WO2021232732A1 - 一种双摆角主轴头 - Google Patents

一种双摆角主轴头 Download PDF

Info

Publication number
WO2021232732A1
WO2021232732A1 PCT/CN2020/132125 CN2020132125W WO2021232732A1 WO 2021232732 A1 WO2021232732 A1 WO 2021232732A1 CN 2020132125 W CN2020132125 W CN 2020132125W WO 2021232732 A1 WO2021232732 A1 WO 2021232732A1
Authority
WO
WIPO (PCT)
Prior art keywords
axis
swing
spindle head
shaft
push
Prior art date
Application number
PCT/CN2020/132125
Other languages
English (en)
French (fr)
Inventor
陈虎
侯延星
汤洪涛
张海波
刘廷辉
张传思
范春宏
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 KR1020227027933A priority Critical patent/KR20220153004A/ko
Priority to JP2022543734A priority patent/JP7442653B2/ja
Priority to US17/796,992 priority patent/US20230055529A1/en
Priority to EP20936100.5A priority patent/EP4091744A4/en
Publication of WO2021232732A1 publication Critical patent/WO2021232732A1/zh

Links

Images

Classifications

    • 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
    • B23Q1/54—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 two rotating pairs only
    • B23Q1/5406—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 two rotating pairs only a single rotating pair followed perpendicularly by 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
    • 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
    • B23Q1/54—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 two rotating pairs only
    • B23Q1/545—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 two rotating pairs only comprising spherical surfaces
    • B23Q1/5462—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 two rotating pairs only comprising spherical surfaces with one supplementary sliding 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
    • B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
    • B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
    • B23Q15/013—Control or regulation of feed movement
    • 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
    • B23Q5/20—Adjusting or stopping working-spindles in a predetermined position
    • 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
    • Y10T409/30784—Milling including means to adustably position cutter
    • Y10T409/308512—Compound angular adjustment

