CN108436738A - A kind of large and medium-sized disk-like accessory multifreedom motion realization device of centrifugal barrel finishing - Google Patents

Abstract

The invention belongs to precision surface processing technique fields, the specifically large and medium-sized disk-like accessory multifreedom motion realization device of centrifugal barrel finishing, solve the problems, such as that large and medium-sized disk-like accessory is difficult to disposable comprehensive skin processing and consistency processing, entirety improves the surface integrity of large and medium-sized disk-like accessory, while this method can also be used for the centrifugal barrel finishing of small-sized disk-like accessory.The present invention passes through the rotary drive of built-up leadscrew and nut, belt wheel transmission, gear drive and swing mechanism, dexterously realize the movement of workpiece five positions, compared with prior art, the multivariant movement of workpiece can be achieved, improve processing efficiency and processing quality, it ensure that comprehensive processing and consistency processing, the configuration of the present invention is simple, easy to operate, controllability is good.

Description

A multi-degree-of-freedom motion realization device for large and medium-sized disk parts processed by barrel finishing

technical field

The invention belongs to the technical field of precision surface processing, and in particular relates to the rolling finish processing technology, in particular to a device for realizing multi-degree-of-freedom motion of large and medium-sized disk parts in rolling finish processing.

Background technique

Disc parts are commonly used parts in engineering practice. Their surface quality directly affects the mechanical properties and service life of the product. For example, the surface quality of a bearing directly affects its friction and corrosion resistance; the surface quality of a gear directly affects its bearing capacity. capacity and fatigue life. For large and medium-sized disk parts, it is difficult to achieve all-round one-time processing and obtain good surface quality by using existing traditional processing techniques such as grinding, honing and grinding. As a relatively practical surface finishing technology, barrel finishing has the advantages of high processing efficiency, low cost, and all-round processing of parts. It is especially suitable for all-round one-time finishing of disc parts. However, in the existing barrel finishing technology, the workpiece is either placed freely in the drum, or clamped on a rotatable spindle to perform a rotary motion relative to the drum, which is easy to process small disc parts; but for configuration Complex disk parts, simple relative movement, it is difficult to achieve multi-directional adjustable and consistent processing of large and medium-sized disk parts. Therefore, there is an urgent need for a multi-degree-of-freedom motion realization device that can solve large and medium-sized disc parts, effectively solve the problem of omnidirectional and consistent finishing in barrel finishing, and improve the surface integrity of large and medium-sized disc parts as a whole. At the same time, the method can also be used for barrel finishing of small disk parts.

Contents of the invention

The invention provides a multi-degree-of-freedom movement realization device for large and medium-sized disk parts in barrel finishing, and its purpose is to realize the device through multi-degree-of-freedom movement, so as to solve the difficulty of one-time omnidirectional finishing and consistency of large and medium-sized disk parts. Difficulties in processing, the overall improvement of the surface integrity of large and medium-sized disc parts, and the device can also be used for barrel finishing of small disc parts.

The invention provides a device for realizing multi-degree-of-freedom motion of large and medium-sized disk parts in barrel finishing, which includes a first frame, a horizontal moving assembly, a vertical moving assembly, a horizontal rotating assembly, a second Swing assembly and vertical rotation assembly on the frame;

The second frame includes a horizontal beam and two vertical beams arranged under the horizontal beam;

The horizontal moving assembly is arranged on the first frame, including a first motor, a horizontal lead screw, a horizontal lead screw mounting frame, a horizontal lead screw nut, a horizontal slide table, a horizontal guide rail arranged on the horizontal lead screw mounting frame, and a horizontal guide rail arranged on the horizontal lead screw mounting frame. The horizontal slide table guide rail under the slide table and the first connecting frame connecting the horizontal slide table and the vertical moving assembly;

The left end of the horizontal lead screw protrudes from the horizontal lead screw mounting frame and is connected with the first motor, and the right end is connected with the horizontal lead screw mounting frame through the rotating pair;

The horizontal guide rail cooperates with the guide rail of the horizontal slide table through a sliding pair;

The horizontal lead screw nut and the horizontal lead screw are connected by thread pairs;

The horizontal screw nut and the guide rail of the horizontal slide table are fixed on the horizontal slide table;

The first connecting frame is connected with the horizontal slide table through a screw group;

