CN210188510U

CN210188510U - Double-arm type five-shaft head structure

Info

Publication number: CN210188510U
Application number: CN201920796566.8U
Authority: CN
Inventors: Yong Tan; 谭勇; Xiangdong Meng; 孟祥东; Huinan Su; 苏辉南
Original assignee: Shanghai Nozoli Machine Tools Technology Co Ltd
Current assignee: Shanghai Nozoli Machine Tools Technology Co Ltd
Priority date: 2019-05-30
Filing date: 2019-05-30
Publication date: 2020-03-27
Anticipated expiration: 2029-05-30

Abstract

The utility model provides a double-arm five-shaft head structure in the field of machine tool manufacturing, which comprises a C shaft, an A shaft and a main shaft; the C shaft comprises a base, a core shaft, a rotating seat, a C shaft rotor bushing, a first driving motor and a first encoder, an inner rotor of the first driving motor is connected onto the C shaft rotor bushing, the C shaft rotor bushing is connected with the core shaft, the first encoder is connected with the core shaft, the bottom of the core shaft is connected with the base, and the top of the core shaft is connected with the rotating seat; the shaft A comprises a first shaft A rotor bushing, a second shaft A rotor bushing, a shaft hole, a second driving motor and a second encoder, wherein the shaft seat is arranged on the inner wall of the shaft hole; the base is fixedly locked at the top end of the shaft A, the main shaft is connected to the shaft seat, and the shaft C, the shaft A and the main shaft are coaxially connected. The utility model discloses simple structure, stability is good, improves the precision and the rigidity of lathe operation by a wide margin.

Description

Double-arm type five-shaft head structure

Technical Field

The invention relates to the field of machine tool manufacturing, in particular to a double-arm five-shaft head structure.

Background

In recent years, five-axis linkage numerical control machining centers are increasingly widely applied in various fields. In practical application, when people encounter the difficult problems of high-efficiency and high-quality processing of special-shaped complex parts, the five-axis linkage technology is undoubtedly an important means for solving the problems. More and more manufacturers tend to find five-axis equipment to meet high efficiency, high quality machining.

The index for evaluating the technical performance of the machine tool can be finally summarized into the machining precision and the production efficiency. The machining accuracy includes the dimensional accuracy, shape accuracy, positional accuracy, surface quality of the workpiece to be machined, and the accuracy retainability of the machine tool. The production efficiency relates to the cutting and machining time and the assistance time, as well as the degree of automation and the operational reliability of the machine tool. These criteria depend on the one hand on the static characteristics of the machine tool, such as static geometric accuracy and rigidity; on the other hand, the dynamic characteristics of the machine tool, such as motion precision, dynamic stiffness, thermal deformation, noise and the like, have a larger relation.

Through the search of the prior art, the Chinese utility model patent CN201721560986.3, the utility model patent name is a five-axis machine tool A-axis multi-station synchronous transmission mechanism, which comprises a frame, a servo motor and a main shaft; the main shaft is arranged on the frame; the method is characterized in that: the servo motor is fixed on one side of the rack; the power output end of the servo motor is provided with a driving wheel; the number of the main shafts is at least 2, and the lower end of each main shaft is provided with a worm gear reducer fixed on the rack; a driven wheel is arranged at the power input end of the worm gear speed reducer; the driving wheel is in synchronous driving connection with the driven wheel through a transmission belt; the power output end of the worm gear speed reducer drives the main shaft to rotate; the driving wheel is in synchronous driving connection with the driven wheel through a transmission belt. However, the utility model has not been improved significantly in the static and dynamic characteristics of the machine tool, and its accuracy control is not strong.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a double-arm five-shaft head structure.

The invention provides a double-arm five-shaft head structure which comprises a C shaft, an A shaft and a main shaft;

the C shaft comprises a base, a mandrel, a rotating seat, a C shaft rotor bushing, a first driving motor and a first encoder, an inner rotor of the first driving motor is connected to the C shaft rotor bushing, the C shaft rotor bushing is connected with the mandrel, the first encoder is connected to the mandrel, the bottom of the mandrel is connected with the base, and the top of the mandrel is connected with the rotating seat;

the shaft A comprises a first shaft A rotor bushing, a second shaft A rotor bushing, a shaft hole, a second driving motor and a second encoder, wherein a shaft seat is arranged on the inner wall of the shaft hole, an inner rotor of the second driving motor is respectively connected with the first shaft A rotor bushing and the second shaft A rotor bushing, and the second encoder is connected with the first shaft A rotor bushing;

the base is fixedly locked at the top end of the shaft A, the main shaft is connected to the shaft seat, and the shaft C, the shaft A and the main shaft are coaxially connected.

