CN105215559B - Double swing head and laser cutting machine with hollow axis structure - Google Patents
Double swing head and laser cutting machine with hollow axis structure Download PDFInfo
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- CN105215559B CN105215559B CN201510757120.0A CN201510757120A CN105215559B CN 105215559 B CN105215559 B CN 105215559B CN 201510757120 A CN201510757120 A CN 201510757120A CN 105215559 B CN105215559 B CN 105215559B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The embodiment of the present invention discloses a kind of Double swing head with hollow axis structure, and its C axles input shaft, B axle input shaft and B axle power transmission shaft at different levels are equipped with axial cavity, and B axle input axle sleeve is loaded on C axle input shafts；C axle reductors are provided with C axle drive gears, and C axles drive gear is engaged with being installed on the C axle input gears of C axle input shafts；B axle reductor is provided with B axle drive gear and B axle decoupling gear, and B axle drive gear is engaged with being installed on the B axle input gear of B axle input shaft, and B axle decoupling gear is engaged with C axle input gears；Also, B axle decouples gear and B axle drive gear and installed into differential type, the rotating speed of the B axle input gear transmitted with B axle drive gear so as to the rotating speed that B axle decouples the C axle input gears of gear transmission is offset.A kind of laser cutting machine is also disclosed in the embodiment of the present invention, using above-mentioned Double swing head, can be easy to implement motion control and cutter planning.
Description
Technical field
The present invention relates to laser cutting technique, more particularly to three-dimensional multi-shaft NC laser cutting technology, more particularly it is
A kind of Double swing head and laser cutting machine with hollow axis structure.
Background technology
Laser cutting technique have that cut lengths precision height, otch impulse- free robustness, joint-cutting be indeformable, cutting speed is fast and not by
The features such as machining shape is limited, has been increasingly being applied to field of machining at present.Dimension laser cutting is even more with its elder generation
Enter, flexibly, it is quick the characteristics of, be widely used in the fields such as Aero-Space, auto industry.Cut using three-dimensional laser
Technology is cut, model and tooling device can be not only saved, the Operational preparation cycle can also be greatly shortened.
In order to ensure cut quality, three-dimensional laser cutting machine should meet claimed below：First, being laser beam all the time and being cut
The cutting curve for cutting workpiece keeps vertical；Second, be that the relative position of laser beam foucing and workpiece surface keeps constant, i.e. cutting torch
Distance with workpiece surface is always consistent；Third, being quickly and easily to reflect the feature of three-dimensional curve and be converted into
It is cut by laser data.This is not only the major issue that dimension laser cutting design must be solved, and is also dimension laser cutting technology
A most complicated step in actual applications.
Three-dimensional laser cutting machine is typically designed using flight light path, i.e., workpiece is motionless in process, by laser cutting head
Move to complete.Typical laser cutting head is that the relation between three-dimensional five-axle linkage, each axle is as shown in Figure 1：Laser cutting
Head in addition to relative to workpiece coordinate system X, Y, Z axis quick relative movement, also the rotation of C axles swing arm, the swing of B axle yaw and swash
The normal direction (A axles) of light cutting head is servo-actuated.When rotating C axles or B axle, cutting torch central point should be kept not in the coordinate of workpiece coordinate system
Become, i.e.,：Cutting torch center is motionless, and laser cutting head surrounds cutting torch central motion；During mobile cutting torch center, laser cutting head just can be with
Accordingly moved.Because laser cutting head is related to multi-motion, its motion control is complex, it is necessary to using sufficiently complex
Algorithm can just meet requirement.
It is a kind of structural representation of existing laser cutting machine referring to Fig. 2.The laser cutting machine, which has, is installed on Double swing head
On laser cutting head, it includes C axle motor 01, C axles microscope base 02, balance weight body 03, B axle motor 04, B axle microscope base 05, anticollision
Device 06 and the grade part of cutting head 07：C axle motor 01 and B axle motor 04 are DD motors (Direct Driver, direct drive
Motor), wherein C axle motor 01 is used to drive C axles to rotate, and B axle motor 04 is used to drive B axle to swing；Balance weight body 03 is used to balance
Deflection torque of the cutting head 07 in B axle.By the rotation and the swing of B axle of C axles, cutting head 07 can process 0-45 degree scopes
Various unilateral V-types and I type grooves.There is obvious defect in the laser cutting head device：For example, during rotation C axles, B axle can link,
So that the cutting torch orientation of cutting head 07 is moved, find accurately again very difficult, thus influence cutting efficiency and cut quality；Again
Such as, need to move integrally C axles and B axle when the distance between the adjustment cutting torch of cutting head 07 and workpiece, because quality is big, cause cutting head
07 servo-actuated low-response, efficiency are low；And for example, C axle motor 01 and B axle motor 04 need to use hollow motor, and its price is higher.
At present, existing procucts are improved this, sharp to adjust which employs the double pendulum header structure without coupled motions
The position of light cutting head so that the rotation of C axles can be independently controlled with B axle yaw.But this double pendulum without coupled motions
The problem of head has certain；On the one hand, the motion control of whole laser cutting machine and tool-path planning, which are implemented, is more stranded
It is difficult；On the other hand, it is desirable to using hollow motor, hollow reducer and encoder, be otherwise difficult to hollow axis structure, due to fixed
The price for making these hollow parts is very high, is unfavorable for reducing production cost.
In view of this, it is necessary to a kind of new double pendulum header structure with quill shaft is researched and developed, preferably to meet three-dimensional
The requirement of laser cutting machine master-plan.
The content of the invention
The defect existed for prior art, the purpose of the embodiment of the present invention is to provide that a kind of price is low, strong adaptability,
And it is easy to implement the Double swing head and laser cutting machine with hollow rotating shaft of motion control and cutter planning.
To solve above technical problem, the embodiment of the present invention provides a kind of Double swing head with hollow rotating shaft, including can
The C axles swing arm rotated around first direction and the B axle yaw that can be rotated around second direction, the C axles input of C axle swing arms are pivotally connected to C
The C axle reductors of axle motor, the B axle input of B axle yaw is pivotally connected to the B axle reductor of B axle motor, B axle input
Axle is pivotally connected to B axle yaw by some grades of B axle transmissions, and B axle power transmission shafts at different levels are installed on C axle swing arms, and C axles input shaft, B axle are defeated
Enter axle and B axle power transmission shaft at different levels is equipped with axial cavity, and B axle input axle sleeve is loaded on C axle input shafts；C axle reductors are provided with C
Axle drive gear, C axles drive gear is engaged with being installed on the C axle input gears of C axle input shafts；B axle reductor is coaxially installed with B
Axle drive gear and B axle decoupling gear, B axle drive gear are engaged with being installed on the B axle input gear of B axle input shaft, B axle decoupling
Gear is engaged with C axle input gears；Also, B axle decouples gear and B axle drive gear and installed into differential type, so as to which B axle is decoupled
The rotating speed for the B axle input gear that the rotating speed of the C axle input gears of gear transmission is transmitted with B axle drive gear is offset.
Preferably, B axle reductor is differential harmonic wave speed reducing machine, the wave producer connection B axle driving of differential harmonic wave speed reducing machine
Motor, the flexbile gear of differential harmonic wave speed reducing machine is fixed, and the first firm gear of differential harmonic wave speed reducing machine is fixed with B axle drive gear, differential
Second firm gear of harmonic wave speed reducing machine is fixed with B axle decoupling gear, and first firm gear and second firm gear share the ripple hair
Raw device and the flexbile gear.
Preferably, C axles reductor is harmonic wave speed reducing machine, the wave producer connection C axle motors of harmonic wave speed reducing machine, harmonic wave
The flexbile gear of reductor is fixed, and the firm gear of harmonic wave speed reducing machine is fixed with C axle drive gears.