The vertical moving assembly includes a second motor, a vertical lead screw, a vertical lead screw mounting frame connected to the first connecting frame, a vertical lead screw nut, a vertical slide table, and a vertical screw mounted on the vertical lead screw mounting frame. Straight guide rails, vertical slide table guide rails arranged on the back of the vertical slide table, and a second connecting frame connecting the vertical slide table and the horizontal rotation assembly;

The upper end of the vertical lead screw protrudes from the vertical lead screw mounting frame and is connected with the second motor, and the lower end is connected with the vertical lead screw mounting frame through the rotating pair;

The vertical guide rail cooperates with the guide rail of the vertical slide table through a sliding pair;

The vertical lead screw nut is connected with the vertical lead screw through a thread pair;

The vertical screw nut and the guide rail of the vertical slide are fixed on the vertical slide;

The second connecting frame is connected with the vertical sliding table through a screw group;

The horizontal rotation assembly includes a third motor, a driving pulley connected to the third motor and arranged horizontally, a driven pulley connected to the driving pulley through a synchronous belt, a driven pulley shaft installation box, a driving pulley shaft, a third The motor mounting frame and the driven pulley rotating shaft connected with the driven pulley and used to drive the second frame, the swing assembly and the vertical rotation assembly to realize horizontal rotation;

The driven pulley installation box is connected to the second installation frame through a screw group;

The upper end of the driven pulley shaft is inserted in the driven pulley, the middle is connected with the driven pulley installation box through the rotating pair, and the lower end passes through the horizontal beam of the second frame and is fixedly connected with the second frame;

The upper end of the rotating shaft of the driving pulley is inserted in the driving pulley, the middle is connected with the mounting frame of the third motor through a rotating pair, and the lower end is connected with the output shaft of the third motor through a coupling;

The driven pulley installation box is connected with the third motor installation frame through a screw group;

The swing assembly includes a fourth motor, a swing guide rod, a swing slider sleeved on the swing guide rod, and a crank connecting the fourth motor and the swing slider;

The fourth motor is arranged in the second frame;

The swing guide rod and the swing slide block are arranged outside the second frame;

The crank passes through the vertical beam of the second frame, the upper end is provided with a through hole matched with the output shaft of the fourth motor, and the lower end is inserted into the bearing on the swing slider;

The vertical rotation assembly includes a fifth motor, a gear installation box, a driving gear connected to the fifth motor and arranged horizontally, a driven gear meshed with the driving gear and arranged vertically, a workpiece installation shaft vertically passing through the driven gear, The fifth motor mounting frame and the driving gear rotating shaft connecting the fifth motor and the driving gear;

Both the driving gear and the driven gear are arranged in the gear installation box, and both are bevel gears;

The first end of the workpiece installation shaft is located outside the gear installation box, and the second end is located inside the gear installation box;

The gear installation box has two box bars that are rotatably connected with the second frame; the end of the box bar passes through the vertical seat bearing at the end of the vertical beam of the second frame, and one of the box bars is connected with the swing guide bar connect;

The gear installation box includes a U-shaped lower box and an upper box that forms a gear installation box with the U-shaped lower box;

The upper box is provided with a bearing for the workpiece installation shaft to pass through and an end cover for fixing the bearing;

The fifth motor mounting bracket is connected to the top of the upper box.

The above-mentioned mechanical mechanism has the following structural characteristics: the swing range of the swing guide rod is -40°～40°; the driving pulley and the driven pulley are both V-shaped pulleys or toothed pulleys, and the belt is a V-shaped belt Or a toothed belt.

The multi-degree-of-freedom motion realization device for large and medium-sized disc parts provided by the present invention can achieve the following effects by adjusting the manufacturing and assembly precision after the production is completed, and repeated tests:

The invention overcomes the shortcoming of the single movement of the workpiece in the existing barrel finishing process, realizes the multi-directional and multi-posture movement of the workpiece through the combination and superposition of simple mechanisms, and solves the one-time processing of large and medium-sized disk parts and the inconsistent processing quality The issue of safety, and fully consider the economy, practicability and convenience, played an important role in the process of barrel finishing;

The present invention cleverly realizes the five-direction movement of the workpiece by combining the screw drive, the belt drive, the gear drive and the swing guide rod mechanism of the lead screw and the slide block. Compared with the prior art, the movement of the workpiece with multiple degrees of freedom can be realized. , improve processing efficiency and processing quality, and ensure all-round processing and consistent processing;

The whole device has the advantages of simple structure, convenient operation and good controllability.