In some embodiments, the verticality of the joint surface of the base and the A axis is less than or equal to 0.01mm, and the concentricity of the base and the A axis is less than or equal to 0.01 mm.

In some embodiments, the concentricity and perpendicularity of the joint surface of the C-axis rotor bushing and the mandrel are both 0.01-0.02 mm.

In some embodiments, a jaw is disposed on the base, and a jaw base is connected to the jaw and located between the jaw and the mandrel.

In some embodiments, elastic gaskets are arranged at the connecting parts of at least one of the mandrel and the base, the mandrel and the rotating seat, and the clamp and the base.

In some embodiments, the rotary base is connected with a joint fixing plate, and the joint fixing plate is used for arranging the wire joint, the oil pipe joint and the air pipe joint in a classified distribution manner.

In some embodiments, the means for fixing the joint by the joint fixing plate is a snap-fit type, and the snap-fit type fixing means is a C-shaped snap spring or a clamp.

In some embodiments, the cross-sections of the clamping grooves for fixing different types of pipelines on the joint fixing plate have different shapes or/and diameters.

In some embodiments, a gland is arranged on the outer side of the second driving motor, the gland is fixed on the shaft A, the gland is a DD-shaped gland, and the gland comprises a first gland and a second gland.

In some embodiments, an elastic gasket is arranged between the first pressing cover and the second driving motor and/or between the second pressing cover and the second driving motor.

Compared with the prior art, the invention has the following beneficial effects:

1. the C-axis structure is compact, the structural connection stability is good, and the requirements of the five-axis machine tool on the precision and the rigidity of the C-axis can be met.

2. According to the invention, through controlling the verticality and the concentricity of the combination surface of the base and the A shaft and the combination surface of the C shaft rotor bush and the core shaft, the mounting precision can be better satisfied, and the practical performance of the equipment is improved.

3. The invention effectively fixes the electric wire, the air pipe, the oil pipe and other pipelines on the C shaft of the five-shaft machine tool through the bracket structure, and can prevent the twisting-off phenomenon of the electric wire, the air pipe, the oil pipe and other pipelines caused by frequent reciprocating swing.

4. The elastic gaskets are arranged between the connecting parts at least at one position of the mandrel and the base, the mandrel 12 and the rotating seat, and the forceps holder and the base, so that the vibration force generated by the rotation of the C shaft can be effectively reduced, the good effects of shock absorption and noise reduction are achieved, and the rotation precision of the C shaft is improved.

5. The two rotating shafts C and A are respectively driven by a high-torque motor and matched with a high-precision angle encoder to achieve the rotating effect: the shaft C is connected with the shaft A, and the shaft A and the main shaft can rotate around the shaft Z by +/-360 degrees under the condition that the shaft C is fixed; the A axis is connected with the main shaft, and the main shaft can rotate +/-110 degrees around the X axis.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic view of a dual-arm five-axis head structure according to the present invention

FIG. 2 is a schematic structural view of a joint fixing plate in the C-axis;

fig. 3 is a structural schematic view of a pipeline fixing plate in the C axis.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.

As shown in fig. 1-3, the present invention provides a double-arm five-axis head structure, which comprises a C-axis 1, an a-axis 2, and a main axis 3;

the C-shaft 1 comprises a base 11, a core shaft 12, a rotating base 13, a C-shaft rotor bushing 14, a first driving motor 41 and a first encoder 51, wherein an inner rotor of the first driving motor 41 is connected to the C-shaft rotor bushing 14, an outer stator of the first driving motor 41 is connected to an outer sleeve 16 of the C-shaft 1, the C-shaft rotor bushing 14 is connected to the core shaft 12, the first encoder 51 is connected to the core shaft 12, the bottom of the core shaft 12 is connected to the base 11, and the top of the core shaft 12 is connected to the rotating base 13. The C shaft is matched with a high-torque first driving motor, the first driving motor comprises a motor rotor arranged on a C shaft rotor bushing 14 and a motor stator fixed in a C shaft outer sleeve, the motor rotor drives the mandrel 12 to rotate, and the +/-360-degree rotation of the C shaft is realized by matching with a high-precision encoder 51. The C shaft has a compact structure and good structural connection stability, and can meet the requirements of the five-axis machine tool on the precision and the rigidity of the C shaft.