Preferably, screw conic is passed through between the B axle power transmission shafts at different levels between B axle input shaft and chopped-off head B axle power transmission shaft, adjacent
Gear pair is engaged.
Preferably, the swing arm of C axles has hollow cavity, and B axle power transmission shafts at different levels are installed in the hollow cavity of C axle swing arms.
Preferably, Double swing head includes gear-box, and C axles input shaft and B axle input shaft are supported in the casing of gear-box, and C axles subtract
Fast machine and the C axles drive gear, B axle reductor and the B axle drive gear and B that are installed on B axle reductor for being installed on C axle reductors
Decoupler shaft gear, C axles input gear and B axle input gear are mounted in the casing of gear-box, and C axles motor passes through C axles
Motor support base, B axle motor are installed on the top cover of gear-box by B axle motor support base.
On this basis, the embodiment of the present invention also provides a kind of laser cutting machine, and it has above-mentioned Double swing head, wherein：B
Axle yaw is provided with laser cutting head；B axle input shaft connects laser conduit；Between B axle input shaft and chopped-off head B axle power transmission shaft,
It is anti-that rendezvous position between adjacent B axle power transmission shafts at different levels, between final stage B axle power transmission shaft and B axle yaw is respectively arranged with laser
Mirror is penetrated, so that laser beam can be transmitted to the cutting torch of laser cutting head.
Preferably, laser cutting machine includes the servo-actuated height-regulating device of cutting head, by the cutting torch and work that detect laser cutting head
The distance between part, and generate corresponding control instruction to drive laser cutting head to move.
Preferably, cutting head, which is servo-actuated height-regulating device, includes capacitance sensor, and capacitance sensor is arranged at laser cutting head
Cutting torch bottom, so as to the distance between the cutting torch and workpiece to detect and export laser cutting head signal.
Preferably, cutting head, which is servo-actuated height-regulating device, includes voice coil motor, and laser cutting head is fixed on voice coil motor, voice coil loudspeaker voice coil electricity
Machine is installed on the installation housing rails of B axle yaw by guide rail slide block, to drive laser cutting head to be transported along housing rails are installed
It is dynamic.
Compared with prior art, in the embodiment of the present invention in Double swing head B axle input shaft and B axle power transmission shaft at different levels is hollow
Structure, and C axles input shaft is co-axially mounted with B axle input shaft, this is easy to plan cutter path.When the swing arm of C axles is rotated, B axle pendulum
Laser head cutting torch center on head keeps constant, and this is easy to the motion for controlling laser cutting head, advantageously ensures that cutting
Quality.
The embodiment of the present invention can just realize above-mentioned hollow axis structure using common electric machine：B axle decoupling gear is provided with, its
Installed between B axle drive gear into differential type, when C axles are rotated, B axle input gear is transferred to the rotating speed of B axle drive gear
The rotating speed for being transferred to B axle decoupling gear with C axle input gears is offset, and B axle follows motion to solve caused by thus being rotated to C axles
Coupling so that B axle motor is not influenceed by coupled motions between two axles.So, the embodiment of the present invention is only by a difference
The decoupling gear that dynamic formula is installed can just be decoupled to the coupled motions between C axles and B axle, compared to passing through electrical control side
For the scheme that formula is decoupled, its design is more ingenious, and structure is more compact.
Above-mentioned differential decoupling mode based on the embodiment of the present invention, is readily obtained the Double swing head with hollow axis structure.Will
When this Double swing head with hollow axis structure is applied to laser cutting machine, the Advantageous effect of following aspect can be at least obtained
Really：
1st, motion control and tool-path planning are easily achieved.Laser cutting machine uses point-to-point structure, passes through two
The motion of rotary shaft can neatly adjust the normal vector of tool space, the three-dimensional coordinate without influenceing cut point, a side
Face is easily achieved motion control, is on the other hand also easier to plan cutter path.
2nd, strong adaptability.Laser cutting head motion mode on Double swing head is more flexible, fast, accurately can reach pre-
Positioning is put, and workpiece surface can be cut according to the orientation, angle, distance of setting afterwards, is adapted to various workpieces shape
The processing of formula.
3rd, it is easily achieved the integrated structure of hollow rotating shaft multichannel.Cable, air-flow, light required for laser cutting head etc.
It can pass through from hollow structure, contribute to optimization component to be laid out so that product structure is more compact.
4th, price is low.Two rotary shafts that can drive Double swing head using common electric machine are moved, and preferably eliminate two
Coupling effect between individual rotary shaft, because need not using specific customization the part, device valency such as motor, reductor and encoder
Lattice offset relatively low, and this advantageously reduces cost.
Brief description of the drawings
Fig. 1 is the reference axis schematic diagram of three-dimensional five axles laser cutting machine；
Fig. 2 is a kind of schematic diagram of existing laser cutting machine；
Fig. 3 is the structural representation of laser cutting machine of the embodiment of the present invention, and there is shown with the double pendulum with hollow axis structure
Head and laser cutting head follow height-regulating device；
Fig. 4 is the graphics of Double swing head shown in Fig. 3；
Fig. 5 is that Double swing head shown in Fig. 3 removes the schematic diagram after C axle swing arm shroudings；
Fig. 6 is the graphics at first visual angle of double pendulum shown in Fig. 5；
Fig. 7 is the graphics at another visual angle of Double swing head shown in Fig. 5；
Fig. 8 is that Double swing head shown in Fig. 3 removes the schematic diagram after gear housing；
Fig. 9 is the graphics of Double swing head shown in Fig. 8；
Figure 10 is that Double swing head shown in Fig. 8 removes the schematic diagram after C axle swing arm shroudings；
Figure 11 is the graphics at first visual angle of double pendulum shown in Figure 10；
Figure 12 is the graphics at another visual angle of Double swing head shown in Figure 10；
Figure 13 is the A-A views in Fig. 3；
Figure 14 is the B-B views in Fig. 3；
Figure 15 is the C-C views in Fig. 3；
Figure 16 is the structural representation of differential harmonic wave speed reducing machine in Figure 15；
Figure 17 is the fundamental diagram of differential harmonic wave speed reducing machine shown in Figure 16；
Figure 18 is the light path schematic diagram in Figure 13；
Figure 19 is the structural representation of the servo-actuated height-regulating device of cutting head in Fig. 3；
Figure 20 is Figure 19 left view；
Figure 21 is Figure 19 right view；
Figure 22 is the sectional view in Figure 19 Central Symmetries face.
Embodiment
The technical principle and the course of work of embodiment for a better understanding of the present invention, below in conjunction with accompanying drawing and specific implementation
Example is next, and further the present invention will be described in detail.
Referring also to Fig. 3-Figure 22, is the part-structure schematic diagram of laser cutting machine of the embodiment of the present invention, wherein mainly showing
Go out Double swing head S1 and cutting head with hollow axis structure and be servo-actuated height-regulating device S2；The structure of other parts is omitted, and please specifically join
See the relevant document of known techniques, repeat no more.
Below in conjunction with Fig. 3-Figure 22, Double swing head S1, cutting head are servo-actuated in detail height-regulating device S2 structure, work it is former and
The course of work is illustrated.
1st, Double swing head S1
Fig. 3-Figure 18 is referred to, Double swing head S1 is hollow rotating axle construction.Double swing head S1 includes two rotary shafts, makes
On the one hand Double swing head S1 can rotate around C axles, on the other hand can be swung around B axle, thus adjust the cutting of laser cutting head 18
Orientation and inclination angle.Two rotary shafts are specifically defined the coordinate system that can refer to Fig. 1：First, being the C axles of first direction, it is usually
Parallel to the normal direction of workpiece machining surface；Second, be the B axle of second direction, it is generally parallel with workpiece machining surface or into
Acute angle.
