CN102019636A - Photoelectric feedback type carpentry milling head device with double swing angles - Google Patents
Photoelectric feedback type carpentry milling head device with double swing angles Download PDFInfo
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Abstract
The invention provides a photoelectric feedback type carpentry milling head device with double swing angles. The photoelectric feedback type carpentry milling head device with the double swing angles comprises a supporting seat, a main shell, an electric spindle connecting plate, an electric spindle, a shaft C driving mechanism, a shaft A driving mechanism and two rotary photoelectric encoders, wherein the supporting seat is provided with the shaft C driving mechanism which comprises a servo motor and a transmission mechanism, and an output shaft of the shaft C driving mechanism is connected with the main shell; the main shell is provided with the shaft A driving mechanism which comprises a servo motor and a transmission mechanism, and an output shaft of the shaft A driving mechanism is connected with the electric spindle through the electric spindle connecting plate; the shaft C and shaft A driving mechanisms are provided with a travel switch respectively, a positioning block is arranged on a limit belt wheel which is connected to the output shafts of the driving mechanisms, and a corresponding limit switch is arranged on the supporting seat or the main shell; and grating discs in the rotary photoelectric encoders are arranged on the output shafts, and a photoelectric detector and a light source are arranged on the supporting seat or the main shell. The photoelectric feedback type carpentry milling head device with the double swing angles can realize polyhedron carving and milling processing during the processing of wood and artificial boards, and is suitable for carpentry high-accuracy and high-speed multi-axle numerically-controlled machine tool.
Description
Technical field
The invention belongs to timber and wood-based plate intensive processing technical field, relate to a kind of carpenter's of increasing Digit Control Machine Tool interlock coordinate number of axle, realize the double pendulum angle milling head unit of polyhedron processing such as engraving in the timber processing milled, drilling, sawing.
Technical background
In modern timber industry, carpenter's Digit Control Machine Tool just develops towards the direction of high-speed, high accuracy, multiaxis control.Present stage carpenter Digit Control Machine Tool generally adopts three or the version of 4-coordinate axle interlock, the three-dimensional linkage numerical control machine can be finished the continuous processing of three coordinate directions of timber workpiece, but, tool rotating shaft is consistent with lathe high-speed electric main shaft output revolving force direction, can't realize the change of tool rotating shaft angle; 4-coordinate axis linkage numerical control lathe is on the basis of common three axes carpenter Digit Control Machine Tool, by increasing C s function unit, can be so that electric spindle collar rotates around the Z axle, with the vertical revolving force of the electric main shaft output machine driving formal transformation by C s function unit is the revolving force of level or other directions, thereby realizes the change of change in coordinate axis direction.4-coordinate axis linkage numerical control lathe has only increased the rotation around a reference axis, and the process tool kind is single, is difficult to satisfy the complex-curved processing requests of Wood member such as modern furniture, timber structure and interior decoration.
At present, domestic in design with make and also to be in the starting stage aspect the double pendulum angle milling head be used for the multi-shaft interlocked carpenter's Digit Control Machine Tool of high-precision high-speed, owing to lack key technology, aspects such as its reliability, quality, precision are difficult to compare favourably with external product.In addition, the double pendulum angle milling head needs that are used for the high accuracy 5-axis machining center can be realized main shaft gyration simultaneously, functions such as swing, double pendulum angle milling head mainly adopts gear pair at present, type of belt drive such as worm and gear or torque motor, gear pair, the worm and gear transmission scheme, the equipment electrical connecting wires is less, the cost of entire product is lower, though can reach certain kinematic accuracy requirement, but, because there is drive gap in this class kind of drive, make its positioning accuracy not high, do not satisfy the more requirement of high manufacturing accuracy,, can make drive mechanism complicated more if increase the mechanical facility of eliminating drive gap on its basis.In addition, there are shortcomings such as the inertia that rotates, strain, backlass, motion delay, friction, vibration, noise, wearing and tearing and manufacturing processing request height in the existing kind of drive; Torque motor transmission accuracy height, rotating speed is low, control is complicated, the too high problem of production cost but exist.The double pendulum angle milling head of existing 5-axis machining center adopts open loop or semi-loop drive mechanism usually, and it exists control accuracy low, is subjected to foreign impacts easily and disturbs, and error such as can't compensate at shortcoming.
Because above-mentioned this class existing equipment in the limitation of aspects such as transmission, causes adapting to the fast and bigger processing characteristic of vibratory impulse of timber processing medium velocity, causes the component surface precision that processes low, need carry out secondary operations and could satisfy instructions for use.