The shaft A2 comprises a first shaft A rotor bush 21, a second shaft A rotor bush 22, a shaft hole, a second driving motor 42 and a second encoder 52, the shaft hole is provided with a shaft seat 23 on the inner wall, the spindle 3 is connected to the shaft seat 23, an inner rotor of the second driving motor 42 is respectively connected with the first shaft A rotor bush 21 and the second shaft A rotor bush 22, an outer stator of the second driving motor 42 is connected in a saddle of the shaft A2, and the second encoder 52 is connected to the first shaft A rotor bush 21. The structure of the shaft A2 is through assembling the high torque moment motor, the second driving motor 42 includes the outer stator and installs the inner rotor on the rotor bush, the outer stator is fixed in the saddle, the inner rotor drives the first rotor bush 21 and the second rotor bush 22, and then the second encoder 52 connected on the second rotor bush 22 is cooperated, the rotation action of the main shaft 3 installed in the shaft seat 23 in the direction of the shaft A2 is completed, and the rotation angle range of the main shaft 3 can reach +/-110 degrees.

The base 11 is fixedly locked at the top end of the shaft A2, the shaft C1, the shaft A2 and the main shaft 3 are coaxially connected, and the main shaft 3 is connected to the shaft seat 23.

In the invention, the two rotating shafts C and A are respectively driven by a high-torque motor and matched with a high-precision angle encoder to achieve the rotating effect: the shaft C is connected with the shaft A, and the shaft A and the main shaft can rotate around the shaft Z by +/-360 degrees under the condition that the shaft C is fixed; the A axis is connected with the main shaft, and the main shaft can rotate +/-110 degrees around the X axis.

As shown in fig. 2, the C-axis outer sleeve 16 is provided with a sleeve cover 161, and the sleeve cover 161 is a DD-shaped shield cover. The sleeve cover 161 is of a DD-shaped structure, so that the sleeve cover 161 can be contacted with the outer sleeve 16, the first driving motor 41 and other devices more closely, meanwhile, a circle of sealing washer is arranged on the edge of the sleeve cover 161, the sealing effect is improved, the vibration effect of the devices in the operation process is reduced, and the good noise reduction effect is achieved.

The rotary base 13 is connected with a pipeline support structure, the pipeline support structure includes a pipeline fixing plate 1301, a guide post 1303 and a joint fixing plate 1302, the pipeline fixing plate 1301 and the joint fixing plate 1302 are fixedly connected into a polygonal structure through the guide post 1303, and the guide post 1303 is connected to the rotary base 13. The pipelines such as the electric wire, the air pipe and the oil pipe connected on the C shaft of the five-axis machine tool are effectively fixed through the support structure, and when the C shaft rotates forwards or backwards at 360 degrees, the problem of twisting off of the pipelines such as the electric wire, the air pipe and the oil pipe caused by frequent reciprocating swing can be solved.

A protective cover 1304 is provided outside the pipeline support structure, the protective cover 1304 being attached to the sleeve cover 161. The protective cover 1304 is arranged outside the pipeline support structure, so that the operation safety performance is improved, meanwhile, the dust or other foreign matters can be effectively prevented from entering, and meanwhile, the firmness of combination of the sleeve cover 161 and the outer sleeve 16 can be improved by connecting the protective cover 1304 to the sleeve cover 161.

The base 11 is provided with a jaw 15, the jaw 15 is connected with a jaw base 151, and the jaw base 151 is located between the jaw 15 and the mandrel 11. The advantage of this design of the jaw 15 and jaw base 151 is that: on one hand, the clamp 15 requires high concentricity, and screws need to be adjusted during installation, so that the design has space operation and is convenient to operate; on the other hand, the clamp 15 is passive, and the band-type brake can be opened for assembly only by ventilation, and the design gas can conveniently ventilate the clamp 15 through the clamp base 151, so that the mechanical operation performance is improved.

Elastic gaskets are arranged between at least one connecting part of the three connecting parts of the mandrel 12 and the base 11, the mandrel 12 and the rotating seat 13, and the clamp 15 and the base 11. Elastic gaskets such as rubber gaskets and rubber rings are arranged between the connecting parts of the mandrel 12 and the base 11, the connecting parts of the mandrel 12 and the rotating seat 13 and the connecting parts of the forceps holder 15 and the base 11, and the connecting parts of at least one of the three connecting parts, so that the vibration force generated by the rotation of the C shaft can be effectively reduced, the good effects of shock absorption and noise reduction are achieved, and the rotation precision of the C shaft is improved.

