WO2021135761A1 - 一种多连杆联动角度附件头 - Google Patents

一种多连杆联动角度附件头 Download PDF

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Publication number
WO2021135761A1
WO2021135761A1 PCT/CN2020/132123 CN2020132123W WO2021135761A1 WO 2021135761 A1 WO2021135761 A1 WO 2021135761A1 CN 2020132123 W CN2020132123 W CN 2020132123W WO 2021135761 A1 WO2021135761 A1 WO 2021135761A1
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WO
WIPO (PCT)
Prior art keywords
link
connecting rod
main shaft
angle
power mechanism
Prior art date
Application number
PCT/CN2020/132123
Other languages
English (en)
French (fr)
Inventor
陈虎
邓鑫
汤洪涛
杜长林
李亚鹏
郭翠娟
张海波
孙宏伟
韦志鸿
张国帅
刘立新
王大伟
董大鹏
林猛
刘沛
白彦庆
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.)
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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 KR1020227020811A priority Critical patent/KR102618650B1/ko
Priority to US17/788,500 priority patent/US20230037001A1/en
Priority to JP2022539214A priority patent/JP7331263B2/ja
Priority to EP20909411.9A priority patent/EP4086032A4/en
Publication of WO2021135761A1 publication Critical patent/WO2021135761A1/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
    • 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
    • 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
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • 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
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
    • B23Q17/2452—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring features or for detecting a condition of machine parts, tools or workpieces
    • B23Q17/2457—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring features or for detecting a condition of machine parts, tools or workpieces of tools
    • 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
    • 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
    • B23Q5/043—Accessories for spindle drives
    • 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
    • B23Q5/043—Accessories for spindle drives
    • B23Q5/045—Angle drives
    • 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

Definitions

  • the invention relates to the field of machine tool processing, in particular to a multi-link linkage angle attachment head.
  • the current common angle attachment heads are generally fixed angle and lengthened attachment heads. Most of them manually control the angle and length of the attachment head to achieve For the processing of parts, none of the above methods can realize the continuous indexing processing of the parts, which makes the processing efficiency low.
  • the present invention provides a multi-link linkage angle attachment head to overcome the above technical problems.
  • the present invention provides a multi-link linkage angle attachment head, which comprises: a housing, a driving mechanism and a spindle with a tool fixed at its end;
  • the driving mechanism includes: a power mechanism, a link mechanism, and a fixing frame for supporting the power mechanism; the fixing frame is fixedly connected to the inner wall of the housing, and the power mechanism is fixedly connected to the fixing frame;
  • the link mechanism includes: a first link, a second link, and a third link; one end of the first link is rotatably connected to the fixing frame, and is fixedly connected to the output end of the power mechanism.
  • the other end of a connecting rod is rotatably connected to one end of the third connecting rod through a first pin, and the other end of the third connecting rod is rotatably connected to one end of the second connecting rod through a second pin.
  • the other end of the rod is fixed to the side wall of the main shaft; the second connecting rod and the main shaft are rotatably connected with a support bearing fixed in the housing;
  • the rotation axis of the power mechanism is parallel to the horizontal plane, and the rotation axes of the first link, the second link and the third link are all parallel to the rotation axis of the power mechanism; the power mechanism is located above the main shaft;
  • One end of the third connecting rod close to the support bearing is a bent portion that prevents interference with the support bearing.
  • the range of the included angle a between the central axis of the first connecting rod and the straight line connecting the first and tail ends of the third connecting rod is 0° ⁇ a ⁇ 180°;
  • the range of the angle b between the end connecting straight line and the central axis of the second link is 0° ⁇ b ⁇ 180°;
  • the range of the angle c between the central axis of the second link and the central axis of the main shaft is 0° ⁇ c ⁇ 90°;
  • the central axis of the spindle is located in the first quadrant of the coordinate system, and the included angle ⁇ with the x-axis is 0° ⁇ 45°; when the spindle rotates at the maximum angle, the center of the spindle The axis is located in the third quadrant of the coordinate system, and the included angle with the y axis is ⁇ , and the sum of ⁇ and ⁇ is 90°.
  • the power mechanism includes: a servo motor and a reducer;
  • the output end of the servo motor is connected to the input end of the reducer, and the output end of the reducer is fixedly connected to one end of the first connecting rod.