In the present embodiment, Double swing head S1 has C axles swing arm 6 and B axle yaw 16, and they are driven by motor respectively, wherein：C
Axle swing arm 6 can rotate loaded on frame (figure is not indicated) around the C axles of first direction；B axle yaw 16 is loaded on C axles swing arm 6, can be around the
The B axle in two directions is swung；Cutting head is servo-actuated height-regulating device S2 and is loaded on B axle yaw 16, may be such that laser cutting head 18 adds along workpiece
Work normal to a surface direction is the motion of A axles.So, laser cutting head 18 except with the X, Y, Z axis of frame opposite piece move in addition to,
The rotation of both direction and the translation in a direction can also be realized.
In the present embodiment, Double swing head S1 motion process is：When C axles swing arm 6 rotates, B axle yaw 16 is driven and its above
Cutting head be servo-actuated height-regulating device S2 rotation, thus adjust orientation of the laser head 18 relative to workpiece machining surface；B axle yaw 16
During rotation, drive cutting head to be servo-actuated height-regulating device S2 and swing, thus adjust finished surface of the laser head 18 relative to workpiece surface
Inclination angle；And cutting head be servo-actuated height-regulating device S2 it is servo-actuated when, drive normal direction of the laser cutting head 18 along workpiece machining surface
Motion, it is possible thereby to adjust distance of the laser head 18 relative to the finished surface of workpiece surface.
According to said structure, laser cutting machine can preferably be realized multi-shaft interlocked, and it can not only make laser cutting head
18 move with the X, Y, Z axis of frame opposite piece, can also pass through the rotation of C axles swing arm 6, the swing and cutting of B axle yaw 16
Servo-actuated height-regulating device S2's is servo-actuated, neatly to adjust the posture of laser cutting head 18 and workpiece machining surface, so that preferably
Ground has been applicable the processing of different surfaces shape workpiece.
In the present embodiment, C axles swing arm 6 and the function to be realized of B axle yaw 16 are different, thus their shape have compared with
Big difference, wherein both substantially triangularities, the specification of C axles swing arm 6 are more than the specification of B axle yaw 16.Both rotary shafts
Also different frame modes are presented：The rotary shaft of C axles swing arm 6 is one-level linear, and the rotary shaft of B axle yaw 16 is multi-stage folding line
Shape, it is described further below.
The rotary shaft of above-mentioned C axles swing arm 6 is one-level, and as linear C axles input shaft 5, the C axles input shaft 5 is connected
To the C axles reductor 22 of C axles motor 19.After C axles motor 19 starts, slow down by C axles reductor 22, power transmission
To C axles input shaft 5, thus C axles swing arm 6 is driven to be rotated around C axles.After C axles swing arm 6 rotates, then B axle yaw can be correspondingly driven
The 16 and its servo-actuated height-regulating device S2 of cutting head installed above rotates, and thus adjusts laser cutting head 18 in workpiece machining surface
Orientation.
The rotary shaft of above-mentioned B axle yaw 16 is to be configured between multi-stage folding line shape, rotary shafts at different levels according to certain angle
Broken line axle, the angle between them is defined by ensureing that laser beam moves ahead along default light path.For convenience, by B axle yaw 16
The first order in rotary shaft is referred to as B axle input shaft 4, and it is connected with the B axle reductor 28 of B axle motor 24；It is other at different levels
Referred to as B axle power transmission shaft, they are installed in the hollow cavity of C axles swing arm 6, can optimize the space layout of each part.Especially,
Engaged between B axle power transmission shafts at different levels between B axle input shaft 4 and chopped-off head B axle power transmission shaft, adjacent by spiral bevel gear pair, by
This causes B axle input shaft 4 to be pivotally connected to B axle yaw 16 by B axles at different levels transmission, and drive mechanism is extremely compact.When B axle drives electricity
The power that machine 24 is exported is transmitted to B axle yaw after slowing down through B axle reductor, then via B axle input shaft 4, B axle power transmission shaft at different levels
16, finally drive B axle yaw 16 to be swung around B axle.
Double swing head in the present embodiment is hollow axis structure, specifically：C axles input shaft 5, B axle input shaft 4 and B at different levels
Axle power transmission shaft is equipped with axial cavity, and B axle input shaft 4 is set in C axles input shaft 5.This hollow structure is advantageous in that：
Cable, air-flow, light etc. can pass through from hollow structure, thus reach optimization layout, simplify the purpose of structure.
But, it can be limited using the structure type of above-mentioned quill shaft by some conditions.For the present embodiment, C axles
Being one with the motion coupling factor of B axle between the two needs the problem of emphasis considers, is analyzed below.
If C axles motor 19, C axles reductor 22, B axle motor 24, B axle reductor 28 and encoder etc. are configured
For hollow device, then these devices can be installed on the same axis, between C axles input shaft 5 and C axles reductor 22, B axle it is defeated
Entering can be directly connected between axle 4 and B axle reductor 28, between there is no more actuated elements.When C axles are rotated, B axle because
The reasons such as inertia and produce and follow motion, i.e., there is motion between C axles and B axle couples, but this coupled motions are hardly to B
Axle motor 24 is impacted.So, two hollow motors can be independently controlled, it is not necessary to consider motion coupling because
Element.As it was previously stated, the cost for customizing these hollow devices is too high, it is less suitable for for the present embodiment.
If C axles motor 19 and B axle motor 24 are common electric machine, they can not be arranged on C axles and B axle
On same axis, i.e.,：Two motors needs are eccentrically mounted, and also need to set between two motors and two rotary shafts
Put certain transmission device, the influence of inertia coupling factor and Conduction coupling factor etc. all than larger, therefore can not ignore C axles with
Motion coupled problem between B axle.When C axles are motionless, there is no coupled motions between C axles and B axle.When C axles rotate, B axle production
Life follows motion, and motion between the two has obvious coupled relation；Now, the B axle input tooth on B axle input shaft 4
Rotating speed is transmitted to the B axle drive gear 27 of B axle reductor 28 by wheel 1, and then causes the B axle motor driving of B axle motor 24
Axle 26 rotates, cause B axle motor 24 produce rotation, this is very unfavorable for B axle motor 24, thus need into
The effective decoupling of row.
In a word, when using common electric machine driving C axles swing arm 6 and B axle yaw 16, it is necessary to effectively and reliably to C axles and B
Coupled motions between axle are decoupled, and otherwise Double swing head S1 control will be adversely affected.That is, using
On the premise of common electric machine, only overcome the motion between C axles and B axle to couple, the Double swing head S1 of said structure can be used；
Otherwise, it is difficult to realize hollow axis structure.
For the motion coupling between C axles and B axle, it may be considered that decoupled with the mode of electrical control, but it is calculated
Method is complex, also not economical enough.Therefore, the present embodiment especially contemplates a kind of purely mechanic decoupling mode, in detailed below
It is described.
As shown in Fig. 8-Figure 15, C axles input shaft 5 is installed with C axles input gear 2, C axles reductor 22 and is fixedly mounted
C axles drive gear 23, the C axles drive gear 23 is engaged with C axles input gear 2, i.e., the rotation of C axles is by driving C axles to input tooth
2 are taken turns to realize.It is installed with B axle input shaft 4 on B axle input gear 1, B axle reductor 28 and is installed with B axle sliding tooth
Wheel 27, the B axle drive gear 27 is engaged with B axle input gear 1, i.e., the rotation of B axle is by driving B axle input gear 1 to realize.
