WO2021135760A1 - 一种联动摆头结构 - Google Patents

一种联动摆头结构 Download PDF

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Publication number
WO2021135760A1
WO2021135760A1 PCT/CN2020/132122 CN2020132122W WO2021135760A1 WO 2021135760 A1 WO2021135760 A1 WO 2021135760A1 CN 2020132122 W CN2020132122 W CN 2020132122W WO 2021135760 A1 WO2021135760 A1 WO 2021135760A1
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WIPO (PCT)
Prior art keywords
main shaft
connecting rod
fixed
angle
lead screw
Prior art date
Application number
PCT/CN2020/132122
Other languages
English (en)
French (fr)
Inventor
陈虎
邓鑫
汤洪涛
张海波
李亚鹏
郭翠娟
杜长林
韦志鸿
孙宏伟
张国帅
孔祥远
徐钢
王大伟
董大鹏
林猛
刘沛
白彦庆
王峰
李迎华
刘绍毅
鞠兹丹
Original Assignee
科德数控股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 科德数控股份有限公司 filed Critical 科德数控股份有限公司
Priority to EP20910299.5A priority Critical patent/EP4086025A4/en
Priority to JP2022539211A priority patent/JP7425879B2/ja
Priority to US17/788,616 priority patent/US20230035467A1/en
Priority to KR1020227020810A priority patent/KR20220110228A/ko
Publication of WO2021135760A1 publication Critical patent/WO2021135760A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/70—Stationary or movable members for carrying working-spindles for attachment of tools or work
    • B23Q1/706—Movable members, e.g. swinging arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/70—Stationary or movable members for carrying working-spindles for attachment of tools or work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/52—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism a single rotating pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23C—MILLING
    • B23C1/00—Milling machines not designed for particular work or special operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23C—MILLING
    • B23C9/00—Details or accessories so far as specially adapted to milling machines or cutter
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23C—MILLING
    • B23C9/00—Details or accessories so far as specially adapted to milling machines or cutter
    • B23C9/005—Details or accessories so far as specially adapted to milling machines or cutter milling heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
    • B23Q5/02—Driving main working members
    • B23Q5/04—Driving main working members rotary shafts, e.g. working-spindles
    • B23Q5/10—Driving main working members rotary shafts, e.g. working-spindles driven essentially by electrical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
    • B23Q5/22—Feeding members carrying tools or work
    • B23Q5/34—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission
    • B23Q5/38—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously
    • B23Q5/40—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously by feed shaft, e.g. lead screw
    • B23Q5/42—Mechanism associated with headstock
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q2220/00—Machine tool components
    • B23Q2220/006—Spindle heads
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T409/00—Gear cutting, milling, or planing
    • Y10T409/30—Milling
    • Y10T409/306664—Milling including means to infeed rotary cutter toward work
    • Y10T409/307672—Angularly adjustable cutter head

Definitions

  • the invention relates to the field of machine tool processing, in particular to a linkage swing head structure.
  • the current common processing milling heads are generally fixed-angle and elongated milling heads. Most of them manually control the angle and length of the milling head to achieve the correctness of the parts. None of the above methods can achieve continuous indexing processing of parts, resulting in low processing efficiency.
  • the present invention provides a linkage swing head structure to overcome the above technical problems.
  • the present invention provides a linkage swing head structure, a base, a driving mechanism and a spindle 3 with a tool fixed at its end;
  • the driving mechanism includes: a power mechanism, a connecting rod mechanism and a lead screw;
  • the connecting rod mechanism includes: a first connecting rod, a second connecting rod and a nut seat;
  • the screw socket is sleeved on the screw; one end of the first connecting rod is fixedly connected to the side wall of the screw socket through a pin, and the other end is movably connected to one end of the second connecting rod through a pin , The other end of the second connecting rod is fixed to the side wall of the main shaft, and is rotatably connected with a support bearing fixed in the base;
  • One end of the power mechanism is fixed to the inner wall of the base, and the output end of the power mechanism is connected to one end of the lead screw;
  • the power mechanism includes: a servo motor, a driving wheel, a driven wheel and a timing belt;
  • the output end of the servo motor is connected with the driving wheel, and the driving wheel and the driven wheel are connected by a timing belt; the driven wheel is movably connected with one end of the lead screw.