  • the angle measuring unit is fixed to the inner side wall of the housing through a reading head bracket, and is located on the outer circular end surface of the supporting bearing.
  • T-slot nuts, screws, through holes and T-ring grooves T-slot nuts, screws, through holes and T-ring grooves
  • the second connecting rod is provided with the through hole perpendicular to the main shaft, the side wall of the main shaft close to the second connecting rod is provided with the T-shaped ring groove, and the T-shaped groove nut is installed in the Sliding in the T-shaped ring groove, the screw passes through the through hole, and is threadedly connected with the T-shaped groove nut.
  • the driving mechanism of the present invention is far away from the main shaft, and the interference range of the main shaft is small; the main shaft can be automatically and continuously indexed, and can also perform linkage processing with small cutting amount.
  • the main shaft swings at the same angle along the supporting shaft, the volume of the device is reduced; , Low manufacturing cost.
  • Figure 1 is an overall schematic diagram of the multi-link linkage angle attachment head of the present invention.
  • Figure 2 is a front view of the multi-link linkage angle attachment head of the present invention.
  • FIG 3 is an overall schematic diagram of the initial position of the main shaft of the multi-link linkage angle attachment head of the present invention.
  • FIG. 4 is a schematic diagram of the main shaft of the multi-link linkage angle attachment head of the present invention rotating to the maximum angle;
  • Figure 5 is an enlarged view of A in Figure 2 of the multi-link linkage angle attachment head of the present invention.
  • Fig. 6 is an enlarged view of B in Fig. 2 of the multi-link linkage angle attachment head of the present invention.
  • FIG. 1 is an overall schematic diagram of the multi-link linkage angle accessory head of the present invention.
  • Figure 2 is a front view of the multi-link linkage angle accessory head, including: housing 1, drive The mechanism 2 and the main shaft 3 with the tool 7 fixed at the end;
  • the drive mechanism 2 includes: a power mechanism 2-1, a link mechanism 2-2, and a fixing frame 6 for supporting the power mechanism 2-1;
  • the fixing frame 6 is fixedly connected to the inner wall of the housing 1, and the power mechanism 2-1 is fixedly connected to the fixing frame 6;
  • the housing 1 is a rectangular stainless steel shell as a whole, and the bottom of the housing 1 is fixed transversely Support bearing 4;
  • the main shaft 3 is an electric main shaft, the end of which is fixed with a tool 7 for machining parts, the tool 7 rotates synchronously with the main shaft 3, and the main shaft 3 is fixed to the linkage mechanism 2-2
  • the link mechanism 2-2 is a slewing pair;
  • the link mechanism 2-2 includes: a first link 2-2-1, a second link 2-2-2, and a third link 2-2-3; in order to achieve a better driving effect, the
  • the power mechanism 2-1 includes: a servo motor 2-1-1 and a reducer 2-1-2; the output end of the servo motor 2-1-1 is connected to the input end of the reducer 2-1-2, The output end of the reducer 2-1-2 is fixedly connected to one end of the first connecting rod 2-2-1, and is rotatably connected to the fixing frame 6; the other end of the first connecting rod 2-2-1
  • One end of the third link 2-2-3 is rotatably connected through the first pin 5-1, and the other end of the third link 2-2-3 is connected to the second pin 5-2 through the second pin 5-2.
  • One end of the connecting rod 2-2-2 is rotatably connected, and the other end of the second connecting rod 2-2-2 is fixed to the side wall of the main shaft 3; the second connecting rod 2-2-2 and the main shaft 3 are connected
  • the support bearing 4 fixed in the housing 1 is rotatably connected; the servo motor 2-1-1 drives the first connecting rod 2-2-1 to rotate along the horizontal axis through the reducer 2-1-2, and the The first link 2-2-1 drives the third link 2-2-3 to rotate along the axis of the first pin shaft 5-1, and the third link 2-2-3 drives the first pin shaft 5-1.
  • the two connecting rod 2-2-2 rotates along the second pin shaft 5-2, the second connecting rod 2-2-2 drives the main shaft 3 to rotate around the support bearing 4, and then the support bearing 4 drives the cutter 7 to rotate.