Because C axles input shaft 5 and C axles input gear 2 are affixed, B axle input shaft 4 and B axle input gear 1 are affixed, thus C axles with
The motion of B axle can also be characterized by the motion of C axles input gear 2 and B axle input gear 1.Between C axles and B axle
When there are coupled motions, if the rotating speed of the rotating speed of B axle input gear 1 and C axles input gear 2 effectively is delivered into B simultaneously
On axle reductor 28 and offset, it is likely that the coupled motions between B axle and C axles are decoupled.
Rotating speed, the rotating speed of C axles input gear 2 based on transmission B axle input gear 1 and the imagination offset, the present embodiment lead to
Cross and set B axle to decouple gear 29 to decouple the coupled motions between B axle and C axles on B axle reductor 28.Concrete structure
For：B axle reductor 28 is provided with B axle drive gear 27 and B axle decoupling gear 29, wherein：B axle drive gear 27 is inputted with B axle
Gear 1 is engaged, and B axle decoupling gear 29 is engaged with C axles input gear 2.B axle decoupling gear 29 and B axle drive gear 27 therein
It should be installed into differential type, so that the rotating speed that B axle is decoupled to the C axles input gear 2 that gear 29 is transmitted is transmitted with B axle drive gear 27
The rotating speed of B axle input gear 1 offset, the coupled motions between B axle and C axles can so be decoupled.
When C axles input gear 2 is motionless, B axle decoupling gear 29 is remained stationary as, and B axle reductor 28 is by B axle drive gear 27
Output speed, and then drive B axle input gear 1 to rotate.When C axles rotate, B axle produces and follows motion；B axle input gear 1
Rotating speed is inputted to B axle drive gear 27, and B axle decoupling gear 29 have input the reverse speed of C axles input gear 2 simultaneously.At this moment,
There are two input speeds in B axle reductor 28, the two rotating speeds can liquidate simultaneously, finally cause the output of B axle reductor 28
Rotating speed reduces even 0, thereby eliminates the rotating speed being added on B axle motor driving shaft 26 so that B axle motor 24 is kept
It is motionless, it is final to realize to coupled motions are decoupled between B axle and C axles purpose.
It is appreciated that：The effect of decoupling decouples gear 29, B axle drive gear 27, B axle by C axles input gear 2, B axle
Gear ratio between input gear 1 is determined；If the gear ratio between being appropriately configured them, then can realize complete decoupling.
Please calculated, will not be repeated here according to specific product design requirement on the gear ratio configuration between each gear.
As it was previously stated, the B axle in the present embodiment decouples the differential type mounting structure between gear 29 and B axle drive gear 27
There can be different modes.For example, B axle decoupling gear 29 and B axle drive gear 27 are not co-axially mounted, but set therebetween
Transmission mechanism, this can also back transfer C axles input gear 2 rotating speed.For another example, it can also be controlled by electric control system
Whether B axle decoupling gear 29 feeds back the rotating speed of C axles input gear 2.These schemes can realize foregoing differential formula mounting structure
Effect, but structure is relative complex, and cost is higher.
Therefore, the ingenious one kind that contemplates of the present embodiment makes to realize above-mentioned decoupling effect using full mechanical system, it is specifically
Realize that the differential type between B axle decoupling gear 29 and B axle drive gear 27 is installed by differential harmonic wave speed reducing machine, one is entered below
Step is described in further detail with reference to relevant accompanying drawing.
In order to make it easy to understand, first being said to the structure and working principle of the differential harmonic wave speed reducing machine shown in Figure 16-Figure 17
It is bright.
As shown in figure 16, the B axle reductor 28 in the present embodiment is differential harmonic wave speed reducing machine.The differential harmonic wave speed reducing machine bag
Include wave producer 28-1 (28-1-1 of cam containing wave producer, wave producer bearing 28-1-2, retainer and pressurizer 28-
The parts such as 1-3), flexbile gear 28-2, the first steel wheel 28-3 (also known as steel wheel S), the second steel wheel 28-4 (also known as steel wheel D), ball bearing
The parts such as 28-5, hole c-type snap ring 28-6, casing 28-7, hexagon socket head cap screw 28-8.The differential harmonic wave speed reducing machine has a ripple
Generator, a flexbile gear and two steel wheels, two steel wheels therein share a wave producer and a flexbile gear, and it is functionally
Equivalent to two harmonic wave speed reducing machines installed with ad hoc base.
In the differential harmonic wave speed reducing machine：Firm gear S, steel wheel D are the rigid gear with ring gear, equivalent in planetary system
Centre wheel；Flexbile gear 28-2 is can produce the thin-wall gear of larger elastic deformation, and it carries external toothing, equivalent to planetary gear；
Wave producer 28-1, is a rod-like members, its two ends is equipped with ball bearing 28-5 to constitute roller, equivalent to planet carrier.Should
Flexbile gear 28-2 diameter of bore is slightly less than wave producer 28-1 overall length, therefore wave producer 28-1 loads after flexbile gear 28-2, can compel
Make flexbile gear 28-2 section complete by the tooth of original circular tooth and firm gear S, steel wheel D become near ovalisation, its major axis two ends
Full engagement, and the tooth near short axle two ends is then completely disengaged with firm gear, the tooth of other sections then in engagement and departs from girth
Transition state.When wave producer 28-1 is continuously rotated, flexbile gear 28-2 deformation constantly changes, make flexbile gear 28-2 and firm gear S,
Steel wheel D engagement also constantly changes, by it is engaging-in, engage, nibble out, disengage, it is engaging-in again ..., carry out again and again, from
And realize slow rotations of the flexbile gear 28-2 relative to firm gear S and steel wheel D along wave producer 28-1 opposite directions.
In the present embodiment, steel wheel D is identical with the flexbile gear 28-2 numbers of teeth, functions as flexbile gear 28-2；Steel wheel S is than flexbile gear 28-2
Two teeth are had more, equivalent to the steel wheel of common harmonic wave speed reducing machine.So, because steel wheel S is different with the steel wheel D number of teeth, they
Rotating speed is also differed, so as to contribute to the differential type for realizing B axle decoupling gear 29 and B axle drive gear 27 to install.It is specific to install
When, by B axle decouple gear 29 and B axle drive gear 27 respectively with a fixation in steel wheel S and steel wheel D, it is possible to before realization
The differential type mount scheme stated.
It is understood that the wave producer 28-1 of differential harmonic wave speed reducing machine, flexbile gear 28-2 and steel wheel S and steel wheel D can be adopted
Specific input and output requirement is realized with the combination of fixed different elements.In view of the convenience of installation, the present embodiment with
Fix flexbile gear 28-2 mode to carry out input and output, its operation principle is referred to described in Figure 17：
Situation is 1. --- input：Steel wheel D；Output：Steel wheel S；It is fixed：Wave producer.Now, speed reducing ratio isIf
Steel wheel D input speeds ND, then steel wheel S output speeds
Situation is 2. --- input：Wave producer；Output：Steel wheel S；It is fixed：Steel wheel D.Now, speed reducing ratio isIf
Wave producer input speed ND, then steel wheel S output speeds
Situation is 3. --- synthesis 1. and 2., then steel wheel S output speeds
Wherein："+" represents that wave producer is identical with steel wheel D direction of rotation；"-" represents that wave producer is opposite with steel wheel D direction of rotation.