Summary of the invention
The objective of the invention is to improve deficiency of the prior art, a kind of electro-optical feedback formula carpenter double pendulum angle milling head unit is provided, it can be realized that polyhedron in the processing of timber and wood-based plate is engraved and mill processing, be applicable to that carpenter's high accuracy, high-speed multi-axis numerical control lathe use.
The objective of the invention is to be achieved through the following technical solutions:
A kind of electro-optical feedback formula carpenter double pendulum angle milling head unit, it comprises a supporting seat, a main casing, an electric main shaft connecting plate and an electric main shaft, also comprises a C axle driving mechanism, an A axle or B axle driving mechanism and a rotation photoelectric encoder.
Described C axle driving mechanism is set on the described supporting seat, and described C axle driving mechanism comprises servomotor and the transmission mechanism that is attached thereto, and connects described main casing on the output shaft of this transmission mechanism; Described A axle or B axle driving mechanism are set on the described main casing, and it comprises servomotor and the transmission mechanism that is attached thereto, and connects described electric main shaft connecting plate on the output shaft of this transmission mechanism, on this electricity main shaft connecting plate described electric main shaft is set;
Also be respectively equipped with the one stroke switching device in described C axle driving mechanism and A axle or the B axle driving mechanism, described C axle stroke switchgear comprises locating piece and limit switch, on the output shaft of the described main casing of connection of the described transmission mechanism of described C axle driving mechanism, spacing belt wheel is set, described locating piece is arranged on the described spacing belt wheel, and described limit switch is arranged on the limit switch gripper shoe on the described supporting seat; Described A axle or B axle stroke switchgear comprise electric main shaft connecting plate and the limit switch as locating piece, and described limit switch is arranged on the described main casing; Two described limit switches in described C axle and described A axle or the B axle driving mechanism include positive limit switch and negative limit switch and zero point sensor, this positive and negative limit switch constitutes the extreme position of two rotations of corresponding output shaft, makes described output shaft move back and forth in less than 360 ° angular range and realizes swing; This zero point sensor places between this positive and negative limit switch to locate the dead-center position of described output shaft;
Also be respectively equipped with the one stroke switching device in described C axle driving mechanism and A axle or the B axle driving mechanism, described C axle stroke switchgear comprises locating piece and limit switch, on the output shaft of the described main casing of connection of the described transmission mechanism of described C axle driving mechanism, spacing belt wheel is set, described locating piece is arranged on the described spacing belt wheel, and described limit switch is arranged on the limit switch gripper shoe on the described supporting seat; Described A axle or B axle stroke switchgear comprise described electric main shaft connecting plate and the limit switch as locating piece, and described limit switch is arranged on the described main casing.Two described limit switches comprise positive limit switch and negative limit switch and zero point sensor in described C axle and described A axle or the B axle driving mechanism, this positive and negative limit switch constitutes the extreme position of two rotations of corresponding output shaft, makes described output shaft move back and forth in less than 360 ° angular range and realizes swing; This zero point sensor places between this positive and negative limit switch to locate the dead-center position of described output shaft;
Described rotation photoelectric encoder is two covers, every cover rotation photoelectric encoder has included grating dish and photoelectric detection system, described grating dish is separately positioned on the described output shaft in two described driving mechanisms, is arranged on the both sides that are positioned at described grating dish on described supporting seat and the described main casing with the photoelectric detection system and the light source of described grating dish coupling.
For the rotational angle that increases the C axle be convenient to install limit switch, on corresponding supporting seat, a belt shaft is set, one driven position-limited wheel is set thereon, be connected by a driving-belt with the described active position-limited wheel that is provided with on the described reducer output shaft, initiatively position-limited wheel is connected by a stable drive ratio with driven position-limited wheel, described locating piece is arranged on the driven spacing belt wheel, the rotational angle of C axle is reached ± 220 °.
Described positive and negative limit switch in the stroke switchgear in the described C axle driving mechanism is arranged on the limit switch gripper shoe, described limit switch gripper shoe is arranged on the supporting seat, makes described output shaft reciprocally swinging in maximum ± 220 ° of angular ranges in the C axle driving mechanism; Described positive and negative limit switch in the stroke switchgear in described A axle or the B axle driving mechanism is arranged on the main casing, makes described output shaft reciprocally swinging in maximum ± 110 ° of angular ranges in described A axle or the B axle driving mechanism.Like this, can satisfy the needs of complex-curved processing in the timber processing, electrical wire and the pneumatic circuit that can avoid being connected on the electric main shaft simultaneously twine.