  • the rotation axis of the power mechanism 2-1 is parallel to the horizontal plane, and the rotation axes of the first link 2-2-1, the second link 2-2-2 and the third link 2-2-3 are all aligned with the said
  • the rotation axis of the power mechanism 2-1 is parallel; the power mechanism 2-1 is located above the main shaft 3; the arrangement of this structure reduces the overall volume of the present invention, which is beneficial to the casing, casing and other aviation fields. Deep cavity processing of similar parts.
  • One end of the third connecting rod 2-2-3 close to the support bearing 4 is a bent part that prevents interference with the support bearing 4, which avoids the third connecting rod 2-2-3 and the support bearing 4
  • the interference of 4 increases the rotation angle of the second link 2-2-2 and the main shaft 3 at the same time.
  • 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.
  • FIG. 3 it is an overall schematic diagram of the initial position of the spindle of the multi-link linkage angle attachment head of the present invention
  • FIG. 4 is a schematic diagram of the spindle of the multi-link linkage angle attachment head of the present invention rotating to the maximum angle.
  • the range of the angle a between the central axis of the first connecting rod 2-2-1 and the straight line connecting the head and tail ends of the third connecting rod 2-2-3 is 0° ⁇ a ⁇ 180°;
  • the range of the angle b between the straight line connecting the head end and the tail end of the rod 2-2-3 and the central axis of the second connecting rod 2-2-2 is 0° ⁇ b ⁇ 180°;
  • the second connecting rod 2- The range of the angle c between the central axis of 2-2 and the central axis of the spindle 3 is 0° ⁇ c ⁇ 90°.
  • ⁇ is preferably 45°; in the initial state, the central axis of the spindle 3 is at the coordinate In the first quadrant of the system, and the included angle ⁇ with the x-axis is in the range of 0° ⁇ 45°; when the main shaft 3 rotates by the maximum angle, the central axis of the main shaft 3 is located in the third quadrant of the coordinate system, And the included angle with the y axis is ⁇ , the sum of ⁇ and ⁇ is 90°, that is, if ⁇ is 30°, ⁇ is 60°; because the first connecting rod 2-2-1 and the servo motor 2 The position of the rotation axis of the one end connected to the output end of -1-1 and the rotation axis of the main shaft 3 is fixed, and the third connecting rod 2-2-3 and the first connecting rod 2-2-1 are connected.
  • FIG. 6 it also includes an angle measuring unit 9; the angle measuring unit 9 is fixed to the inner side wall of the housing 1 through the reading head bracket 10, and is located on the outer circular end surface of the supporting bearing 4;
  • the measuring unit 9 is specifically a small-sized, high-precision circular induction synchronizer, which 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 induction synchronizer belongs to the prior art, and will not be repeated in this application).
  • the second connecting rod 2-2-2 is provided with the through hole 8-3 perpendicular to the main shaft 3, and the side wall of the main shaft 3 close to the second connecting rod 2-2-2 is provided with The T-shaped ring groove 8-4, the T-shaped groove nut 8-1 slides in the T-shaped ring groove 8-4, the screw 8-2 passes through the through hole 8-3, and the The T-slot nut 8-1 is threaded; the second connecting rod 2-2-2 is threaded to the T-slot nut 8-14 through the screw 8-2, and the T-slot nut 8- 1 Sliding in the T-shaped ring groove 8-4 to adjust the included angle c between the central axis of the second connecting rod 2-2-2 and the central axis of the main shaft 3 to meet the different requirements of the tool 7 Initial angle requirements.