Description of drawings:

Fig. 1 is a front view of a device for realizing multi-degree-of-freedom motion of large and medium-sized disk parts by barrel finishing provided by an embodiment of the present invention;

Fig. 2 is a top view of the multi-degree-of-freedom movement realization device for barrel finishing processing large and medium-sized disk parts shown in Fig. 1;

Fig. 3 is a structural schematic diagram of the horizontal moving assembly in the multi-degree-of-freedom movement realization device for the barrel finishing processing of large and medium-sized disk parts shown in Fig. 1;

Fig. 4 is a structural schematic diagram of the vertical moving assembly and the horizontal rotating assembly in the multi-degree-of-freedom motion realization device for the barrel finishing processing of large and medium-sized disk parts shown in Fig. 1;

Fig. 5 is a structural schematic diagram of a swing assembly and a vertical rotation assembly in the multi-degree-of-freedom motion realization device for barrel finishing processing of large and medium-sized disk parts shown in Fig. 1 .

In the figure: 100-first frame; 200-second frame; 201-with vertical seat bearing; 301-first motor; 302-horizontal lead screw; 303-horizontal lead screw mounting frame; 304-horizontal lead screw Nut; 305-horizontal sliding table; 306-horizontal guide rail; 307-horizontal sliding table guide rail; 308-first connecting frame; 401-second motor; 402-vertical screw; 403-vertical screw mounting frame; 404 -vertical screw nut; 405-vertical slide; 406-vertical guide rail; 407-vertical slide guide; 408-second connecting frame; 501-third motor; 502-driving pulley; 503-synchronization Belt; 504-driven pulley; 505-driven pulley sleeve installation box; 506-third motor mounting frame; 601-fourth motor; 602-swing guide rod; 603-swing slider; 604-crank; 701 -the fifth motor; 702-gear installation box; 703-driving gear; 704-driven gear; 705-workpiece installation shaft; 706-fifth motor mounting frame; workpiece-800.

Detailed ways:

This embodiment provides a device for realizing multi-degree-of-freedom motion of large and medium-sized disk parts in barrel finishing, as shown in Figures 1 to 5, including a first frame 100, a horizontal moving assembly, a vertical moving assembly, a horizontal rotating assembly, the second frame 200 and the swing assembly and the vertical rotation assembly installed on the second frame; the second frame 200 includes a horizontal beam and two vertical beams arranged under the horizontal beam; the horizontal movement assembly is arranged on On the first frame 100, comprise first motor 301, horizontal leading screw 302, horizontal leading screw mounting frame 303, horizontal leading screw nut 304, horizontal slide table 305, the horizontal guide rail 306 that is arranged on the horizontal leading screw mounting frame 303, The horizontal slide table guide rail 307 that is arranged under the horizontal slide table 305 and the first connecting frame 308 that connects the horizontal slide table 305 and the vertical moving assembly; The motor 301 is connected, and the right end is connected with the horizontal lead screw mounting frame 302 through a rotating pair; the horizontal guide rail 306 and the horizontal slide table guide rail 307 are matched by a sliding pair; the horizontal lead screw nut 304 is connected with the horizontal lead screw 302 by a thread pair; The bar nut 304 and the horizontal sliding table guide rail 307 are fixed on the horizontal sliding table 305; the first connecting frame 308 is connected with the horizontal sliding table 305 through a screw group; the vertical moving assembly includes a second motor 401, a vertical lead screw 402, and The vertical lead screw installation frame 403 that the first connecting frame 308 connects, the vertical lead screw nut 404, the vertical slide table 405, the vertical guide rail 406 that is arranged on the vertical lead screw installation frame 403, is arranged on the vertical slide table The vertical slide table guide rail 407 on the back side of 405 and the second connecting frame 408 connecting the vertical slide table 405 and the horizontal rotation assembly; connection, the lower end is connected with the vertical lead screw mounting frame 403 through a rotating pair; the vertical guide rail 406 and the vertical slide table guide rail 407 are matched through a sliding pair; the vertical lead screw nut 406 is connected with the vertical lead screw 402 through a thread pair The vertical lead screw nut 406 and the vertical slide rail 407 are fixed on the vertical slide 405; the second connecting frame 408 is connected with the vertical slide 405 through a screw group; the horizontal rotation assembly includes the third motor 501, and The driving pulley 502 connected to the third motor 501 and arranged horizontally, the driven pulley 504 connected with the driving pulley 502 through the timing belt 503, the driven pulley shaft installation box 505, the driving pulley rotating shaft, the third motor mounting frame 506 and the driven pulley rotating shaft connected with the driven pulley 504 and used to drive the second frame 200, the swing assembly and the vertical rotation assembly to realize horizontal rotation; the driven pulley installation box 505 is connected to the second frame through a screw group On the mounting frame 200; the upper end of the driven pulley rotating shaft is inserted in the driven pulley 504, the middle is connected with the driven pulley installation box 505 through the rotating pair, and the lower end passes through the horizontal beam of the second frame 200 and connects with the second machine The frame 200 is fixedly connected; the upper end of the driving pulley rotating shaft is inserted in the driving pulley 502, and the middle passes through The rotating pair is connected with the third motor mounting frame 506, and the lower end is connected with the output shaft of the third motor 501 through a coupling; the driven pulley mounting box 505 is connected with the third motor mounting frame 506 through a screw group;