Particularly, photoelectric detection system that matches and the light source on the described C axle driving mechanism is arranged on the both sides that are positioned at described grating dish on the described supporting seat; Photoelectric detection system and light source with described grating dish coupling on described A axle or the B axle driving mechanism are arranged on the both sides that are positioned at described grating dish on the described main casing.
Transmission mechanism in the described driving mechanism can be a tape handler, preferred Synchronous Belt Drives.Described active position-limited wheel and driven position-limited wheel also can be preferably the cog belt transmission mechanism.
In order to make the output speed of C axle driving mechanism and A axle or B axle driving mechanism be suitable for actual instructions for use, can in described tape handler, increase one speed reducer.Described decelerator can be cycloidal reducer or harmonic gear reducer.
This electro-optical feedback formula carpenter double pendulum angle milling head unit is arranged on the three-dimensional carpenter Digit Control Machine Tool by described supporting seat, the rotary middle spindle of described C axle rotation bracing frame overlaps with the Z axle of three-dimensional carpenter Digit Control Machine Tool or is parallel, the rotary middle spindle of described A axle or B axle rotation bracing frame is vertical with the rotary middle spindle of C axle rotation bracing frame, promptly with the X-axis of three-dimensional carpenter Digit Control Machine Tool or Y-axis coincidence or parallel plane in.
Described A axle driving mechanism is arranged on the described main casing, described main casing is a dual-support structure, is inverted U-shaped shape, thereunder constitutes two side bracing frames, two sides of described electric main shaft are provided with syndeton, in order to be supported on two side bracing frames of this main casing.
Electro-optical feedback formula carpenter double pendulum angle milling head unit provided by the invention is by installing a specific supporting seat additional on existing three-dimensional carpenter Digit Control Machine Tool, electric main shaft is arranged on this supporting seat, makes electric main shaft increase rotatablely moving on Z axle and X-axis or two reference axis of Y-axis on the moving movement of original X, Y, three change in coordinate axis direction of Z again.Like this, just can improve the process flexibility of timber machining tool, effectively increase work efficiency, shorten the process-cycle, increased the freedom of motion of electric main shaft, in process, just can reduce the number of changing knife and the number of times of holding workpiece again, even can finish the process that all need be processed by the once mounting workpiece, therefore, can improve machining accuracy and process velocity.In addition, supporting seat provided by the invention and C axle driving mechanism and A axle or B axle driving mechanism structure compactness, good rigidly, therefore, reaction is fast, no backlass, can further guarantee the machining accuracy of this processing unit (plant).
The Double swing head device that is used for carpenter's Digit Control Machine Tool, it is by on common three axes carpenter Digit Control Machine Tool, installation can increase the double pendulum angle milling head unit of two interlock coordinate number of axle, can realize that electric spindle collar forms the C axle around the rotation of Z axle, also can realize forming the A axle, or become the B axle around the Y-axis rotation around the X-axis rotation.By two reference axis interlocks that control increases, promptly C axle and A or B axle participate in swing, can realize the five reference axis interlock processing of carpenter's Digit Control Machine Tool, reach clamping of timber workpiece, finish complex-curved processing.
Electro-optical feedback formula carpenter double pendulum angle milling head unit provided by the invention also has following advantage:
1) described driving mechanism adopts Synchronous Belt Drives, make compact integral structure, gearratio is accurate, impact resisting vibrating good, operate steadily, and is suitable for the timber machining tool that load is little, vibration is big.
2) electric main shaft has bigger pendulum angle, has realized the bigger range of work.Adopt advanced Sealing Technology, circuit, gas circuit concentrate on components interior fully, the restriction that is not rotatablely moved.
3) can realize closed-loop control, can accurately control rotation direction, speed and the angle of double pendulum angle milling head, can reduce the driving error that the band transmission produces, guarantee control accuracy and reliability to greatest extent by Photoelectric Detection module and external processor.
Below by accompanying drawing the present invention is described in further detail.
Description of drawings
Fig. 1 is the perspective view of electro-optical feedback formula carpenter double pendulum angle milling head unit provided by the invention;
Fig. 2 is the main TV structure schematic diagram of electro-optical feedback formula carpenter double pendulum angle milling head unit provided by the invention;
Fig. 3 is the stroke switchgear structural representation of the C axle driving mechanism pendulum angle in the electro-optical feedback formula carpenter double pendulum angle milling head unit provided by the invention;
Fig. 4 is the stroke switchgear structural representation of the A axle driving mechanism pendulum angle in the electro-optical feedback formula carpenter double pendulum angle milling head unit provided by the invention;
Fig. 5 is the schematic diagram of the photoelectric detection system in the electro-optical feedback formula carpenter double pendulum angle milling head unit provided by the invention.