Abstract

一种多连杆联动角度附件头，包括：外壳（1）、驱动机构（2）和主轴（3）；驱动机构（2）包括：动力机构（2-1）、连杆机构（2-2）和固定架（6）；固定架（6）与外壳（1）内壁固定连接，动力机构（2-1）与固定架（6）固定连接；连杆机构（2-2）包括：第一连杆（2-2-1）、第二连杆（2-2-2）和第三连杆（2-2-3）；第一连杆（2-2-1）一端与固定架（6）旋转连接，与动力机构（2-1）输出端固定连接，第一连杆（2-2-1）另一端通过第一销轴（5-1）与第三连杆（2-2-3）一端旋转连接，第三连杆（2-2-3）另一端通过第二销轴（5-2）与第二连杆（2-2-2）一端旋转连接，第二连杆（2-2-2）另一端固定于主轴（3）侧壁；第二连杆（2-2-2）和主轴（3）与固定在外壳（1）内的支撑轴承（4）旋转连接。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，主轴沿支撑轴摆动相同的角度时，减小了装置的体积；结构简单，制造成本低。

Description

一种多连杆联动角度附件头 技术领域
本发明涉及机床加工领域，尤其涉及一种多连杆联动角度附件头。
背景技术
在对于机匣、外壳等航空领域箱体类零件的深腔加工时，目前常见的角度附件头一般为固定角度并且是加长的附件头，多数是人为手动控制附件头的角度和长度，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
本发明提供一种多连杆联动角度附件头，以克服上述技术问题。
本发明提供一种多连杆联动角度附件头，包括：外壳、驱动机构和端部固定有刀具的主轴；
所述驱动机构包括：动力机构和连杆机构和用于支撑所述动力机构的固定架；所述固定架与所述外壳内壁固定连接，所述动力机构与所述固定架固定连接；
所述连杆机构包括：第一连杆、第二连杆和第三连杆；所述第一连杆一端与所述固定架旋转连接，与所述动力机构输出端固定连接，所述第一连杆另一端通过第一销轴与所述第三连杆一端旋转连接，所述第三连杆另一端通过第二销轴与所述第二连杆一端旋转连接，所述第二连杆另一端固定于所述主轴侧壁；所述第二连杆和所述主轴与固定在所述外壳内的支撑轴承旋转连接；
所述动力机构的旋转轴线平行于水平面，第一连杆、第二连杆和第三连杆的旋转轴线均与所述动力机构的旋转轴线平行；所述动力机构位于所述主轴上方；
所述第三连杆靠近所述支撑轴承一端为防止与所述支承轴承干涉的弯折部。
进一步地，所述第一连杆中心轴线与所述第三连杆首端和尾端相连直线的夹角a的范围为0°＜a＜180°；所述第三连杆首端和尾端相连直线与所述第二连杆的中心轴 线夹角b的范围为0°＜b＜180°；所述第二连杆的中心轴线与所述主轴的中心轴线夹角c范围为0°＜c＜90°；
初始状态时，所述主轴的中心轴线位于坐标系的第一象限内，并与x轴的夹角θ范围为0°＜θ≤45°；所述主轴旋转最大角度时，所述主轴的中心轴线位于坐标系的第三象限内，并与y轴的夹角为γ，θ与γ之和为90°。
进一步地，所述动力机构包括：伺服电机和减速机；
所述伺服电机的输出端与所述减速机的输入端相连，所述减速机的输出端与所述第一连杆一端固定连接。
进一步地，还包括角度测量单元；所述角度测量单元通过读数头支架固定于所述外壳内侧壁，位于所述支撑轴承外圆端面上。
进一步地，还包括：T型槽螺母、螺钉、通孔和T型环槽；
所述第二连杆上设置有垂直所述主轴的所述通孔，所述主轴靠近所述第二连杆的侧壁上设置有所述T型环槽，所述T型槽螺母在所述T型环槽内滑动，所述螺钉穿过所述通孔，与所述T型槽螺母螺纹连接。
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，主轴沿支撑轴摆动相同的角度时，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为本发明多连杆联动角度附件头的整体示意图；
图2为本发明多连杆联动角度附件头的正视图；
图3为本发明多连杆联动角度附件头的主轴初始位置时的整体示意图；
图4为本发明多连杆联动角度附件头的主轴旋转至最大角度示意图；
图5为本发明多连杆联动角度附件头图2中A的放大图；
图6为本发明多连杆联动角度附件头图2中B的放大图。
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。