  • the included angle ⁇ between the central axis of the main shaft and the central axis of the second connecting rod ranges from 0° to 180°; the rotation angle ⁇ of the main shaft ranges from 0° to 120°; when ⁇ is 0° When the angle between the central axis of the main shaft and the x-axis is ⁇ , when ⁇ is 120°, the angle between the central axis of the main shaft and the y-axis is ⁇ , and the sum of ⁇ and ⁇ is 30°.
  • end of the lead screw located outside the driving wheel and the end outside the nut base are both provided with anti-dropping parts.
  • it also includes a straight line measuring unit and an angle measuring unit;
  • the linear measurement unit is fixed on the nut holder, and the angle measurement unit is fixed on the side wall of the end portion of the support bearing.
  • an opening for rotating the main shaft 3 is provided on the side wall of the base parallel to the rotation axis of the main shaft.
  • the driving mechanism is at least one set, which are respectively arranged on the two side walls of the main shaft.
  • the driving mechanism of the present invention is far away from the main shaft and has a small interference range to the main shaft; the main shaft can be automatically indexed continuously, and can also be used for linkage processing with a small cutting amount.
  • the volume of the device is reduced; the structure is simple, and the manufacturing cost is simple. low.
  • Figure 1 is an overall schematic diagram of the linkage swing head structure of the present invention
  • FIG 2 is an overall schematic diagram of the main shaft of the linkage swing head structure of the present invention when it rotates to the maximum angle;
  • FIG 3 is an overall schematic diagram of the initial position of the main shaft of the linkage swing head structure of the present invention.
  • Figure 4 is a schematic diagram of the linkage swing head structure of the present invention having two sets of driving mechanisms.
  • FIG. 1 is a schematic diagram of the overall structure of the present invention
  • the present invention provides a linkage swing head structure, including: a base 1, a driving mechanism 2 and a main shaft 3; the driving mechanism 2 includes: a power mechanism 2-1. Linkage mechanism 2-2 and lead screw 2-3;
  • the base 1 is a rectangular stainless steel shell as a whole, and a support bearing 4 is laterally fixed at the bottom of the base 1; the spindle 3 is an electric spindle, and a tool 7 for machining parts is fixed at its end.
  • the cutter 7 rotates synchronously with the main shaft 3, the main shaft 3 is fixed to one end of the linkage mechanism 2-2, the linkage mechanism 2-2 is a linear motion pair; the linkage mechanism 2-2 is fixed with One end of the main shaft 3 is sleeved on the support bearing 4, and the link mechanism 2-2 can rotate around the support bearing 4 to drive the main shaft 3 to rotate synchronously.
  • the other end of the link mechanism 2-2 is connected to The screw 2-3 is movably connected, and the linkage mechanism 2-2 adjusts the rotation angle of the main shaft 3 by sliding on the screw 2-3; the power mechanism 2-1 is fixed to the On the inner wall of the base 1, the output end of the power mechanism 2-1 is connected to the top end of the screw 2-3; the driving mechanism of the present invention is far away from the main shaft, and the overall structure of the structure is small in size, and the interference range of the driving mechanism to the main shaft is small.
  • the power mechanism 2-1 includes: a servo motor 2-1-1, a driving wheel 2-1-2, a driven wheel 2-1-3, and a timing belt 2-1-1. 4;
  • the output end of the servo motor 2-1-1 is connected to the driving wheel 2-1-2, and the driving wheel 2-1-2 and the driven wheel 2-1-3 pass through a timing belt 2-1-4 Connected; the driven wheel 2-1-3 is movably connected to one end of the lead screw 2-3; while the servo motor 2-1-1 drives the driving wheel 2-1-2 to rotate, the driving wheel 2-1-2 drives the timing belt 2-1-4 to move, and further the timing belt 2-1-4 drives the driven wheel 2-1-3 to move, and the driven wheel 2-1-3 realizes driving The screw 2-3 rotates.