The specific embodiment
A kind of electro-optical feedback formula carpenter double pendulum angle milling head unit as depicted in figs. 1 and 2, it comprises a supporting seat 12, a C axle driving mechanism, an A axle or a B axle driving mechanism and an electric main shaft 26.
Described supporting seat 12 is arranged on the Z shaft device of three-dimensional carpenter Digit Control Machine Tool.
Described C axle driving mechanism is set on the supporting seat 12, described C axle driving mechanism comprises C axle servomotor 1 and the transmission mechanism that is attached thereto, this transmission mechanism comprises the C axle active profile of tooth belt wheel 2 on the output shaft that is installed in servomotor 1, driven shaft in the described transmission mechanism is set on supporting seat 12 rotationally, set firmly C axle driven toothed belt wheel 4 on it, sheathed C axle cog belt 3 on profile of tooth belt wheel 2 and profile of tooth belt wheel 4; Connect a C axle decelerator 6 at an end that sets firmly on the axle of C axle driven toothed belt wheel 4, connect a main casing 15 on the output shaft of this decelerator 6; By A spindle motor connecting plate 16 described A axle driving mechanism is set on the main casing 15, it comprises A axle servomotor 17, on the output shaft of this servomotor 17, set firmly initiatively profile of tooth belt wheel 18 of A axle, driven shaft in the described transmission mechanism is set on main casing 15 rotationally, set firmly A axle driven toothed belt wheel 22 on it, sheathed A axle cog belt 21 on active profile of tooth belt wheel 18 and driven toothed belt wheel 22; Setting firmly connection one A axle decelerator 23 on the axle of A axle driven toothed belt wheel, the output shaft of this decelerator connects an electric main shaft connecting plate 25, is installed with described electric main shaft 26 on this electricity main shaft connecting plate 25.
Particularly, servomotor 1 in the C axle driving mechanism, be arranged on the supporting seat 12 of Z shaft device of three-dimensional carpenter Digit Control Machine Tool, set firmly driving pulley 2 on servomotor 1 output shaft, be fastened on the driven toothed belt wheel 4 on the power input shaft of the C axle decelerator 6 on the supporting seat 12 by cog belt 3, power output shaft on the C axle decelerator 6 connects counter flange 14, makes its rotation.Main casing 15 is fixed on the counter flange 14, and the servomotor 1 in the C axle driving mechanism rotates, and can drive main casing 15 and walk around the central shaft that crosses flange, and just the output shaft axis of C axle decelerator 6 rotates.C axle decelerator 6 adopts accurate cycloid gear transmission, and input and output centering have that compact conformation, bearing capacity height, gearratio are big, the characteristics of no sideshake.
A axle servomotor 17 and transmission device are installed in the inside of main casing 15, and main casing 15 is arranged on the counter flange 14.Establish initiatively profile of tooth belt wheel 18 on the output shaft of A axle servomotor 17, by active profile of tooth belt wheel 18 and sheathed thereon A axle synchronous cog belt 21, and be that A axle reductor input belt wheel 22 is with the input of transmission of power to decelerator 23 with the A axle synchronous cog belt 21 sheathed driven pulleys that are connected, further reduce rotating speed through A axle decelerator 23, increase moment of torsion, drive described electric main shaft connecting plate 25, electricity main shaft 26 directly links to each other with electric main shaft connecting plate 25, the rotation of electricity main shaft connecting plate 25 directly drives electric main shaft 26 rotations, realizes rotating around the A axle.A axle decelerator 23 also adopts accurate cycloid gear transmission.Two decelerators in C axle driving mechanism and the A axle driving mechanism can also be harmonic gear reducers.
By C axle driving mechanism and A axle driving mechanism, make electric main shaft 26 can be rotatably set on this supporting seat 12, the Z axle of the rotary middle spindle of counter flange 14 and three-dimensional carpenter Digit Control Machine Tool overlaps or is parallel, and the rotary middle spindle of the rotary middle spindle of electric main shaft connecting plate 25 and counter flange 14 is vertical promptly to be overlapped with the X-axis of three-dimensional carpenter Digit Control Machine Tool or Y-axis or parallel.Described electric main shaft 26 is installed on the electric main shaft connecting plate 25.Electric in the present embodiment main shaft connecting plate 25 is A axle rotation bracing frame, and its rotary middle spindle overlaps with the X-axis of three-dimensional carpenter Digit Control Machine Tool or be parallel.When the electricity main shaft is vertical state, the dead in line of its central axis and C axle reducer output shaft.During rotation, electric alignment of shafts axis and C axle reducer output shaft form an angle.
