101 is driven to rotate together with the rotor 106 through the insertion connection of the insertion head 108 and the insertion groove 107, and power is provided for rotation of a polishing head connected with the rotor 106. One end of the main shaft shell 104, which is far away from the driving motor 101, is detachably connected with a sealing cover 1110 through screw fixation, so that the rotor 106 is supported and limited through the sealing cover 110, the rotor 106 can stably rotate, a gap between the rotor 106 and the main shaft shell 104 is sealed, and dust or waste chips generated by grinding are prevented from entering from the gap between the rotor 106 and the main shaft shell 104 to influence the rotation of the rotor 106.

When the electric spindle is used, a polishing head connected with the electric spindle 1 is in contact with a workpiece to generate certain pressure, so that the electric spindle 1 drives the floating ring 15 and the steel balls 17 to deflect to a certain degree, and then the piston 9 moves downwards to be abutted against the floating ring 15 through air inlet ventilation. When the polishing meets a concave part, the pressure borne by the electric spindle 1 is reduced, so that the electric spindle 1 drives the floating ring 15 and the steel balls 17 to recover, and the deflection angle is reduced; when the polishing meets the bulge, the pressure on the electric spindle 1 is increased, so that the electric spindle 1 drives the floating ring 15 and the steel ball 17 to continuously deflect, the deflection angle is increased, the floating ring 15 pushes the piston 9 to move upwards, and the workpiece is prevented from being damaged or the rigid polishing cutter connected with the electric spindle 1 is prevented from breaking.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A grinding device that floats for end effector, including electricity main shaft (1), its characterized in that, electricity main shaft (1) overcoat is equipped with shell (2), the upper end of shell (2) is fixed with upper flange lid (3), the lower extreme of shell (2) is fixed with outer ring (4) that floats, be fixed with holding ring (5) on the outer ring (4) that floats, be fixed with lower flange lid (6) on holding ring (5), the electricity main shaft (1) in shell (2) is gone up the cover and is equipped with piston (9), the both ends surface of piston (9) is fixed with upper seal circle (11) and lower seal circle (13) for form sealed cylinder structure between upper seal circle (11), lower seal circle (13), piston (9) and shell (2), set up the inlet port that communicates cylinder structure on upper flange lid (3) and the shell (2), the electric spindle (1) in the floating outer ring (4) is sleeved with a floating ring (15), a plurality of rotating grooves (16) which are uniformly arranged in an annular array are formed in the end face of the outer side of the floating ring (15), steel balls (17) are rotatably connected into the rotating grooves (16), a plurality of strip-shaped limiting grooves (14) are formed in the inner end face of the floating outer ring (4), the steel balls (17) are slidably connected into the strip-shaped limiting grooves (14), an expansion sleeve (18) is fixed on the electric spindle (1) at the lower end of the floating ring (15), and a locking sleeve (19) is sleeved on the expansion sleeve (18).

2. The floating polishing device for the end effector according to claim 1, wherein an upper protection cover (7) which is sleeved outside the electric spindle (1) is fixed on the upper flange cover (3), a lower protection cover (8) which is sleeved outside the electric spindle (1) is fixed on the lower flange cover (6), and the upper protection cover (7) and the lower protection cover (8) are both in a circular truncated cone shape made of flexible materials.

3. The floating polishing device for the end effector according to claim 1, wherein the vertical section of the through hole in the housing (2) is an inverted T shape, the vertical section of the piston (9) is an inverted T shape with a through hole at the axis, the upper end of the outer surface of the piston (9) is provided with an upper clamping groove (10), the upper sealing ring (11) is clamped and fixed in the upper clamping groove (10), the lower end of the outer surface of the piston (9) is provided with a lower clamping groove (12), and the lower sealing ring (13) is clamped and fixed in the lower clamping groove (12).

4. The floating grinding device for the end effector according to claim 1, characterized in that the communication of the air inlet hole communicating cylinder structure is opened at the reducing boundary of the inner wall of the housing (2).

5. The floating sanding device for an end effector according to claim 1, wherein the inner ring of the locking sleeve (19) has a T-shaped vertical cross-section, and the expansion sleeve (18) is interference-connected to the inner ring of the locking sleeve (19) which is fixedly connected to the floating ring.

6. The floating grinding device for an end effector according to claim 1, characterized in that the rotational groove (16) is of a semi-ellipsoidal type, and the length directions of the electric principal axes (1) of the major half axes of the rotational groove (16) are the same.

7. The floating sharpening device for an end effector according to claim 1, characterized in that the inner ring diameter of the positioning ring (5) is smaller than the outer ring diameter of the floating ring (15).

8. The floating grinding device for the end effector according to claim 1, wherein the electric spindle (1) comprises a spindle housing (104), a driving motor (101), a plug connector (108), a rotor (106) and a positioning bearing (110), the expansion sleeve (18) is fixed on an outer end face of the driving motor (101), one end of the driving motor (101) extending to form an output shaft is provided with a mounting hole (102), an inner end face of the mounting hole (102) close to the opening is provided with an internal thread (103), one end of the spindle housing (104) extends to form a threaded connector (105), the threaded connector (105) is in threaded connection with the internal thread (103), a clamping groove (109) is formed in the threaded connector (105), the positioning bearing (110) is fixed in the clamping groove (109), one end of the rotor (106) penetrates through the spindle housing (104) along an axis of the spindle housing (104), the rotor is connected to a positioning bearing (110) in a clamping groove (109) in an interference mode, a non-circular insertion groove (107) is formed in one end, close to the driving motor (101), of the rotor (106), the insertion head (108) is fixed to an output shaft of the driving motor (101), the insertion head (108) is inserted into the insertion groove (107), and a sealing cover (111) is fixed to one end, far away from the driving motor (101), of the main shaft shell (104).