The swing assembly includes a fourth motor 601, a swing guide rod 602, a swing slider 603 sleeved on the swing guide rod 602, and a crank 604 connecting the fourth motor 601 and the swing slider 603; the fourth motor 601 is arranged on the second machine frame 200; swing guide rod 602 and swing slide block 603 are arranged outside the second frame 200; Through hole, the lower end is inserted in the bearing on the swing slider 603; the vertical rotation assembly includes the fifth motor 701, the gear installation box 702, the drive gear 703 connected with the fifth motor 701 and arranged horizontally, meshing with the drive gear 703 and the vertically arranged driven gear 704, the workpiece installation shaft 705 passing through the driven gear 704 vertically, the fifth motor mount 706 and the driving gear rotating shaft connecting the fifth motor 701 and the driving gear;

The driving gear 703 and the driven gear 704 are all arranged in the gear installation box 702, and both are bevel gears; the first end of the workpiece installation shaft 705 is located outside the gear installation box 702, and the second end is located in the gear installation box 702;

Gear installation box 702 has two case bars that are rotatably connected with second frame 200; The swing guide rod 602 is connected; the gear installation box 702 includes a U-shaped lower box body and an upper box body that surrounds the gear installation box 702 with the U-shaped lower box body; The bearing and the end cover of the fixed bearing; the fifth motor mounting frame 706 is connected with the top of the upper box body.

In this embodiment, the workpiece 800 is fixed on the rod body of the workpiece installation shaft 705 and leaks out on the gear installation box 702. The first motor 301 drives the horizontal lead screw 302 to rotate, and the horizontal lead screw nut 304 that forms a threaded pair with the horizontal lead screw 302 drives The horizontal slide table 305 moves horizontally along the horizontal lead screw 302, and the horizontal slide table 305 drives the first connecting frame 308, the vertical movement assembly, the horizontal rotation assembly, the second frame 200, the swing assembly and the vertical rotation assembly to move horizontally, realizing The horizontal movement of the workpiece 800; the second motor 401 drives the vertical lead screw 402 to rotate, and the vertical lead screw nut 404 that forms a thread pair with the vertical lead screw 402 drives the vertical slide 405 to move vertically along the vertical lead screw 402 , the vertical sliding table 405 drives the second connecting frame 408, the horizontal rotation assembly, the second frame 200, the swing assembly and the vertical rotation assembly to move vertically to realize the vertical movement of the workpiece 800; the third motor 501 drives the driving pulley 502 rotates, the driven pulley 504 rotates through the synchronous belt 503 transmission, and the driven pulley rotating shaft drives the second frame 200, the swing assembly and the vertical rotation assembly to rotate in the horizontal plane, and realizes the horizontal rotation of the workpiece 800; the fourth motor 601 Rotate to drive the crank 604 to rotate, under the transmission of the crank 604 and the swing slider 603, the swing guide rod 602 swings, driving the gear installation box 702 connected with the swing guide rod 602 to swing, thereby realizing the swing of the workpiece 800; the fifth motor 701 drives the driving gear 703 to rotate in the horizontal plane, drives the driven gear 704 meshed with the driving gear 703 to rotate in the vertical plane, and the workpiece 800 mounting shaft 705 connected with the driven gear 704 rotates, thereby realizing the vertical rotation of the workpiece 800 . As can be seen from the above, the device provided in this embodiment combines the screw drive, the belt drive, the gear drive and the swing mechanism of the slide block to skillfully realize the movement of the workpiece 800 in five directions. Compared with the prior art, it can realize The multi-degree-of-freedom movement of the workpiece improves the processing efficiency and quality, and ensures all-round and consistent processing. In the above mechanical mechanism, the horizontal guide rail 306 cooperates with the horizontal slide table guide rail 307 through a sliding pair, and the vertical guide rail 406 cooperates with the vertical slide table guide rail 407 through a sliding pair to reduce the horizontal slide table 305 and the vertical slide table 405 to drive the first The frictional force when the connecting frame 308 and the second connecting frame 408 move makes the horizontal movement and the vertical movement smoother; the bearing on the swing slider 603 effectively reduces the frictional force when the crank 604 rotates, making the rotation smoother The radian of the U-shaped lower box matches the radian of the gear, which can ensure the smooth rotation of the gear in the gear installation box 702, and compared with the rectangular or square box with edges and corners, the U-shaped lower box saves more manufacturing materials; The setting of the bearing on the box body makes the rotation of the workpiece mounting shaft 705 smoother, and the end cover not only plays a fixing role, but also effectively isolates the bearing from the external environment to prevent the bearing from being polluted.