  • the link mechanism 2-2 includes: a first link 2-2-1, a second link 2-2-2, and a nut seat 2-2-3; the first link 2-2-1
  • the included angle with the screw 2-3 is less than 180°.
  • the nut holder 2-2-3 is sleeved on the screw;
  • the first connecting rod 2-2-1 is a rectangular stainless steel bar, one end of which is connected to the nut holder 2-2 through the pin 5 -3 side wall is connected, the other end is movably connected to one end of the approximately conical second connecting rod 2-2-2 through the pin 5;
  • the other end of the second connecting rod 2-2-2 is fixed to the main shaft 3 side wall and rotatably connected with the support bearing 4; when the servo motor 2-1-1 rotates forward, that is, when one end of the screw is driven to rotate, the nut holder 2-2-3 drives the The first connecting rod 2-2-1 moves downward along the lead screw, and the second connecting rod 2-2-2 moves around the supporting bearing under the thrust of the first connecting rod 2-2-1.
  • the included angle ⁇ between the central axis of the main shaft 3 and the central axis of the second connecting rod 2-2-2 ranges from 0° to 180°;
  • the rotation angle ⁇ ranges from 0°-120°; when ⁇ is 0°, the angle between the central axis of the spindle 3 and the x-axis is ⁇ , and when ⁇ is 120°, the central axis of the spindle 3 is clamped to the y-axis.
  • the angle is ⁇ , and the sum of ⁇ and ⁇ is 30°.
  • ⁇ when ⁇ is 20°, it is the initial position of the spindle, which can realize the processing of the bottom of the part.
  • the included angle between the spindle and the y-axis It is 10°, which can realize the processing of the top or side of the part.
  • the tool 7 can process the part in multiple angles, and the spindle 3 does not need to rotate the same angle as the second connecting rod 2-2-2 to allow the tool 7 to process the part.
  • the screw 2-3 is respectively located at one end and the outside of the driving wheel 2-1-2.
  • An anti-dropping member 6 is provided at one end of the outside of the nut holder 2-2-3.
  • it also includes a straight line measuring unit 8 and an angle measuring unit 9;
  • the linear measurement unit 8 is fixed on the nut holder 2-2-3, and the angle measurement unit 9 is fixed on the end side wall of the support bearing 4.
  • the linear measurement unit 8 is specifically a grating ruler fixed on the nut holder 2-2-3, and the grating ruler includes a linear grating ruler and a reading head, and the grating ruler is attached to the nut holder 2 -2-3 movement, used to detect the stroke of the screw nut holder 2-2-3 on the screw 2-3 (the working principle of the grating ruler belongs to the prior art, and will not be repeated in this application);
  • the angle measuring unit 9 is specifically a circular grating with a small size and high precision.
  • the circular grating includes a circular grating ruler and a reading head.
  • the circular grating is used to detect the rotation angle ⁇ of the spindle 3 to ensure whether the tool 7 is Rotate in place (the working principle of the circular grating belongs to the prior art, and will not be repeated in this application).
  • Embodiment 6 is a diagrammatic representation of Embodiment 6
  • two side walls parallel to the rotation axis of the base 1 and the main shaft 3 are provided with openings for rotating the main shaft 3.
  • One opening prevents the main shaft 3 from interfering with the base 1 when it is rotating; the other opening prevents the tail of the main shaft from interfering with the base when the main shaft is too large.