Described C axle driving mechanism is connected on the supporting seat 12, and this supporting seat is arranged on and forms a direction of rotation on the Z shaft device of three-dimensional carpenter Digit Control Machine Tool, and C axle drive mechanism main casing 15 rotates.
Described A axle or B axle driving mechanism are arranged on the side motor internal connecting plate 16 of main casing 15, rotate with respect to described supporting seat 12 to drive electric main shaft connecting plate 25.
A axle servomotor 17 and transmission device are installed in the inside of main casing 15, and main casing 15 is arranged on the counter flange 14.Establish initiatively profile of tooth belt wheel 18 on the output shaft of A axle servomotor 17, by active profile of tooth belt wheel 18 and sheathed thereon A axle synchronous cog belt 21, and be that A axle reductor input belt wheel 22 is with the input of transmission of power to decelerator 23 with the A axle synchronous cog belt 21 sheathed driven pulleys that are connected, further reduce rotating speed through A axle decelerator 23, increase moment of torsion, drive described electric main shaft connecting plate 25, electricity main shaft 26 directly links to each other with electric main shaft connecting plate 25, the rotation of electricity main shaft connecting plate 25 directly drives electric main shaft 26 rotations, realizes rotating around the A axle.
In a concrete example, the A axle initiatively number of teeth of profile of tooth belt wheel 18 is 24, and the number of teeth of driven toothed belt wheel 22 is 48, speed reducing ratio 1: 2.The speed reducing ratio of decelerator is 1: 89, and the decelerator output connects electric main shaft connecting plate 25, and electric main shaft connecting plate 25 directly links to each other with electric main shaft 26, and the total reduction ratio of A axle can reach 1: 178.A axle servomotor 17 rated speed 3000rmin
-1, nominal torque 1.27Nm, A axle total reduction ratio 178 draws the rated speed 16.85rmin of A
-1, nominal torque 226.06Nm.
C axle initiatively profile of tooth belt wheel 2 numbers of teeth is 30, and driven toothed belt wheel 4 numbers of teeth are 60, speed reducing ratio 1: 2.Passive belt wheel 4 is by being bolted to the input shaft end of reductor 6, decelerator speed reducing ratio 1: 89, decelerator output connection main casing 15, the rotation of realization C axle, the total reduction ratio of C axle 1: 178.The number of teeth of the profile of tooth belt wheel 5 of C axle output is 40, and the number of teeth of spacing profile of tooth belt wheel 8 is 54.C axle servomotor 1 rated speed 3000rmin
-1, nominal torque 2.07Nm.C axle total reduction ratio 1: 178 draws the rated speed 16.85rmin of C
-1, nominal torque 368.48Nm.
All adopt Synchronous Belt Drives in the aforementioned transmission mechanism, characteristics such as it has, and gearratio is accurate, impact resisting vibrating good, operate steadily, do not creep are suitable for the timber processing that load is little, vibration is big.
Also can in described C axle and A axle or B axle driving mechanism decelerator 6 or decelerator 23 not being set, at this moment, is will be as required the pulley diameters design in the described Synchronous Belt Drives mechanism in each driving mechanism to be got final product.
The revolution impulse stroke of the described C axle rotation bracing frame in this timber processing double pendulum angle milling head unit is set at-220 degree to+220 degree, the revolution impulse stroke of described A axle or B axle rotation bracing frame is set at-110 degree to+110 degree, be pivot angle ± 220 ° of C axle driving mechanism, be meant that positive and negative limit switch is arranged on the C axle limit switch gripper shoe 11, limit switch gripper shoe 11 is arranged on the supporting seat 12.Locating piece 81 is when initial point forwards positive extreme position to, and initiatively spacing profile of tooth belt wheel rotational angle is 0～220 °, and when locating piece forwarded the negative pole extreme position to from initial point, initiatively spacing profile of tooth belt wheel rotational angle was 0～220 °.