According to above-mentioned principle, B axle decoupling gear 29 is installed on differential harmonic wave speed reducing machine, it is possible to achieve between C axles and B axle
Mobile decoupling, be further described below：
As shown in figure 15, the B axle reductor 28 in the present embodiment is differential harmonic wave speed reducing machine, wherein：Wave producer 28-1
For input, it connects the B axle motor driving shaft 26 of B axle motor 24；Flexbile gear 28-2 is fixed；First steel wheel 28-3 is firm gear S,
It is fixed with B axle drive gear 27；Second firm gear 28-4 is steel wheel D, is fixed with B axle decoupling gear 29.So, B axle decoupling gear
29 and the differential type of B axle drive gear 27 be installed on B axle reductor 28, thus B axle can be decoupled into the C axles that transmit of gear 29 inputs
The rotating speed for the B axle input gear 1 that the rotating speed of gear 2 is transmitted with B axle drive gear 27 is offset.
The present embodiment by using fixed flexbile gear 28-2, and install on steel wheel S B axle drive gear 27 additional, on steel wheel D plus
The mounting means that B axle decouples gear 29 is filled, to realize the decoupling of the motion of C axles and B axle motion, is further described below：
When C axles motor 19 is fixed, C axles drive gear 23 and C axles input gear 2 are motionless, and now B axle is decoupled
Gear 29 is not inputted and fixed, and it is equivalent to the situation in Figure 17 2..Now, the input speed of B axle motor 24, then
Slow down output by the steel wheel S of differential harmonic wave speed reducing machine, and so that B axle input gear 1 is rotated, inputted eventually through B axle
Axle 4 drives whole B axle rotary shaft to rotate.
When C axles motor 19 rotates, C axles motor 19 is after the deceleration of C axles reductor 22, by C axle sliding tooths
Wheel 23 drives C axles input shaft 5 to rotate, and it is moved equivalent to C axles input gear 2.C axles can cause B axle to be followed once rotating
Move, can also be moved together equivalent to B axle input gear 1 together, thereby produce coupled motions, it is necessary to decouple tooth using B axle
Wheel 29 and differential harmonic wave speed reducing machine are decoupled.Working method now, equivalent to the situation in Figure 17 1..
When C axles are rotated, C axles input gear 2 is moved, and thus drives B axle input gear 1 to move.B axle input gear 1
During motion, there is input simultaneously equivalent to differential harmonic wave speed reducing machine and export.Converted by certain speed reducing ratio, it is possible to so that
This input and export just as in Figure 17 situation 1. shown in, that is, cause the C axles input gear 2 of the B axle decoupling transmission of gear 29
The rotating speed for the B axle input gear 1 that rotating speed is transmitted with B axle drive gear 27 is offset.Thus B axle motor 24 is kept not move,
The final mobile decoupling realized between B axle and C axles.
In the present embodiment, B axle reductor 28 is differential harmonic wave speed reducing machine, and it is used for differential type and installs B axle decoupling gear 29
With B axle drive gear 27.As harmonic wave speed reducing machine, the B axle reductor 28 is with transmission speed ratio is big, bearing capacity is strong, transmission essence
Spend, transmission efficiency, stable movement the advantages of.Similarly, C axles reductor 22 also uses harmonic wave speed reducing machine, the harmonic reduction
The wave producer connection C axles motor 19 of machine, the flexbile gear of the harmonic wave speed reducing machine is fixed, and the firm gear of harmonic wave speed reducing machine is fixed with C
Axle drive gear 23.In the present embodiment, C axles reductor 22, B axle reductor 28 use harmonic wave speed reducing machine, and drive characteristic is very
Excellent, the control accuracy for raising laser cutting head is highly beneficial.
Referring to Fig. 3~Figure 15, the Double swing head S1 in the present embodiment installs relevant power set and annex with gear-box, tool
Body includes：C axles input shaft 5, C axles input gear 2, C axles motor 19, C axles reductor 22, C axles drive gear 23, B axle are defeated
Enter axle 4, B axle input gear 1, B axle motor 24, B axle reductor 28, B axle drive gear 27, B axle decoupling gear 29 etc., its
Structure is extremely compact.The mounting means for each critical piece being related in gear-box is as described below.
As shown in figure 13, C axles input shaft 5 and B axle input shaft 4 and it is partially accommodated in gear housing 3, to install
Corresponding input gear.C axles input gear 2 is installed in part of the C axles input shaft 5 in gear housing 3, its with equally in gear-box
C axles drive gear 23 and B axle decoupling gear 29 in body 3 are engaged；Connection member between the C axles input shaft 5 and gear housing 3
Upper installation bearing, to support C axles swing arm 6 to rotate.One end of B axle input shaft 4 is supported in gear housing 3 with bearing 4-1, another
End is supported in C axles swing arm 6 with bearing 4-2, and such B axle input shaft 4 can be rotated relative to C axles swing arm 6；The B axle input shaft 4 exists
B axle input gear 1 is installed in part in gear housing 3, and it is engaged with the B axle drive gear 27 equally in gear housing 3.
As shown in figure 14, C axles motor 19 is installed on gear-box top cover 12 by C axle motors support base 20；C axles
Motor driving shaft 21 is connected by shaft coupling 21-1 with the wave producer of C axles reductor 22, and the flexbile gear of the C axles reductor 22 is consolidated
It is fixed, C axles drive gear 23 is installed, the gear shaft of the C axles drive gear 23 is supported in gear by bearing 23-1 on steel wheel 22-1
Casing 3 so that C axles reductor 22 and C axles drive gear 23 installed above are integrally contained in gear housing 3.
As shown in figure 15, B axle motor 24 is installed on gear-box top cover 12 by B axle motor support base 25；B axle
B axle reductor 28, the wave producer connection B axle motor driving shaft 26 of the B axle reductor 28, flexbile gear are installed on motor driving shaft 26
It is fixed, installed on steel wheel 28-3 and B axle decoupling gear 29 is installed on B axle drive gear 27, steel wheel 28-4；The B axle motor driving shaft
It is provided between 26 and the wave producer of B axle reductor 28 between axle sleeve 26-2,26-4, with gear housing 3 and uses bearing 26-1,26-3
Support so that motor driving shaft 26 and its B axle reductor 28 above, B axle drive gear 27 and B axle decoupling gear 29 is overall holds
It is contained in gear housing 3.
By above-mentioned mounting means, gear-box can be that main power set and annex provide support, which simplify structure,
Reduce part space-consuming.
The Double swing head S1 based on differential decoupling is described in detail above, can be with after it is by mechanically decoupling
Hollow axis structure is realized by using common electric machine.This Double swing head simultaneously is not only tightly limited to use in laser cutting machine；It is real
On border, in the equipment (such as manipulator) for needing two rotary shaft motions of control, it would however also be possible to employ above-mentioned double pendulum header structure.
The present embodiment is mainly illustrated to the application scenarios of laser cutting machine, for the not reinflated explanation of other application scenarios.
Such as Fig. 3~Figure 22, when the present embodiment is applied to laser cutting machine, its Double swing head S1 B axle yaw 16 is provided with sharp
Light cutting head 18；Laser conduit 34 is installed by laser conduction pipe mounting seat 35 on gear-box top cover 12, B axle input shaft 4 with
The laser conduit 34 is connected, to receive the laser beam of entrance；Laser beam is entered after the cavity of laser conduit 34, it will edge
Designed light path to move ahead, finally transmit to the cutting torch of laser cutting head 18, to be cut to workpiece.
In order to ensure that laser beam reaches the cutting torch of laser cutting head 18, it is necessary to reasonable design light path.Referring to Figure 18, B axle
Engaged between B axle power transmission shafts at different levels between input shaft 4 and chopped-off head B axle power transmission shaft 7, adjacent by spiral bevel gear pair；Also,
Between B axle power transmission shafts at different levels between B axle input shaft 4 and chopped-off head B axle power transmission shaft 7, adjacent, final stage B axle power transmission shaft and B axle yaw
Rendezvous position between 16 is respectively arranged with laser mirror；These laser reflective mirrors are according to certain angle configurations so that swash
Light beam continuously reflexes to the cutting torch of laser cutting head 18, to be cut to workpiece.