Further, as shown in Figure 3, the first connecting frame 308 comprises the base plate that is connected with the horizontal sliding platform 305, the back plate on the vertically arranged base plate and a plurality of triangular reinforcing plates connecting the base plate and the back plate; the back plate and the vertical Lead screw mounting frame 403 is fixedly connected.

Further, as shown in Figure 4, the second connecting frame 405 includes two T-shaped plates and a connecting beam arranged between the two T-shaped plates; the horizontal part of one of the T-shaped plates is installed on the vertical slide 405 .

Further, as shown in FIG. 4 , the horizontal rotation assembly also includes a driven pulley sleeve sleeved outside the rotating shaft of the driven pulley, the driven pulley sleeve is fixed in the driven pulley sleeve installation box 505, and the driven belt The rotation of the wheel shaft is arranged in the axle sleeve of the driven pulley.

Further, as shown in FIG. 4 , in order to facilitate the installation of the pulley and the synchronous belt 503 , the top surfaces of the driven pulley sleeve installation box 505 and the third motor installation frame 506 are flush.

Further, the swing range of the swing guide rod 602 is -40°～40°; the driving pulley 502 and the driven pulley 504 are both V-shaped pulleys or toothed pulleys, and the belt 503 is a V-shaped belt or a toothed pulley. The belt, the positive pressure between the belt and the pulley is large, the friction is large, and the transmission capacity is large; the diameter of the driving pulley 502 is smaller than that of the driven pulley 504; the driving gear 703 and the driven gear 704 are both bevel gears, and the bevel gear overlap Larger, stable transmission, low noise, strong bearing capacity, the minimum number of teeth can reach 5, so a larger transmission ratio (up to 10) and smaller mechanism size can be obtained.

Further, the first motor 301 , the second motor 401 and the third motor 501 are stepping motors, and the fourth motor 601 and the fifth motor 701 are common motors.

Further, the size of the device is adjustable.

After processing the 20CrMnTi carburized gear with a diameter of 300mm by using this device and a spherical alumina grinding block with a diameter of 3mm for 30 minutes, the edges were rounded everywhere, the burrs were obviously removed, and the surface roughness Ra value decreased from 0.634 μm to 0.225 μm. Good processing consistency.

Claims (2)