本发明提供一种多连杆联动角度附件头，如图1为本发明多连杆联动角度附件头的整体示意图，图2为多连杆联动角度附件头的正视图，包括：外壳1、驱动机构2和端部固定有刀具7的主轴3；所述驱动机构2包括：动力机构2-1和连杆机构2-2和用于支撑所述动力机构2-1的固定架6；所述固定架6与所述外壳1内壁固定连接，所述动力机构2-1与所述固定架6固定连接；所述外壳1整体为矩形不锈钢壳体，在所述外壳1内的底部横向固定有支撑轴承4；所述主轴3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为回转副；
所述连杆机构2-2包括：第一连杆2-2-1、第二连杆2-2-2和第三连杆2-2-3；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和减速机2-1-2；所述伺服电机2-1-1的输出端与所述减速机2-1-2的输入端相连，所述减速机2-1-2的输出端与所述第一连杆2-2-1一端固定连接，与所述固定架6旋转连接；所述第一连杆2-2-1另一端通过第一销轴5-1与所述第三连杆2-2-3一端旋转连接，所述第三连杆2-2-3另一端通过第二销轴5-2与所述第二连杆2-2-2一端旋转连接，所述第二连杆2-2-2另一端固定于所述主轴3侧壁；所述第二连杆2-2-2和所述主轴3与固定在所述外壳1内的支撑轴承4旋转连接；伺服电机2-1-1经过所述减速机2-1-2驱动所述第一连杆2-2-1沿水平轴线转动，所述第一连杆2-2-1带动所述第三连杆2-2-3沿所述第一销轴5-1的轴线转动，所述第三连杆2-2-3带动所述第二连杆2-2-2沿所述第二销轴5-2转动，所述第二连杆2-2-2带动所述主轴3绕所述支撑轴承4进行转动，进而所述支撑轴承4带动刀具7进行转动。
所述动力机构2-1的旋转轴线平行于水平面，第一连杆2-2-1、第二连杆2-2-2和第三连杆2-2-3的旋转轴线均与所述动力机构2-1的旋转轴线平行；所述动力机构2-1位于所述主轴3上方；该种结构的设置，减小了本发明的整体体积，利于对机匣、外壳等航空领域箱体类零件的深腔进行加工。
所述第三连杆2-2-3靠近所述支撑轴承4一端为防止与所述支撑轴承4干涉的弯折部，避免了所述第三连杆2-2-3与所述支撑轴承4的干涉，同时增大了所述第二连杆2-2-2和所述主轴3的旋转角度。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。
进一步地，如图3所示，为本发明多连杆联动角度附件头的主轴初始位置时的整体示意图，图4为本发明多连杆联动角度附件头的主轴旋转至最大角度示意图，所述第一连杆2-2-1中心轴线与所述第三连杆2-2-3首端和尾端相连直线的夹角a的范围为0°＜a＜180°；所述第三连杆2-2-3首端和尾端相连直线与所述第二连杆2-2-2的中心轴线夹角b的范围为0°＜b＜180°；所述第二连杆2-2-2的中心轴线与所述主轴3的中心轴线夹角c范围为0°＜c＜90°，本实施例中θ优选为45°；初始状态时，所述主轴3的中心轴线位于坐标系的第一象限内，并与x轴的夹角θ范围为0°＜θ≤45°；所述主轴3旋转最大角度时，所述主轴3的中心轴线位于坐标系的第三象限内，并与y轴的夹角为γ，θ与γ之和为90°，即若θ为30°时，γ为60°；因所述第一连杆2-2-1与所述伺服电机2-1-1的输出端连接的一端的旋转轴线与主轴3的旋转轴线位置是固定不变的，连接所述第三连杆2-2-3和第一连杆2-2-1的第一销轴5-1的旋转轴线位于所述第一连杆2-2-1与所述伺服电机2-1-1的输出端连接的一端的旋转轴线正上方时，为所述第一连杆2-2-1的旋转极限位置；连接所述第三连杆2-2-3和第二连杆2-2-2的第二销轴5-2的旋转轴线位于主轴3的旋转轴线正下方时，为第二连杆2-2-2的旋转极限位置。在所述外壳1的体积和尺寸一定的前提下，当上述角a、b、c到达一定值时，可使所述刀具7的旋转角度达到最大，适用于对深腔底部的大范围加工，同体积的外壳1下，所述刀具7的旋转角度达到最大。
进一步地，如图6所示，还包括角度测量单元9；所述角度测量单元9通过读数头支架10固定于所述外壳1内侧壁，位于所述支撑轴承4外圆端面上；所述角度测量单元9具体为尺寸小、精度高的圆感应同步器，所述圆感应同步器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，以确保所述刀具7是否旋转到位(所述圆感应同步器的工作原理属于现有技术，本申请不再赘述)。