  • the driving mechanism 2 in this embodiment is composed of two groups, which are respectively arranged on the two side walls of the main shaft 3, which can realize high-precision measurement and improve the stability of driving.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)
  • Machine Tool Units (AREA)

Abstract

一种联动摆头结构，包括：基座（1）、驱动机构（2）和主轴（3）；所述驱动机构（2）包括：动力机构（2-1）、连杆机构（2-2）和丝杠（2-3）；所述主轴（3）端部固定刀具（7），所述主轴（3）固定于所述连杆机构（2-2）一端；所述连杆机构（2-2）固定有所述主轴（3）的一端套设于支撑轴承（4），所述连杆机构（2-2）可绕所述支撑轴承（4）旋转，所述支撑轴承（4）固定于所述基座（1）上，所述连杆机构（2-2）另一端与所述丝杠（2-3）活动连接；所述动力机构（2-1）输出端与所述丝杠（2-3）一端连接；所述连杆机构（2-2）通过在所述丝杠（2-3）上滑动调节所述主轴（3）的旋转角度。驱动机构远离主轴，对主轴的干涉范围小；主轴可自动连续分度，亦可进行小切削量的联动加工，刀具旋转相同的角度时，减小了装置的体积；结构简单，制造成本低。

Description

一种联动摆头结构 技术领域
本发明涉及机床加工领域，尤其涉及一种联动摆头结构。
背景技术
在对于机匣、机壳等航空领域零件的深腔加工时，目前常见的加工铣头一般为固定角度并且是加长的铣头，多数是人为手动控制铣头的角度和长度，以实现对零件的加工，上述方式均无法实现对零件的连续分度加工，使得加工效率低。
发明内容
本发明提供一种联动摆头结构，以克服上述技术问题。
本发明提供一种联动摆头结构，基座、驱动机构和端部固定有刀具的主轴3；
所述驱动机构包括：动力机构、连杆机构和丝杠；
所述连杆机构包括：第一连杆、第二连杆和丝母座；
所述丝母座套设于所述丝杠上；所述第一连杆一端通过销轴与所述丝母座侧壁固定连接，另一端通过销轴与所述第二连杆一端活动连接，所述第二连杆另一端固定于所述主轴侧壁，并与固定在所述基座内支撑轴承旋转连接；
所述动力机构一端固定于所述基座内壁，所述动力机构输出端与所述丝杠一端连接；
进一步地，所述动力机构包括：伺服电机、主动轮、从动轮和同步带；
所述伺服电机输出端与所述主动轮连接，所述主动轮与所述从动轮通过同步带连接；所述从动轮与所述丝杠一端活动连接。
进一步地，所述主轴的中心轴线与所述第二连杆的中心轴线夹角β范围为0°-180°；所述主轴的旋转角度α范围为0°-120°；当α为0°时，所述主轴的中心轴线与x轴夹角为θ，当α为120°时所述主轴的中心轴线与y轴夹角为γ，所述θ与γ之和为30°。
进一步地，所述丝杠分别位于所述主动轮外部的一端和所述丝母座外部的一端均设置有防脱件。
进一步地，还包括直线测量单元和角度测量单元；
所述直线测量单元固定于所述丝母座上，所述角度测量单元固定于所述支撑轴承端部侧壁。
进一步地，所述基座与所述主轴的旋转轴线平行的侧壁上设置有使所述主轴3旋转的开口。
进一步地，所述驱动机构至少为一组，分别设置于所述主轴两侧壁。
本发明驱动机构远离主轴，对主轴的干涉范围小；主轴可自动连续分度，亦可进行小切削量的联动加工，刀具旋转相同的角度时，减小了装置的体积；结构简单，制造成本低。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明联动摆头结构的整体示意图；
图2为本发明联动摆头结构的主轴旋转到最大角度时的整体示意图；