The first encoder 51 is an angular encoder. The encoder 51 is used to record the C-axis rotation direction, the number of rotations, and limit the C-axis rotation angle.

The stator of the first drive motor 41 is coupled within the outer sleeve 16 by bearings. The electrode stator is connected in the outer sleeve 16 through a bearing, so that the stability of the torque motor is integrally enhanced, and the force transmission efficiency of the torque motor is improved.

The verticality of the combined surface of the base 11 and the A shaft 2 is less than or equal to 0.01mm, and the concentricity of the base 11 and the A shaft 2 is less than or equal to 0.01 mm. When the verticality and the concentricity of the combining surface of the base 11 are within 0.01mm, the mounting precision can be better met, and good mechanical performance is ensured.

The concentricity and the perpendicularity of the C-axis rotor bushing 14 and the mandrel 12 after connection are both 0.01-0.02 mm. When the concentricity and the verticality of the two are between 0.01mm and 0.02mm, the two have better mechanical properties, the installation environments of the two are consistent, and the conditions of expansion with heat and contraction with cold are also consistent.

The second rotor bushing 22 and the first rotor bushing 21 are provided with bearings, the bearings are provided with bearing seats, and the inner rotor of the second driving motor 42 is arranged on the bearing seat 11. The inner rotor of second driving motor 42 passes through the bearing frame on the bearing and connects in first rotor bush 21 and second rotor bush 22, and then drives first rotor bush 21 and second rotor bush 22 and rotate, because the area of contact of rotor bush and main shaft is big, the transmission of the rotating force of being convenient for sets up bearing and bearing frame simultaneously and can effectively prevent to transship the damage to second driving motor 42 inner rotor, reduces the maintenance cost.

The second driving motor 42 outside is equipped with the gland, the gland is fixed in on the A axle, the gland is DD shape gland, the gland includes first gland 201, second gland 202. The gland is including first gland 201 and the second gland 202 that is located the main shaft both sides, and further sets the gland to the DD shape, and the outer stator and the inner rotor that can effectively laminate second driving motor 42 set up, ensure that second driving motor 42 obtains effectual fixed, guarantee the rotation precision of main shaft, in addition, be connected with oil circuit distributor 5 on the first gland 4.

Elastic gaskets are arranged between the first gland 201 and the second driving motor 42 and/or between the second gland 202 and the second driving motor 42. A layer of elastic gasket, such as an elastic rubber sheet, is disposed on the first gland 201 and the second gland 202, so that when the second driving motor 42 is attached, the damping and noise reduction effects can be effectively achieved, and the rotation precision of the spindle 3 is further ensured.

The first rotor bushing 21 is provided with a clamp which is passive and is in a locking state in a natural state, so that the shaft A can be locked in time when a machine tool is suddenly powered off and stops air, the conditions of machine collision and the like are avoided, and the operation safety is ensured.

The second encoder 52 is an angle encoder, and a protective cover is arranged outside the encoder 52. The second encoder 52 is selected as an angle encoder, the rotation precision of the second encoder is higher, and meanwhile, a protective cover is arranged outside the second encoder 52, so that the second encoder can be damaged due to the fact that scraps splash and the like.

Wiring structure on the C axle roating seat includes: a pipeline fixing plate 1301, a joint fixing plate 1302 and a guide post 1303; the joint fixing plate 1302 is connected with an electric wire joint, an oil pipe joint and an air pipe joint, and an electric wire, an oil pipe and an air pipe are fixed on the pipeline fixing plate 1301; the guide post 1303 connects the joint fixing plate 1302 and the pipeline fixing plate 1301, and the three form a polygon.

When the C shaft of the machine tool rotates within +/-360 degrees, the twisting-off phenomenon caused by reciprocating frequent swinging of the pipeline when the C shaft rotates in the forward direction and the reverse direction can be prevented due to the fixing effect of the polygonal fixing structure on the electric wire, the oil pipe and the air pipe. In some embodiments, the connection of the C-axis pivot head is spliced and rotatable, i.e., rotated at a splicing point, thereby eliminating the need for line rotation.