As shown in Figure 3, Figure 4, concrete position limiting structure is:
Be respectively equipped with the one stroke switching device in described C axle driving mechanism and A axle or the B axle driving mechanism.With the limit switch device in the C axle driving mechanism is example, described C axle limit switch device comprises locating piece and limit switch, described locating piece is arranged on the spacing belt wheel of the described output shaft in the described driving mechanism, described limit switch is arranged on the limit switch gripper shoe 11, and limit switch gripper shoe 11 is arranged on the supporting seat 12; Described A axle or B axle stroke switchgear comprise electric main shaft connecting plate and limit switch, and the limit switch device is arranged on the described main casing, rely on electric main shaft connecting plate to trigger travel switch.Described limit switch comprises positive limit switch and negative limit switch and zero point sensor, this positive and negative limit switch constitutes the extreme position of two rotations of this output shaft, make the described output shaft of C axle driving mechanism move back and forth the realization rotation in ± 220 ° angular range, the described output shaft of A axle or B axle driving mechanism moves back and forth in ± 110 ° of angular ranges; This zero point sensor places between this positive and negative limit switch to locate the dead-center position of described output shaft.
Particularly, the position limiting structure of C axle: the rotating limit device that the C axle is set on limit switch gripper shoe 11, it comprises spacing profile of tooth belt wheel 8, spacing cog belt 7, Zero-point switch 9 and positive and negative limit switch 10, spacing profile of tooth belt wheel 8 is supported on the limit switch gripper shoe 11, sheathed spacing cog belt 7 on the synchronous cog belt wheel 5 on the power output shaft of itself and aforementioned decelerator 6, spacing profile of tooth belt wheel 8 links to each other with the limit switch gripper shoe 11 of the positive and negative limit switch 10 of a C axle, forward limit switch that is complementary and negative sense limit switch corresponding to described work formation set angle scope corresponding position setting and the positive and negative limit switch 10 of this C axle on limit switch gripper shoe 11.
C axle servomotor 1 is by active profile of tooth belt wheel 2, cog belt 3, driven toothed belt wheel 4 is delivered to driving force the input of deceleration machine 6, the input of deceleration machine 6 connects with driven toothed belt wheel 4, output is by counter flange 14 main casing 15 that is connected, directly drive main casing 15 rotations, realize the rotation of C axle.Decelerator 6 adopts accurate cycloid gear transmission, and input and output centering have that compact conformation, bearing capacity height, gearratio are big, the characteristics of no sideshake.Profile of tooth belt wheel 5 is coaxial with profile of tooth belt wheel 4, and profile of tooth belt wheel 5 drives spacing profile of tooth belt wheel 8 by spacing cog belt 7 again and rotates.
When the C axle turns to positive extreme position, the change in location of C axle, by with main casing 15, through synchronizing jugged belt wheel 5, synchronous spacing cog belt 7, synchronizing jugged belt wheel 8, on synchronizing jugged belt wheel 8, be provided with the fan-shaped metal protuberance 81 of small pieces, Here it is C axle dead-center position locating piece, the variation of C shaft position causes the variation of synchronizing jugged belt wheel 8 rotational angles through above-mentioned drive path, the fan-shaped metal protuberance of these small pieces moves to ad-hoc location on synchronizing jugged belt wheel 8, triggers C axle forward limit switch, makes the C axle stop to continue to rotate to positive direction.In like manner, when the C axle turns to the negative pole extreme position,, trigger C axle negative sense limit switch, stop the C axle to continue to move to negative direction through same drive path.Thereby guarantee that the C axle can only move, and prevents the infringement of parts in the certain angle scope.In like manner, determining of C axle dead-center position: a zero point sensor 9 is set on the limit switch gripper shoe 11 on the supporting seat 12, and zero point sensor 9 will be triggered, and according to this triggering signal, determine that the C axle moves to dead-center position.
The position limiting structure of A axle is:
Positive and negative limit switch 19 of A axle and Zero-point switch sensor 20 are installed on the main casing 15 1 side inwalls, when the A axle turns to positive extreme position, the change in location of A axle triggers A axle forward limit switch by electric main shaft connecting plate 25, makes the A axle stop to continue to rotate to positive direction.In like manner, when the A axle turns to the negative pole extreme position,, trigger A axle negative sense limit switch, stop the A axle to continue to move to negative direction through same drive path.Thereby guarantee that the A axle can only move in the certain angle scope.In like manner, determining of A axle dead-center position: a zero point sensor 20 is set on main casing 15 sidewalls, and zero point sensor 20 will be triggered, and according to this triggering signal, determine that the A axle moves to dead-center position.The A axle pendulum angle of electric main shaft 26 is confirmed in the variation of the turned position by detecting electric main shaft connecting plate 25.