1. A device for realizing multi-degree-of-freedom motion of large and medium-sized disk parts in barrel finishing, characterized in that it includes a first frame (100), a horizontal moving assembly, a vertical moving assembly, a horizontal rotating assembly, and a second machine frame (200) and a swing assembly and a vertical rotation assembly installed on the second frame; The second frame (200) includes a horizontal beam and two vertical beams arranged under the horizontal beam; The horizontal moving assembly is arranged on the first frame (100), including a first motor (301), a horizontal screw (302), a mounting frame for the horizontal screw (303), a nut for the horizontal screw (304), The horizontal slide table (305), the horizontal guide rail (306) arranged on the horizontal lead screw mounting frame (303), the horizontal slide table guide rail (307) arranged under the horizontal slide table (305), and the horizontal slide table ( 305) and the first connecting frame (308) of the vertically moving assembly; The left end of the horizontal lead screw (302) protrudes from the horizontal lead screw mounting frame (303) to connect with the first motor (301), and the right end is connected to the horizontal lead screw mounting frame (302) through a rotating pair connect; The horizontal guide rail (306) cooperates with the horizontal slide table guide rail (307) through a sliding pair; The horizontal lead screw nut (304) is connected to the horizontal lead screw (302) through a thread pair; The horizontal lead screw nut (304) and the horizontal slide table guide rail (307) are fixed on the horizontal slide table (305); The first connecting frame (308) is connected to the horizontal slide table (305) through a screw group; The vertical moving assembly includes a second motor (401), a vertical lead screw (402), a vertical lead screw mounting bracket (403) connected to the first connecting frame (308), and a vertical lead screw nut (404) , vertical sliding table (405), vertical guide rail (406) arranged on the vertical screw mounting frame (403), vertical sliding table guide rail (407) arranged on the back of the vertical sliding table (405) And the second connecting frame (408) connecting the vertical slide table (405) and the horizontal rotation assembly; The upper end of the vertical screw (402) protrudes from the vertical screw mounting frame (403) to connect with the second motor (401), and the lower end is connected to the vertical screw mounting frame through a rotating pair (403) connect; The vertical guide rail (406) cooperates with the vertical sliding table guide rail (407) through a sliding pair; The vertical lead screw nut (406) is connected to the vertical lead screw (402) through a pair of threads; The vertical lead screw nut (406) and the vertical sliding table guide rail (407) are fixed on the vertical sliding table (405); The second connecting frame (408) is connected with the vertical sliding table (405) through a screw group; The horizontal rotation assembly includes a third motor (501), a driving pulley (502) connected to the third motor (501) and arranged horizontally, a driven pulley (502) connected to the driving pulley (502) through a synchronous belt (503) The pulley (504), the driven pulley shaft installation box (505), the driving pulley shaft, the third motor mounting frame (506) and the driven pulley (504) are connected and used to drive the second frame ( 200), the swing assembly and the vertical rotation assembly realize the horizontal rotation of the driven pulley shaft; The driven pulley installation box (505) is connected to the second installation frame (200) through a screw group; The upper end of the driven pulley rotating shaft is inserted in the driven pulley (504), the middle is connected with the driven pulley installation box (505) through a rotating pair, and the lower end passes through the horizontal beam of the second frame (200) and The second frame (200) is fixedly connected; The upper end of the driving pulley rotating shaft is inserted in the driving pulley (502), the middle is connected with the third motor mounting frame (506) through a rotating pair, and the lower end is connected with the output shaft of the third motor (501) through a coupling ; The driven pulley installation box (505) is connected to the third motor installation frame (506) through a screw group; The swing assembly includes a fourth motor (601), a swing guide rod (602), a swing slider (603) sleeved on the swing guide rod (602), and a fourth motor (601) connected to the swing slider (603). ) crank (604); The fourth motor (601) is arranged in the second frame (200); The swing guide rod (602) and the swing slider (603) are arranged outside the second frame (200); The crank (604) passes through the vertical beam of the second frame (200), the upper end is provided with a through hole matched with the output shaft of the fourth motor (601), and the lower end is inserted in the swing slider (603) in the bearing; The vertical rotation assembly includes a fifth motor (701), a gear installation box (702), a driving gear (703) connected to the fifth motor (701) and arranged horizontally, and meshing with the driving gear (703 ) and the vertically arranged driven gear (704), the workpiece installation shaft (705) passing through the driven gear (704) vertically, the fifth motor mounting frame (706) and the fifth motor (701) connected to the driving The driving gear shaft of the gear; Both the driving gear (703) and the driven gear (704) are arranged in the gear installation box (702), and both are bevel gears; The first end of the workpiece installation shaft (705) is located outside the gear installation box (702), and the second end is located inside the gear installation box (702); The gear installation box (702) has two box bars that are rotatably connected to the second frame (200); the end of the box bar passes through the end of the vertical beam of the second frame (200) with a vertical seat a bearing, and one of the box bars is connected to the swing guide bar (602); The gear installation box (702) includes a U-shaped lower box and an upper box that forms a gear installation box (702) with the U-shaped lower box; The upper box is provided with a bearing for the workpiece installation shaft (705) to pass through and an end cover for fixing the bearing; The fifth motor mounting bracket (706) is connected to the top of the upper box. 2. A device for realizing multi-degree-of-freedom motion of large and medium-sized disk parts according to claim 1, characterized in that, the swing range of the swing guide rod (602) is -40° to 40° °; Both the driving pulley (502) and the driven pulley (504) are V-shaped pulleys or toothed pulleys, and the synchronous belt (603) is a V-shaped belt or toothed belt.