The oil pipe and the air pipe are fixed on a pipeline clamp, and the pipeline clamp is fixed on the pipeline fixing plate 1301. The oil pipe and the air pipe are independently fixed through the pipe clamp, so that the oil pipe and the air pipe are effectively prevented from being contacted, the potential fire hazard possibly generated after the oil pipe and the air pipe are damaged is prevented, and the use safety of equipment is ensured.

The device that connects fixed plate 1302 fixed joint is the joint formula, joint formula fixing device is C type jump ring or clamp, the clamp can be bolted connection fixed, also can be fixed for the joint, can be fast be fixed in on connecting fixed plate 1302 with wire joint, oil pipe joint, air pipe joint, convenient and fast.

The cross sections of the wire connector, the oil pipe connector and the air pipe connector are fixed on the connector fixing plate 1302, and the cross sections are different in shape or/and diameter. The clamping grooves with different diameters are formed in the joint fixing plate 1302 and correspond to the wire joint, the oil pipe joint and the air pipe joint respectively, so that the wire joint, the oil pipe joint and the air pipe joint can be distinguished easily, and the installation efficiency and accuracy are improved. Similarly, the connector fixing plate 1302 may be provided with different shapes of slots, such as a circular butt wire connector, a triangular butt oil pipe connector, and a quadrilateral butt air pipe connector, so as to achieve the purpose of improving the installation efficiency and accuracy.

The guide post 1303, the joint fixing plate 1302 and the pipeline fixing plate 1301 are connected to form a triangle or trapezoid. Because triangle-shaped is better with trapezoidal joint stability, the power that the pairing rotation produced that can be fine in the rotatory in-process of C axle cushions and decomposes, improves the steadiness that the three are connected.

The guide post 1303 is provided with a V-shaped joint, and the joint fixing plate 1302 and the pipeline fixing plate 1301 are provided with matched V-shaped grooves. When the guide post 1303 is butted with the joint fixing plate 1302 and the guide post 1303 is butted with the pipeline fixing plate 1301 through a V-shaped joint and a V-shaped groove, the joint part of the guide post 1303 is a continuous smooth transition surface, so that the stress is more uniform compared with a butt joint mode of a boss and a groove, the transverse shearing force corresponding to a vertical transition surface is eliminated, and the stability of the butt joint of the guide post 1303 and the joint fixing plate 1302 and the pipeline fixing plate 1301 is improved.

The guide post 1303 is an S-shaped guide post, and the joint fixing plate 1302 and the pipeline fixing plate 1301 are provided with curve clamping grooves which are matched with each other. The guide post 1303 is designed to be S-shaped, so that the contact area between the guide post 1303 and the joint fixing plate 1302 and the pipeline fixing plate 1301 is increased, and particularly, in a quadrilateral formed by the three, the guide post 1303 is S-shaped and arranged in a way of facing each other, so that the bearing capacity of the polygon in the positive and negative rotation process of the C shaft is improved.

Elastic pads are arranged at the joints of the guide columns 1303 and the joint fixing plate 1302 and/or the joints of the guide columns 1303 and the pipeline fixing plate 1301. Elastic pads are arranged at the joint of the guide post 1303 and the joint fixing plate 1302 and the cross section of the guide post 1303 connected with the pipeline fixing plate 1301, and can be rubber rings covering the whole contact surface, preferably elastic rings, and one or more annular grooves are formed in the joint of the guide post 1303, the joint fixing plate 1302 or the clamping groove of the pipeline fixing plate 1301, and the elastic rings are placed in the grooves. In the positive and negative rotation process of the C shaft, the elastic pad can play a good role in buffering, and impact damage to joint parts of the three components caused by sudden impact force during starting or positive and negative rotation direction change is prevented.

As shown in fig. 2, the rotary base 13 is connected to a joint fixing plate 1302, and the joint fixing plate 1302 arranges the wire joints, the oil pipe joints and the air pipe joints in a classified distribution manner. During design, the wire connectors, the oil connectors and the gas connectors are respectively distributed on the connector fixing plate 1302 in a classified manner, so that mutual interference among the three pipelines is avoided.

As shown in fig. 3, the pipeline fixing plate 1301 is provided with a pair of pipe buckles. The oil pipe, the air pipe and the cable are respectively tied through the pipe buckle, so that the fixing effect is achieved, and meanwhile, the butt joint is prevented from loosening.