When the C axle rotates shake-up C axle limit switch 10 or A axle rotation shake-up A axle limit switch 19, limit switch will send signal to the digital control system of lathe, and notice digital control system C axle or A axle have turned to extreme position. Zero point sensor 9 and 20 is respectively applied for the dead-center position of locating C axle and A axle.
In C axle driving mechanism and A axle or B axle driving mechanism, also be provided with photoelectric detection system, every cover rotation photoelectric encoder has included grating dish and photoelectric detection system, described rotation photoelectric encoder is separately positioned on the described output shaft in two described driving mechanisms, at the driven off by shaft output of C, A the rotation photoelectric encoder is installed, cooperate digital control system, form closed-loop control, accurately detect C, A axle amount of spin, eliminate the error of C, A shaft transmission system.Described digital control system is a prior art, does not give unnecessary details at this.
Particularly, as Fig. 1,2 and shown in Figure 5, the rotation photoelectric encoder 13 in the C axle driving mechanism comprises grating dish 131 and photoelectric detection system 132, also comprises light source 133.Grating dish 131 is arranged on the output shaft 60 on the decelerator 6 in the C axle driving mechanism, and the photoelectric detection system that matches 132 on the described C axle driving mechanism is that light sensor and light source 133 are that luminous tube is arranged on the both sides that are positioned at described grating dish on the described supporting seat 12; In like manner, the grating dish in the described rotation photoelectric encoder on described A axle or the B axle driving mechanism is arranged on the output shaft of decelerator 23, and the photoelectric detection system and the light source that mate with described grating dish are arranged on the both sides that are positioned at described grating dish on the described main casing.
The action principle of rotation photoelectric encoder is: with C axle driving mechanism is example, wherein grating dish 131 is fixed on the output shaft 60 of decelerator 6, this photoelectric detection system 132 is passed to processor module in the photoelectric detection system with signal, it is handled the pulse signal that receives, and send that control instruction is controlled corresponding servomotor and the rotational angle of controlling each driving mechanism, can also detect simultaneously velocity of rotation, the angle of each drive mechanism electricity main shaft, monitor in real time.Thus, can form closed-loop control system, thereby improve the rotation precision of this electro-optical feedback formula carpenter double pendulum angle milling head unit.
Described A axle driving mechanism is arranged on the described main casing 15, described main casing 15 is a dual-support structure, be inverted U-shaped shape, two faces of described electric main shaft 26 are arranged on the bracing frame of these main casing 15 both sides, be that main casing 15 both sides are provided with two electric main shaft connecting plates 15, electric main shaft 26 is arranged on the electric main shaft connecting plate 25.
Claims (10)
1. electro-optical feedback formula carpenter double pendulum angle milling head unit, it is characterized in that: it comprises a supporting seat, a main casing, an electric main shaft connecting plate and an electric main shaft, also comprises a C axle driving mechanism, an A axle or B axle driving mechanism and two rotation photoelectric encoders.
Described C axle driving mechanism is set on the described supporting seat, and described C axle driving mechanism comprises a servomotor and a transmission mechanism that is attached thereto, and connects described main casing on the output shaft of this transmission mechanism; Described A axle or B axle driving mechanism are set on the described main casing, and it comprises a servomotor and a transmission mechanism that is attached thereto, and connects described electric main shaft connecting plate on the output shaft of this transmission mechanism, on this electricity main shaft connecting plate described electric main shaft is set;
Also be respectively equipped with the one stroke switching device in described C axle driving mechanism and A axle or the B axle driving mechanism, described C axle stroke switchgear comprises locating piece and limit switch, on the output shaft of the described main casing of connection of the described transmission mechanism of described C axle driving mechanism, spacing belt wheel is set, described locating piece is arranged on the described spacing belt wheel, and described limit switch is arranged on the limit switch gripper shoe on the described supporting seat; Described A axle or B axle stroke switchgear comprise described electric main shaft connecting plate and the limit switch as locating piece, and described limit switch is arranged on the described main casing.Two described limit switches comprise positive limit switch and negative limit switch and zero point sensor in described C axle and described A axle or the B axle driving mechanism, this positive and negative limit switch constitutes the extreme position of two rotations of corresponding output shaft, makes described output shaft move back and forth in less than 360 ° angular range and realizes swing; This zero point sensor places between this positive and negative limit switch to locate the dead-center position of described output shaft;
Described rotation photoelectric encoder is two covers, every cover light rotation photoelectric encoder has included grating dish and photoelectric detection system, described grating dish is arranged on the described output shaft in two described driving mechanisms, is arranged on the both sides that are positioned at described grating dish on described supporting seat and the described main casing with the photoelectric detection system and the light source of described grating dish coupling.