In the present embodiment, when rotating B axle input shaft 4 and each B axle power transmission shaft, the focal position of laser beam can keep constant,
This is very convenient for the operation control of laser cutting head 18.In order to reach this purpose, it is necessary to especially design light path.
A kind of simple, effective scheme is：The rotary shaft of B axle yaw 16 is divided into three-level, i.e.,：B axle input shaft (first order B
Axle rotary shaft) 4, one end is supported in gear housing 3 with bearing 4-1, and the other end is supported in the cavity of C axles swing arm 6 with bearing 4-2
It is interior；Chopped-off head B axle power transmission shaft (second level B axle rotary shaft) 7, the cavity of C axles swing arm 6 is supported in by bearing 7-1 and bearing 7-2
It is interior；Final stage B axle power transmission shaft (third level B axle rotary shaft) 10, the sky of C axles swing arm 6 is supported in by bearing 10-1 and bearing 10-2
Intracavitary；Engaged between B axle input shaft 4 and chopped-off head B axle power transmission shaft 7 with spiral bevel gear pair 13, chopped-off head B axle power transmission shaft 7 and final stage B
Engaged between axle power transmission shaft 10 with spiral bevel gear pair 9, the final stage B axle power transmission shaft 10 is connected with B axle yaw connecting seat 16-1.When
When rotating B axle input shaft 4, transmitted by the power of serial B axle power transmission shaft, to realize swing of the B axle yaw 16 around B axle.
In the present embodiment, C axles swing arm 6 and B axle yaw 16 can be assembled by main body and shrouding, C axles swing arm 6 and B axle
The main body of yaw 16 is respectively provided with cavity, so can be for installation hollow B axle rotary shafts at different levels and laser reflection microscope group at different levels
Part.Wherein, the main body of C axles swing arm 6 sets dismountable microscope base to install lid 6-1 in some places, has so both been easily installed B at different levels
Axle rotary shaft, also allows for adjusting the installation parameter of laser reflection mirror assembly.
Specific mounting means is as follows：The light path of laser cutting machine is provided with level Four laser reflection eyeglass, wherein：The first order
Laser reflection eyeglass 14 is installed on the rendezvous position of B axle input shaft 4 and chopped-off head B axle power transmission shaft 7 in C axles swing arm 6, and its reflection
Face is perpendicular to B axle input shaft 4 and the axis angle bisector of chopped-off head B axle power transmission shaft 7；Second level laser reflection eyeglass 8 is installed on C
The rendezvous position of the final stage B axle power transmission shaft 10 of chopped-off head B axle power transmission shaft 7 in axle swing arm 6, and its reflecting surface is perpendicular to chopped-off head B axle
The axis angle bisector of the final stage axle power transmission shaft 10 of power transmission shaft 7；Third level laser reflection eyeglass 11 is installed on the bottom of B axle yaw 16
Close to the outlet port of final stage B axle power transmission shaft 10 on wall；Fourth stage laser reflection eyeglass 15 is installed on the roof of B axle yaw 16
The in-position of the reflection laser beam of three-level laser reflection eyeglass 11, and fourth stage laser reflection eyeglass 15 can reflection laser beam to swash
The cutting torch of light cutting head 18.This light path, it is ensured that laser beam reaches the cutting torch of laser cutting head 18, in the rotation of C axles and B axle pendulum
When dynamic, the aggregation position of laser beam will not change.
In above-mentioned light path, the installation angle of speculums at different levels can be determined according to the setting situation of B rotary shafts.One kind is preferably
Light channel structure is as follows：Axis intersection angle α=45 ° between B axle input shaft 4 and chopped-off head B axle power transmission shaft 7；Chopped-off head B axle power transmission shaft 7
Axis intersection angle β=90 ° between final stage B axle power transmission shaft 10；C axles swing arm 6 is in B axle input shaft 4 and chopped-off head B axle power transmission shaft 7
The position setting first order mirror unit 14-1 of intersection, first order laser reflection eyeglass 14 installed above, its normal and B axle are defeated
Enter the axis co-planar of axle 4 and chopped-off head B axle power transmission shaft 7, and laser light incident angle, the angle of emergence are 45 °；C axles swing arm 6 is passed in chopped-off head B axle
The position intersected between moving axis 7 and final stage B axle power transmission shaft 10 sets second level mirror unit 8-1, second level laser installed above
The axis co-planar of reflecting optics 8, its normal and chopped-off head B axle power transmission shaft 7 and final stage B axle power transmission shaft 10, and laser light incident angle, go out
Firing angle is 22.5 °；The bottom wall of B axle yaw 16 sets third level mirror unit 11-1, and it is located at the outlet of final stage B axle power transmission shaft 10
Position, the wherein normal of third level reflecting optics 11 and final stage B axle power transmission shaft and the axis co-planar of laser cutting head 18, and laser
Incidence angle, the angle of emergence are 45 °；The roof of B axle yaw 16 sets fourth stage mirror unit 15-1, and it is located on laser cutting head 18
Side, the axis of the normal of fourth stage reflecting optics 15 therein and the normal of third level reflecting optics 11 and laser cutting head 18 is total to
Face, its incidence angle, angle of reflection are 45 °.So, laser beam enters after the cavity of B axle input shaft, can successfully be imported along light path
Into the light collecting tube 18-2 of the top of laser cutting head 18, focus on workpiece surface through laser cutting head 18 again afterwards and carry out cutting work
Industry.
When above-mentioned light path can ensure Double swing head rotation and swing, the focal position of laser beam does not change.This light
The part that road is related to is less, and light path is shorter, very simple, practicality.It is understood that the light path in the present embodiment can also be adopted
Other design methods are used, herein not reinflated explanation.
A kind of Double swing head with hollow axis structure is described in detail above, it is advantageously implemented quill shaft knot
Structure.Using the laser cutting machine of this Double swing head, with following prominent characteristics：
1st, using point-to-point structure, the normal direction that can neatly adjust tool space by the motion of two rotary shafts is sweared
Amount, the three-dimensional coordinate without influenceing cut point, is on the one hand easily achieved motion control, is on the other hand also easier to plan cutter
Path.
2nd, the laser cutting head motion mode on Double swing head is more flexible, can fast, accurately reach precalculated position, it
Workpiece surface can be cut according to the orientation, angle, distance of setting afterwards, be adapted to the processing of various workpieces form.
3rd, the integrated structure of hollow rotating shaft multichannel is easily achieved, cable, air-flow, light required for laser cutting head etc.
It can pass through from hollow structure, contribute to optimization component to be laid out so that product structure is more compact.
4th, two rotary shafts that can drive Double swing head using common electric machine are moved, and preferably eliminate two rotary shafts
Between coupling effect, because need not using specific customization the part such as motor, reductor and encoder, device price offset compared with
Low, this advantageously reduces cost.
Come using above-mentioned Double swing head S1 outside the adjustment of the orientation of laser cutting head 18 and angle, in addition it is also necessary to adjust laser cutting head
The distance between 18 and workpiece, so could preferably ensure cut quality.In the present embodiment heightened by the way that cutting head is servo-actuated
Device S2 is heightened to the distance between laser cutting head 18 and workpiece, detailed description below.