In conclusion, the C shaft has a compact structure and good structural connection stability, and can meet the requirements of the five-axis machine tool on the precision and the rigidity of the C shaft; according to the invention, through controlling the verticality and concentricity of the combination surface of the base and the shaft A and the combination surface of the C-shaft rotor bushing and the mandrel, the mounting precision can be better satisfied, and the practical performance of the equipment is improved; the invention effectively fixes the electric wire, the air pipe, the oil pipe and other pipelines on the C shaft of the five-shaft machine tool through the bracket structure, and can prevent the twisting-off phenomenon of the electric wire, the air pipe, the oil pipe and other pipelines caused by frequent reciprocating swing; the elastic gaskets are arranged between the connecting parts at least at one position of the mandrel and the base, the mandrel 12 and the rotating seat, and the forceps holder and the base, so that the vibration force generated by the rotation of the C shaft can be effectively reduced, the good effect of shock absorption and noise reduction is achieved, and the rotation precision of the C shaft is improved; the two rotating shafts C and A are respectively driven by a high-torque motor and matched with a high-precision angle encoder to achieve the rotating effect: the shaft C is connected with the shaft A, and the shaft A and the main shaft can rotate around the shaft Z by +/-360 degrees under the condition that the shaft C is fixed; the A axis is connected with the main shaft, and the main shaft can rotate +/-110 degrees around the X axis.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.

Claims

1. A double-arm five-shaft head structure is characterized by comprising a C shaft (1), an A shaft (2) and a main shaft (3);

the C shaft (1) comprises a base (11), a core shaft (12), a rotating base (13), a C shaft rotor bushing (14), a first driving motor (41) and a first encoder (51), wherein an inner rotor of the first driving motor (41) is connected to the C shaft rotor bushing (14), the C shaft rotor bushing (14) is connected with the core shaft (12), the first encoder (51) is connected with the core shaft (12), the bottom of the core shaft (12) is connected with the base (11), and the top of the core shaft (12) is connected with the rotating base (13);

the shaft A (2) comprises a first shaft A rotor bushing (21), a second shaft A rotor bushing (22), a shaft hole, a second driving motor (42) and a second encoder (52), a shaft seat (23) is arranged on the inner wall of the shaft hole, an inner rotor of the second driving motor (42) is respectively connected with the first shaft A rotor bushing (21) and the second shaft A rotor bushing (22), and the second encoder (52) is connected with the first shaft A rotor bushing (21);

the base (11) is fixedly locked at the top end of the shaft A (2), the main shaft (3) is connected to the shaft seat (23), and the shaft C (1), the shaft A (2) and the main shaft (3) are coaxially connected.

2. The double-arm five-shaft head structure according to claim 1, characterized in that the perpendicularity of the joint surface of the base (11) and the A shaft (2) is less than or equal to 0.01mm, and the concentricity of the base (11) and the A shaft (2) is less than or equal to 0.01 mm.

3. The double-armed five-axis head structure according to claim 1, wherein the concentricity and perpendicularity of the joint surface of the C-axis rotor bushing (14) and the mandrel (12) are both 0.01-0.02 mm.

4. The double-arm five-axis head structure according to claim 1, wherein a jaw (15) is arranged on the base (11), a jaw base (151) is connected to the jaw (15), and the jaw base (151) is located between the jaw (15) and the mandrel (12).

5. The double-arm five-shaft head structure according to claim 4, wherein elastic gaskets are arranged at the connecting positions of at least one of the mandrel (12) and the base (11), the mandrel (12) and the rotating seat (13), and the clamp (15) and the base (11).

6. The double-arm five-axis head structure according to claim 1, characterized in that the rotary base (13) is connected with a joint fixing plate (1302), and the joint fixing plate (1302) is used for arranging wire joints, oil pipe joints and air pipe joints in a classified distribution manner.

7. The dual-arm five-axis head structure of claim 6, wherein the means for fixing the joint by the joint fixing plate (1302) is snap-fit, and the snap-fit fixing means is a C-shaped snap spring or clamp.

8. The double-arm five-shaft head structure according to claim 6, characterized in that the cross-section or/and the diameter of the clamping grooves for fixing different types of pipelines on the joint fixing plate (1302) are different in size.

9. The double-arm five-shaft head structure according to claim 1, wherein a gland is arranged on the outer side of the second driving motor (42), the gland is fixed on the A shaft (2), the gland is a DD-shaped gland and comprises a first gland (201) and a second gland (202).

10. The double-arm five-shaft head structure according to claim 9, characterized in that an elastic gasket is arranged between the first gland (201) and the second drive motor (42) and/or between the second gland (202) and the second drive motor (42).