图3为本发明联动摆头结构的主轴初始位置时的整体示意图；
图4为本发明联动摆头结构具有两组驱动机构的示意图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
实施例一：
具体而言，如图1所示，为本发明的整体结构示意图，本发明提供一种联动摆头结构，包括：基座1、驱动机构2和主轴3；所述驱动机构2包括：动力机构2-1、连杆机构2-2和丝杠2-3；
所述基座1整体为矩形不锈钢壳体，在所述基座1内的底部横向固定有支撑轴承4；所述主轴3即为电主轴，其端部固定用于加工零件的刀具7，所述刀具7随所述主轴3同步转动，所述主轴3固定于所述连杆机构2-2一端， 所述连杆机构2-2为直线运动副；所述连杆机构2-2固定有所述主轴3的一端套设于支撑轴承4，所述连杆机构2-2可绕所述支撑轴承4旋转，进而带动所述主轴3同步旋转，所述连杆机构2-2另一端与所述丝杠2-3活动连接，所述连杆机构2-2通过在所述丝杠2-3上滑动来调节所述主轴3的旋转角度；所述动力机构2-1固定于所述基座1内壁，所述动力机构2-1输出端与所述丝杠2-3顶端连接；本发明的驱动机构远离主轴，且结构整体外形尺寸小，驱动机构对主轴的干涉范围小。
实施例二：
进一步地，为了更好的实现驱动效果，所述动力机构2-1包括：伺服电机2-1-1、主动轮2-1-2、从动轮2-1-3和同步带2-1-4；
所述伺服电机2-1-1输出端与所述主动轮2-1-2连接，所述主动轮2-1-2与所述从动轮2-1-3通过同步带2-1-4连接；所述从动轮2-1-3与所述丝杠2-3一端活动连接；所述伺服电机2-1-1驱动所述主动轮2-1-2转动的同时，所述主动轮2-1-2带动所述同步带2-1-4运动，进一步所述同步带2-1-4带动所述从动轮2-1-3运动，所述从动轮2-1-3实现驱动所述丝杠2-3进行旋转。
所述连杆机构2-2包括：第一连杆2-2-1、第二连杆2-2-2和丝母座2-2-3；所述第一连杆2-2-1和所述丝杠2-3夹角小于180°。
所述丝母座2-2-3套设于所述丝杠上；所述第一连杆2-2-1为矩形不锈钢条，其一端通过销轴5与所述丝母座2-2-3侧壁连接，另一端通过销轴5与近似锥形的所述第二连杆2-2-2一端活动连接；所述第二连杆2-2-2另一端固定于所述主轴3侧壁，并与所述支撑轴承4旋转连接；所述伺服电机2-1-1正转时，即驱动所述丝杠一端转动时，所述丝母座2-2-3带动所述第一连杆2-2-1沿所述丝杠向下运动，所述第二连杆2-2-2在所述第一连杆2-2-1的推力下，绕所述支撑轴承4顺时针旋转，进而带动所述主轴4及刀具7进行顺时针旋转；当所述伺服电机2-1-1反转时，所述丝母座2-2-3带动所述第一连杆2-2-1沿所述丝杠向上运动，所述第二连杆2-2-2在所述第一连杆2-2-1的提拉下，绕所述支撑轴承4逆时针旋转，进而带动所述主轴4及刀具7进行逆时针旋转；所述第一连杆2-2-1长度为第二连杆2-2-2的二倍，从而使伺服电机2-1-1输出较小的力就可使第一连杆2-2-1对主轴3施加较大的提拉力，同时使主轴3的旋转角度更大。
实施例三：
进一步地，如图2及图3所示，所述主轴3的中心轴线与所述第二连杆2-2-2的中心轴线夹角β范围为0°-180°；所述主轴3的旋转角度α范围为0°-120°；当α为0°时，所述主轴3的中心轴线与x轴夹角为θ，当α为120°时所述主轴3的中心轴线与y轴夹角为γ，所述θ与γ之和为30°。
本实施例中θ为20°时，是所述主轴的初始位置，可实现对零件的底部进行加工，在此前提下，所述主轴旋转到最大角度后，所述主轴与y轴的夹角为10°，可实现对零件的顶部或侧面进行加工。所述刀具7能够多角度的对零件进行各方位的加工，同时所述主轴3无需旋转与所述第二连杆2-2-2相同的角度就可使所述刀具7对零件进行加工。
实施例四：
进一步地，为了防止所述丝母座2-2-3从所述丝杠2-3两端脱出，使所述丝杠2-3分别位于所述主动轮2-1-2外部的一端和所述丝母座2-2-3外部的一端均设置有防脱件6。