2nd, cutting head is servo-actuated height-regulating device S2
In the present embodiment, the mounting means of laser cutting head 18 is compact.See Figure 19-Figure 22, with reference to Fig. 3~
Figure 18.B axle yaw mounting seat 16-1 on the side wall of B axle yaw 16 is connected with final stage B axle power transmission shaft 10, thus B axle yaw 16
It can be swung around B axle.The bottom wall of B axle yaw 16 installs the 3rd laser reflection eyeglass 11, and the roof of B axle yaw 16 installs the 4th laser
Reflecting optics 15.4th laser reflection eyeglass 15 is located at the top of laser cutting head 18, and laser beam is reflected into laser cutting head 18
In the wide-mouth light collecting tube 18-2 on top, then by the conical pipe transmission of laser cutting head 18, cutting workpiece is carried out after focusing.
As shown in Fig. 3-Figure 22, there is laser cutting machine light cutting head to be servo-actuated height-regulating device S2 in the present embodiment, and it passes through
The distance between cutting torch and workpiece of laser cutting head 18 are detected, is driven by the corresponding control instruction of (not shown) generation of controller
Dynamic laser cutting head movement.
The cutting head, which is servo-actuated height-regulating device S2, mainly includes the parts such as detector, controller and driver：
Detector, for detecting and being output to the distance between the cutting torch of cutting head 18 and workpiece signal；
Controller, receives above-mentioned detection signal, and is instructed according to preset algorithm output control, to control the dynamic of driver
Make；
Driver, according to above-mentioned control instruction, driving laser cutting head 18 is moved towards close to or away from workpiece direction.
Specifically, cutting head is servo-actuated after height-regulating device S2 startups：When detecting between the cutting torch and workpiece of cutting head 18
When distance is more than pre-determined distance, controller exports the first control instruction (reducing spacing driving instruction), so that light cutting head
Height-regulating device S2 driver is servo-actuated to drive laser cutting head 18 to move towards close to workpiece direction；When detecting laser cutting head
When the distance between 18 cutting torch and workpiece are less than pre-determined distance, controller exports the second control instruction (increase spacing drive finger
Make) so that light cutting head is servo-actuated height-regulating device S2 driver to drive laser cutting head 18 towards away from workpiece direction fortune
It is dynamic.
Above-mentioned cutting head is servo-actuated in height-regulating device S2：Detector can be detected using eddy current type position sensor etc.
The distance between cutting torch and workpiece of laser cutting head 18 are converted to electric signal output；Controller can be PLC or embedded chips, can
To be instructed according to preset algorithm output control, these control instructions can be PWM (pulse width modulation) signal；Driver is usually
Its transmission mechanism of motor, the general combination using servomotor and straight line module, by by the rotary motion of servomotor
It is converted into the linear motion of module so that laser cutting head 18 is moved as module moves along a straight line, is achieved in servo-actuated heighten.
For laser cutting machine, the servo-actuated response speed of laser cutting head 18 is fast.According to motor and straight line mould
There is the conversion of motion in group, rotary motion is converted into linear motion, it is difficult to realize that high acceleration is servo-actuated；Again because of this structure
Part is more, causes servomechanism total quality larger, is unfavorable for improving follow up speed.Therefore, the present embodiment is especially carried out
Improve, thus obtain following high accelerations, the cutting head of lighter weight is servo-actuated height-regulating device S2.
Referring to Figure 19~Figure 22, the detector that the present embodiment cutting head is servo-actuated height-regulating device is capacitance sensor 30, the electricity
Hold sensor and be arranged at the cutting torch bottom of laser cutting head 18, to detect and export the cutting torch and workpiece of laser cutting head 18
The distance between signal.This capacitance sensor can measure slow change or small quantity, with measurement range is big, sensitivity is high,
The advantages of dynamic response is fast, stability is good, the performance of the servo-actuated height-regulating device of cutting head for improving the present embodiment is highly beneficial.
As shown in Figure 19~Figure 22, the present embodiment cutting head is servo-actuated height-regulating device S2 and uses voice coil motor (Voice Coil
Actuator/Motor) 17, it drives laser cutting head 18 to move as driver.This voice coil motor is utilized from permanent
Interaction in the magnetic field that the magnetic field of magnet steel and hot-wire coil conductor are produced between magnetic pole produces regular motion, by electric energy
It is converted into mechanical energy, it is possible to achieve the motion of linear pattern and limited pivot angle.This voice coil motor is a kind of non-inverting type power dress
Put, its positioning precision depends entirely on feedback and control system, unrelated in itself with voice coil motor.Using suitable position feedback and
During induction installation, its positioning precision can easily reach 10NM, and acceleration is up to 300g, and this is servo-actuated for the present embodiment cutting head
The high acceleration of height-regulating device, the design requirement of lightweight are advantageously.
In the present embodiment, voice coil motor 17 is directly linked together with laser cutting head 18, can be on housing 31 is installed
Slide.As shown in Figure 19-Figure 22, laser cutting head 18 is fixed on voice coil motor 17, and the voice coil motor 17 passes through guide rail slide block 33
The installation housing rails 32 of B axle yaw 16 are installed on, to drive laser cutting head 18 to be moved along housing rails 32 are installed, specifically
Mounting means is as further described below.
As shown in Figure 19-Figure 22, the bottom wall perforate of Double swing head 16 passes through for laser cutting head 18 with voice coil motor 17；Double pendulum
A first 16 side wall opens up shell nozzle 31-1 on the installation housing 31, it two as the installation housing 31 of voice coil motor 17
Side, which is set, installs housing rails 32；Voice coil motor 17 is assembled on two guide rail slide blocks 33 on installation housing rails 32, two
It is connected as a single entity between guide rail slide block 33 with slide block connecting rod 33-1, to make voice coil motor 17 be operated steadily in housing rails 32；Swash
The top of light cutting head 18 is provided with the laser cutting head adapter sleeve 18-1 of L-shaped, and laser cutting head adapter sleeve 18-1 stretches into housing
Be open 31-1, and laser cutting head 18 is connected as one with voice coil motor 17.So, driven when voice coil motor 17 moves up and down
Laser crop 18 is moved together, thus adjusts the distance between cutting torch and workpiece of laser cutting head 18.This mounting means ten
Divide compact, it is ensured that laser cutting head 18 is quick smoothly moved with voice coil motor 17.
Realize that the servo-actuated of laser cutting head 18 is heightened in above-described embodiment using capacitance sensor 30 and voice coil motor 17
Function, it is perceived cutting head and cutting the distance between workpiece by capacitance sensor 30, sound is adjusted by controller
The stroke of motor 17 is enclosed, so as to adjust the distance between cutting torch and workpiece of laser cutting head 18, the servo-actuated height regulating function of cutting is realized.
The laser cutting machine of above example has used the servo-actuated height-regulating device of capacitance sensor+voice coil motor, and its is main
Advantage includes but is not limited to following aspect：
1st, it is servo-actuated acceleration high.Voice coil motor directly drives cutting head, it is possible to achieve bigger acceleration；
2nd, light weight.Servomotor and straight line module instead of using voice coil motor, part greatly reduces, and Mass lost is bright
It is aobvious.
3rd, price is low.Servomotor and straight line module instead of using voice coil motor, part is reduced, and advantageously reduces valency
Lattice.
4th, reliability is high.Part is reduced, and fault rate lowers, and this is conducive to improving reliability.
Laser cutting machine of the present invention is illustrated above example, and wherein emphasis is to the double pendulum with hollow axis structure
Head and cutting head are servo-actuated height-regulating device two parts and are described in detail.Take after above-mentioned corrective measure, laser cutting machine
Performance is able to larger improvement, and its properties of product is superior, and reliability is high, and price is relatively low, with preferable market prospects.