2. electro-optical feedback formula carpenter double pendulum angle milling head unit according to claim 1 is characterized in that: described A axle or B axle are for intersecting set angle with described C axle.
3. electro-optical feedback formula carpenter double pendulum angle milling head unit according to claim 2 is characterized in that: described A axle or B axle and described C axle intersect 90 °.
4. electro-optical feedback formula carpenter double pendulum angle milling head unit according to claim 1 and 2, it is characterized in that: the described positive and negative limit switch in the stroke switchgear in the described C axle driving mechanism is arranged on the limit switch gripper shoe, makes described output shaft rotate in ± 220 ° of angular ranges; Described positive and negative limit switch in the stroke switchgear in described A axle or the B axle driving mechanism is arranged on the sidewall of main casing, makes described output shaft reciprocally swinging in ± 110 ° of angular ranges.
5. electro-optical feedback formula carpenter double pendulum angle milling head unit according to claim 1, it is characterized in that: the transmission mechanism in the described driving mechanism is a Synchronous Belt Drives mechanism.
6. electro-optical feedback formula carpenter double pendulum angle milling head unit according to claim 1 or 5, it is characterized in that: in described transmission mechanism, increase one speed reducer, the power intake of described decelerator connects the output shaft of the transmission mechanism in the described driving mechanism, and the clutch end of described decelerator connects described main casing or described electric main shaft connecting plate.
7. electro-optical feedback formula carpenter double pendulum angle milling head unit according to claim 6, it is characterized in that: described decelerator is cycloidal reducer or harmonic gear reducer.
8. according to claim 1 or 2 or 3 described electro-optical feedback formula carpenter double pendulum angle milling head units, it is characterized in that: this electro-optical feedback formula carpenter double pendulum angle milling head unit is arranged on the Z shaft device of three-dimensional carpenter Digit Control Machine Tool by described supporting seat.
9. electro-optical feedback formula carpenter double pendulum angle milling head unit according to claim 1 and 2, it is characterized in that: described main casing is a dual-support structure, be inverted U-shaped shape, thereunder constitute two side bracing frames, two sides of described electric main shaft are provided with syndeton, on the supported on both sides frame that is supported on this main casing.
10. electro-optical feedback formula carpenter double pendulum angle milling head unit according to claim 1 and 2, it is characterized in that: one belt shaft is set at corresponding supporting seat, the described spacing belt wheel that is provided with on one driven spacing belt wheel and the described reducer output shaft is set thereon rotationally is connected by a driving-belt, described locating piece is arranged on this driven spacing belt wheel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010105198843A CN102019636B (en) | 2010-10-26 | 2010-10-26 | Photoelectric feedback type carpentry milling head device with double swing angles |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010105198843A CN102019636B (en) | 2010-10-26 | 2010-10-26 | Photoelectric feedback type carpentry milling head device with double swing angles |
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| CN102019636A true CN102019636A (en) | 2011-04-20 |
| CN102019636B CN102019636B (en) | 2012-11-07 |
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| CN2010105198843A Expired - Fee Related CN102019636B (en) | 2010-10-26 | 2010-10-26 | Photoelectric feedback type carpentry milling head device with double swing angles |
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| CN102661425A (en) * | 2012-03-15 | 2012-09-12 | 沈居富 | Balance valve adjuster, intelligent balance valve adjusting system composed of the same, and method |
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| CN108437098A (en) * | 2018-05-24 | 2018-08-24 | 山东海超机械有限公司 | A kind of device of the woodworking machinery adjustment speed of service |
| CN113070697A (en) * | 2021-04-19 | 2021-07-06 | 广州市昊志机电股份有限公司 | Five-axis double-swing head and machine tool |
| WO2021135759A1 (en) * | 2019-12-31 | 2021-07-08 | 科德数控股份有限公司 | Angle attachment head having transmission function |
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| JP2023509411A (en) * | 2019-12-31 | 2023-03-08 | 科徳数控股▲ふん▼有限公司 | Belt-driven angle attachment head |
| EP4086024A4 (en) * | 2019-12-31 | 2023-06-21 | Kede Numerical Control Co., Ltd. | Angle attachment head having transmission function |
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| WO2022222201A1 (en) * | 2021-04-19 | 2022-10-27 | 广州市昊志机电股份有限公司 | Five-axis dual-swing head and machine tool |
| CN114559140A (en) * | 2022-03-14 | 2022-05-31 | 中国航空制造技术研究院 | Lightweight composite material spindle mechanism for high-energy beam processing |
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