进一步地，为了使所述第二连杆2-2-2的中心轴线与所述主轴3的中心轴 线夹角c可调，如图5所示，还包括：T型槽螺母8-1、螺钉8-2、通孔8-3和T型环槽8-4；
所述第二连杆2-2-2上设置有垂直所述主轴3的所述通孔8-3，所述主轴3靠近所述第二连杆2-2-2的侧壁上设置有所述T型环槽8-4，所述T型槽螺母8-1在所述T型环槽8-4内滑动，所述螺钉8-2穿过所述通孔8-3，与所述T型槽螺母8-1螺纹连接；所述第二连杆2-2-2通过所述螺钉8-2与T型槽螺母8-14螺纹连接，并使所述T型槽螺母8-1在所述T型环槽8-4内滑动，以实现对所述第二连杆2-2-2的中心轴线与所述主轴3的中心轴线夹角c的调节，满足刀具7的不同初始角度要求。
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 (5)

  1. 一种多连杆联动角度附件头，其特征在于，包括：外壳(1)、驱动机构(2)和端部固定有刀具(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)和用于支撑所述动力机构(2-1)的固定架(6)；所述固定架(6)与所述外壳(1)内壁固定连接，所述动力机构(2-1)与所述固定架(6)固定连接；
    所述连杆机构(2-2)包括：第一连杆(2-2-1)、第二连杆(2-2-2)和第三连杆(2-2-3)；所述第一连杆(2-2-1)一端与所述固定架(6)旋转连接，与所述动力机构(2-1)输出端固定连接，所述第一连杆(2-2-1)另一端通过第一销轴(5-1)与所述第三连杆(2-2-3)一端旋转连接，所述第三连杆(2-2-3)另一端通过第二销轴(5-2)与所述第二连杆(2-2-2)一端旋转连接，所述第二连杆(2-2-2)另一端固定于所述主轴(3)侧壁；所述第二连杆(2-2-2)和所述主轴(3)与固定在所述外壳(1)内的支撑轴承(4)旋转连接；
    所述动力机构(2-1)的旋转轴线平行于水平面，第一连杆(2-2-1)、第二连杆(2-2-2)和第三连杆(2-2-3)的旋转轴线均与所述动力机构(2-1)的旋转轴线平行；所述动力机构(2-1)位于所述主轴(3)上方；
    所述第三连杆(2-2-3)靠近所述支撑轴承(4)一端为防止与所述支撑轴承(4)干涉的弯折部。
  2. 根据权利要求1所述的角度附件头，其特征在于，所述第一连杆(2-2-1)中心轴线与所述第三连杆(2-2-3)首端和尾端相连直线的夹角a的范围为0°＜a＜180°；所述第三连杆(2-2-3)首端和尾端相连直线与所述第二连杆(2-2-2)的中心轴线夹角b的范围为0°＜b＜180°；所述第二连杆(2-2-2)的中心轴线与所述主轴(3)的中心轴线夹角c范围为0°＜c＜90°；
    初始状态时，所述主轴(3)的中心轴线位于坐标系的第一象限内，并与x轴的夹角θ范围为0°＜θ≤45°；所述主轴(3)旋转最大角度时，所述主轴(3)的中心轴线位于坐标系的第三象限内，并与y轴的夹角为γ，θ与γ之和为90°。
  3. 根据权利要求1所述的角度附件头，其特征在于，所述动力机构(2-1)包括：伺服电机(2-1-1)和减速机(2-1-2)；
    所述伺服电机(2-1-1)的输出端与所述减速机(2-1-2)的输入端相连，所述减速机(2-1-2)的输出端与所述第一连杆(2-2-1)一端固定连接。
  4. 根据权利要求1所述的角度附件头，其特征在于，还包括角度测量单元(9)；所述角度测量单元(9)通过读数头支架(10)固定于所述外壳(1)的内侧壁，位于所述支撑轴承(4)外圆端面上。
  5. 根据权利要求1-4任一项所述的角度附件头，其特征在于，还包括：T型槽螺母(8-1)、螺钉(8-2)、通孔(8-3)和T型环槽(8-4)；
    所述第二连杆(2-2-2)上设置有垂直所述主轴(3)的所述通孔(8-3)，所述主轴(3)靠近所述第二连杆(2-2-2)的侧壁上设置有所述T型环槽(8-4)，所述T型槽螺母(8-1)在所述T型环槽(8-4)内滑动，所述螺钉(8-2)穿过所述通孔(8-3)，与所述T型槽螺母(8-1)螺纹连接。
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