实施例五：
进一步地，还包括直线测量单元8和角度测量单元9；
所述直线测量单元8固定于所述丝母座2-2-3上，所述角度测量单元9固定于所述支撑轴承4端部侧壁。
具体而言，所述直线测量单元8具体为固定于所述丝母座2-2-3上的光栅尺，所述光栅尺包括直线栅尺和读数头，光栅尺随所述丝母座2-2-3移动，用于检测所述丝母座2-2-3在所述丝杠2-3上的行程(所述光栅尺的工作原理属于现有技术，本申请不再赘述)；所述角度测量单元9具体为尺寸小、精度高的圆光栅，所述圆光栅包含圆光栅尺和读数头，圆光栅用于检测所述主轴3的旋转角度β，以确保所述刀具7是否旋转到位(所述圆光栅的工作原理属于现有技术，本申请不再赘述)。
实施例六：
本实施例中，所述基座1与所述主轴3的旋转轴线平行的两个侧壁上设置有使所述主轴3旋转的开口。一个开口防止所述主轴3在旋转时与基座1干涉；另一个开口的作用是当主轴过大使，防止主轴的尾部与所述基座干涉。
实施例七：
进一步地，如图4所示，本实施例中所述驱动机构2为两组，分别设置于所述主轴3两侧壁，能够实现高精度的测量，提高驱动的稳定性。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (7)

  1. 一种联动摆头结构，其特征在于，包括：基座(1)、驱动机构(2)和用于固定刀具(7)的主轴(3)；
    所述驱动机构(2)包括：动力机构(2-1)、连杆机构(2-2)和丝杠(2-3)；
    所述连杆机构(2-2)包括：第一连杆(2-2-1)、第二连杆(2-2-2)和丝母座(2-2-3)；
    所述丝母座(2-2-3)套设于所述丝杠(2-3)上；所述第一连杆(2-2-1)一端通过销轴(5)与所述丝母座(2-2-3)侧壁固定连接，另一端通过销轴(5)与所述第二连杆(2-2-2)一端活动连接，所述第二连杆(2-2-2)另一端固定于所述主轴(3)侧壁，并与固定在所述基座(1)内支撑轴承(4)旋转连接；
    所述动力机构(2-1)一端固定于所述基座(1)内壁，所述动力机构(2-1)输出端与所述丝杠(2-3)一端连接。
  2. 根据权利要求1所述的结构，其特征在于，所述动力机构(2-1)包括：伺服电机(2-1-1)、主动轮(2-1-2)、从动轮(2-1-3)和同步带(2-1-4)；
    所述伺服电机(2-1-1)输出端与所述主动轮(2-1-2)连接，所述主动轮(2-1-2)与所述从动轮(2-1-3)通过同步带(2-1-4)连接；所述从动轮(2-1-3)与所述丝杠(2-3)一端活动连接。
  3. 根据权利要求1所述的结构，其特征在于，所述主轴(3)的中心轴线与所述第二连杆(2-2-2)的中心轴线夹角β范围为0°-180°；所述主轴(3)的旋转角度α范围为0°-120°；当α为0°时，所述主轴(3)的中心轴线与x轴夹角为θ，当α为120°时所述主轴(3)的中心轴线与y轴夹角为γ，所述θ与γ之和为30°。
  4. 根据权利要求1所述的结构，其特征在于，所述丝杠(2-3)分别位于所述主动轮(2-1-2)外部的一端和所述丝母座(2-2-3)外部的一端均设置有防脱件(6)。
  5. 根据权利要求1所述的结构，其特征在于，还包括直线测量单元(8)和角度测量单元(9)；
    所述直线测量单元(8)固定于所述丝母座(2-2-3)上，所述角度测量单元(9)固定于所述支撑轴承(4)端部侧壁。
  6. 根据权利要求1所述的结构，其特征在于，所述基座(1)与所述主轴(3)的旋转轴线平行的侧壁上设置有使所述主轴(3)旋转的开口。
  7. 根据权利要求1-6任一项所述的结构，其特征在于，所述驱动机构(2)为两组，分别对称设置于所述主轴(3)两侧壁。
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