Although the present invention is disclosed as above with preferred embodiment, it is not for limiting the present invention, any this area skill
Art personnel without departing from the spirit and scope of the present invention, can make possible variation and modification, therefore the guarantor of the present invention
The scope that shield scope should be defined by the claims in the present invention is defined.
Claims (8)
1. a kind of Double swing head with hollow axis structure, including the C axles swing arm that can be rotated around first direction and can be around second direction
The B axle yaw of rotation, the C axles input of the C axles swing arm is pivotally connected to the C axle reductors of C axle motors, the B axle yaw
B axle input be pivotally connected to the B axle reductor of B axle motor, the B axle input shaft is connected by some grades of B axle power transmission shafts
To the B axle yaw, B axle power transmission shafts at different levels are installed on the C axles swing arm, it is characterised in that the C axles input shaft, the B axle
Input shaft and B axle power transmission shaft at different levels are equipped with axial cavity, and the B axle input axle sleeve is loaded on the C axles input shaft；The C
Axle reductor is provided with C axle drive gears, and the C axles drive gear is nibbled with being installed on the C axle input gears of the C axles input shaft
Close；The B axle reductor is provided with B axle drive gear and B axle decoupling gear, and the B axle drive gear is with being installed on the B axle
The B axle input gear engagement of input shaft, the B axle decoupling gear is engaged with the C axles input gear；Also, the B axle decoupling
Gear and the B axle drive gear are installed into differential type, so that the B axle decouples the C axles input gear of gear transmission
The rotating speed for the B axle input gear that rotating speed is transmitted with the B axle drive gear is offset；The B axle reductor is differential
Harmonic wave speed reducing machine, the wave producer of the differential harmonic wave speed reducing machine connects the B axle motor, the differential harmonic wave speed reducing machine
Flexbile gear fix, the first firm gear of the differential harmonic wave speed reducing machine is fixed with the B axle drive gear, the differential harmonic reduction
Second firm gear of machine is fixed with the B axle decoupling gear, and first firm gear and second firm gear share the wave producer
With the flexbile gear；The C axles reductor is harmonic wave speed reducing machine, and the wave producer of the harmonic wave speed reducing machine connects the C axles driving
Motor, the flexbile gear of the harmonic wave speed reducing machine is fixed, and the firm gear of the harmonic wave speed reducing machine is fixed with the C axles drive gear.
2. Double swing head as claimed in claim 1, it is characterised in that between the B axle input shaft and chopped-off head B axle power transmission shaft, phase
Engaged between adjacent B axle power transmission shafts at different levels by spiral bevel gear pair.
3. Double swing head as claimed in claim 1, it is characterised in that the C axles swing arm has hollow cavity, B axle transmissions at different levels
Axle is installed in the hollow cavity of the C axles swing arm.
4. the Double swing head as described in claim any one of 1-3, it is characterised in that the Double swing head includes gear-box, the C axles
Input shaft and the B axle input shaft are supported in the casing of the gear-box, the C axles reductor and are installed on the C axles and slow down
The C axles drive gear of machine, the B axle reductor and be installed on the B axle reductor B axle drive gear and B axle decoupling gear,
The C axles input gear and the B axle input gear are mounted in the casing of the gear-box, and the C axles motor leads to
Cross the top that C axle motors support base, the B axle motor are installed on the gear-box by B axle motor support base
Lid.
5. a kind of laser cutting machine, it is characterised in that with the Double swing head as described in claim any one of 1-4, wherein：It is described
B axle yaw is provided with laser cutting head；The B axle input shaft connects laser conduit；The B axle input shaft is passed with chopped-off head B axle
Rendezvous position between B axle power transmission shafts at different levels between moving axis, adjacent, between final stage B axle power transmission shaft and the B axle yaw is distinguished
Laser mirror is provided with, so that laser beam can be transmitted to the cutting torch of the laser cutting head.
6. laser cutting machine as claimed in claim 5, it is characterised in that the laser cutting machine is servo-actuated including cutting head and heightened
The distance between device, cutting torch and workpiece by detecting laser cutting head, and it is described sharp to drive to generate corresponding control instruction
Light cutting head is moved.
7. laser cutting machine as claimed in claim 6, it is characterised in that the cutting head is servo-actuated height-regulating device and passed including electric capacity
Sensor, the capacitance sensor is arranged at the cutting torch bottom of the laser cutting head, to detect and export laser cutting head
The distance between cutting torch and workpiece signal.
8. laser cutting machine as claimed in claim 6, it is characterised in that the cutting head, which is servo-actuated height-regulating device, includes voice coil loudspeaker voice coil electricity
Machine, the laser cutting head is fixed on the voice coil motor, and the voice coil motor is installed on the B axle yaw by guide rail slide block
Installation housing rails, so as to drive the laser cutting head along it is described installation housing rails move.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710759081.7A CN107570885B (en) | 2015-11-09 | 2015-11-09 | A kind of laser cutting machine |
| CN201510757120.0A CN105215559B (en) | 2015-11-09 | 2015-11-09 | Double swing head and laser cutting machine with hollow axis structure |
| CN201911039814.5A CN111299848A (en) | 2015-11-09 | 2015-11-09 | Laser cutting machine capable of being heightened by follow-up |
| CN201911040568.5A CN111299849A (en) | 2015-11-09 | 2015-11-09 | Laser cutting machine with double swinging heads |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510757120.0A CN105215559B (en) | 2015-11-09 | 2015-11-09 | Double swing head and laser cutting machine with hollow axis structure |
Related Child Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911040568.5A Division CN111299849A (en) | 2015-11-09 | 2015-11-09 | Laser cutting machine with double swinging heads |
| CN201710759081.7A Division CN107570885B (en) | 2015-11-09 | 2015-11-09 | A kind of laser cutting machine |
| CN201911039814.5A Division CN111299848A (en) | 2015-11-09 | 2015-11-09 | Laser cutting machine capable of being heightened by follow-up |
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| CN105215559B true CN105215559B (en) | 2017-07-21 |
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| CN201710759081.7A Active CN107570885B (en) | 2015-11-09 | 2015-11-09 | A kind of laser cutting machine |
| CN201510757120.0A Active CN105215559B (en) | 2015-11-09 | 2015-11-09 | Double swing head and laser cutting machine with hollow axis structure |
| CN201911040568.5A Pending CN111299849A (en) | 2015-11-09 | 2015-11-09 | Laser cutting machine with double swinging heads |
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| CN111299848A (en) * | 2015-11-09 | 2020-06-19 | 常州科乐为数控科技有限公司 | Laser cutting machine capable of being heightened by follow-up |
| CN108213136A (en) * | 2017-12-28 | 2018-06-29 | 齐齐哈尔二机床(集团)有限责任公司 | A kind of laser pivot angle head for five-axle linkage flexibility heat forming equipment |
| CN108927843A (en) * | 2018-08-27 | 2018-12-04 | 重庆梦马致新科技有限公司 | A kind of corrugated board beveling mechanism |
| CN110262036B (en) * | 2019-05-30 | 2020-11-24 | 中国科学院长春光学精密机械与物理研究所 | Two-dimensional large-angle quick deflection reflector |
| CN114578753B (en) * | 2022-01-20 | 2024-06-07 | 西门子（中国）有限公司 | Workpiece processing control method and device, computer equipment and computer readable medium |
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| CN104864066A (en) * | 2015-05-11 | 2015-08-26 | 上海鑫君传动科技有限公司 | Harmonic-wave speed reducer with improved structure |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105215559A (en) | 2016-01-06 |
| CN111299849A (en) | 2020-06-19 |
| CN107570885B (en) | 2019-11-22 |
| CN111299848A (en) | 2020-06-19 |
| CN107570885A (en) | 2018-01-12 |
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