Definitions

  • the invention relates to the technical field of lathe processing, in particular to a dual-swing-angle spindle head.
  • the horizontal turning plate five-axis machining center has been applied more and more in high-end industries such as aerospace, national defense and military due to its high precision, high rigidity, high efficiency, and five-axis linkage. It is mainly used for processing complex types.
  • Surface high-precision parts such as aerospace structural parts.
  • the horizontal five-axis turning plate machining center is currently mostly used to process parts with complex profiles such as aluminum alloy and titanium alloy, the removal rate is more than 90%.
  • the rigidity, torque and accuracy of the prior art double pendulum milling head need to be improved, and the volume is too large, the dynamic performance is low, and the swing angle range cannot fully meet the processing requirements.
  • the existing flap milling head is realized by a three-jaw parallel structure.
  • a Sprint Z3 parallel spindle head produced by German DST company adopts a 3-bar parallel motion mechanism.
  • the 3-bar parallel motion mechanism is composed of 3
  • Each servo motor is driven by a ball screw and consists of three moving devices distributed at 120°. Driven by the ball screw, the slides move along the linear guide on the base. The movement of the slide pushes the swingable rod.
  • the moving platform is driven by the universal hinge, so that the main shaft on the moving platform can move in the Z-axis and deflect in the direction of the A-axis and the B-axis, and the spindle head can swing within a cone range of ⁇ 40°.
  • the present invention provides a dual-swing angle spindle head to overcome the above technical problems.
  • the double swing angle spindle head of the present invention includes: A-axis swing shaft, B-axis swing structure, spindle head, linear push-pull mechanism, ram and saddle;
  • the B-axis swing structure includes: B-axis rotation axis, first rotation A shaft, a second rotating shaft, a swing link, a B-axis push-pull mechanism, and a box body;
  • the B-axis push-pull mechanism includes: a B-axis push-pull slide and a B-axis drive structure;
  • the B-axis push-pull slide is arranged on the ram Above, one end of the B-axis push-pull slide plate and one end of the swing link are movably connected by the first rotation shaft, and the other end of the swing link is movably connected with the box body by the second rotation shaft
  • the B-axis drive structure drives the B-axis push-pull slide plate to move linearly along the ram;
  • the spindle head is located in the box, and the
  • one end of the B-axis push-pull sliding plate and one end of the swing link are hinged through the first rotation axis; the other end of the swing link is hinged with the box body through the second rotation axis; The box body is hinged with the front end of the ram through a B-axis rotating shaft.
  • the axis of the first rotating shaft is set at the position between the rotating shaft of the B-axis and the second rotating shaft.
  • the angle of the smallest internal angle of the triangle formed by the axis of the first rotating shaft and the second rotating shaft is not less than 30°.
  • the spindle head can realize a rotation within the range of -45° to +45° relative to the axis of the A-axis swing axis, and the spindle head can realize an included angle of -35° to +35° around the B-axis rotation axis Rotate within range.
  • the B-axis push-pull mechanism, the linear push-pull mechanism, and the A-axis swing shaft are all connected with a drive motor, and the drive motor is a servo motor.
  • the present invention uses the A-axis swing shaft to connect the spindle head through a flange to realize the swing of the spindle head in the X-axis; through the combination of the first rotating shaft, the second rotating shaft, the B-axis rotating shaft, the swing connecting rod and the box body, in the B Under the push-pull action of the shaft push-pull mechanism, the spindle head can swing along the Y axis; under the action of the linear push-pull mechanism, the linear feed motion between the ram and the saddle is realized, and the spindle head can be expanded and contracted along the Z-axis.
  • the range of freedom of the spindle head is increased, the rigidity, torque and accuracy of the spindle head are enhanced, and the volume and weight of the spindle head equipment are reduced.
  • Figure 1 is a schematic diagram of the overall structure of the dual-swing-angle spindle head of the present invention
  • Figure 2 is a side view of the dual swing angle spindle head of the present invention.
  • FIG. 3 is a partial structural diagram of the saddle of the present invention.
  • FIG. 4 is a schematic view of the coplanar structure of the A-axis swing axis and the B-axis rotation axis of the present invention
  • Figure 5 is a schematic diagram of the structure when the box body of the present invention realizes the extreme positions at both ends of -35° to +35° around the B-axis rotation axis;
  • Fig. 6 is a schematic diagram of the structure of a dual pendulum milling head in the prior art.
  • the double swing angle spindle head of the present invention includes: A-axis swing shaft 1, B-axis swing structure 2, spindle head 3, linear push-pull mechanism 4, ram 5 and sliding saddle 6; said B-axis swing structure 2 includes: B Axis rotating shaft 21, first rotating shaft 22, second rotating shaft 23, swing link 24, B-axis push-pull mechanism 25, box 26; B-axis push-pull mechanism 25, including: B-axis push-pull slide 251 and B-axis drive structure 252; B-axis push-pull sliding plate 251 is arranged above the ram 5.
  • One end of the B-axis push-pull sliding plate 251 and one end of the swing link 24 are movably connected through the first rotation shaft 22, and the other end of the swing link 24 passes through the second rotation shaft 23 It is movably connected with the box body 26, and the B-axis driving structure 252 drives the B-axis push-pull slide plate 251 to move linearly along the ram 5;
  • the spindle head 3 is located in the box body 26, and the axis of the spindle head 3 perpendicularly intersects the axis of the B-axis rotating shaft 21;
  • the body 26 is movably connected to the front end of the ram 5 through the B-axis rotation shaft 21;
  • the A-axis swing shaft 1 is connected to the spindle head 3 through a flange;
  • the axis of the A-axis swing shaft 1 and the axis of the B-axis rotation shaft 21 are coplanar;
  • the ram 5 A sliding saddle 6 is arranged below the sliding saddle 6 and a
  • the B-axis rotation shaft 21 is set in the horizontal direction of the device, the B-axis rotation shaft 21, the first rotation shaft 22, the second rotation shaft 23, the swing link 24, and the B-axis push-pull mechanism 25 ,
  • the box 26 constitutes the B-axis swing structure 2, wherein the B-axis push-pull mechanism 25 is composed of a B-axis push-pull slide 251 and a B-axis drive structure 252, a first rotation shaft 22, a second rotation shaft 23, and a B-axis rotation shaft 21 And the swing connecting rod 24 together constitute a crank connecting rod mechanism.
  • the box body 26 is movably connected to the ram 5 through the B-axis rotating shaft 21, the B-axis push-pull slide 251 is arranged on the B-axis drive structure 252, and the B-axis push-pull slide 251 is on the B-axis.
  • the shaft drive structure 252 it can move linearly along the ram 5, thereby driving the first rotating shaft 22, the second rotating shaft 23, and the B-axis rotating shaft 21 to rotate at the same time, thereby driving the box body and the spindle head set inside 3 make up and down movement.
  • the control trajectory is symmetrical, avoiding the increase of the 5-axis stroke of the ram caused by the eccentricity of the spindle head and the B-axis rotating shaft 21, and further increasing the overhang of the ram, resulting in the problem of reduced overall rigidity.
  • the A-axis swing shaft 1 is arranged in the longitudinal direction of the device, and the A-axis swing shaft 1 is connected to the spindle head 3 through a flange. When the A-axis swing shaft 1 rotates, it can drive the spindle head 3 to swing left and right.
  • the axis of the spindle head 3 and the axis of the B-axis rotating shaft 21 are arranged to intersect perpendicularly, because if the axis of the spindle head 3 and the axis of the B-axis rotating shaft 21 do not intersect perpendicularly, the B-axis rotating shaft 21 will be realized.
  • the spindle head 3 swings asymmetrically, which results in a faster speed on the side with a small included angle, and slower rotation on the side with a large included angle.
  • the ram needs to expand and contract in the Z-axis direction.
  • one end of the B-axis push-pull sliding plate 251 and one end of the swing link 24 are hinged through the first rotating shaft 22; the other end of the swing link 24 is hinged with the box 26 through the second rotating shaft 23; the box 26 is hinged through the B axis
  • the rotating shaft 21 is hinged to the front end of the ram 5.
  • the crank connecting rod mechanism composed of the first rotating shaft 22, the second rotating shaft 23, the B-axis rotating shaft 21 and the swing connecting rod 24 adopts a hinged structure, which can effectively resist the shear force and the shaft The force makes the swing connecting rod 24 difficult to deform, reduces bearing wear, and improves the service life of the B-axis swing structure 2.
  • the axis of the first rotating shaft 22 is arranged at a position between the B-axis rotating shaft 21 and the second rotating shaft 23.
  • the angle of the smallest internal angle of the triangle formed by the axis of the B-axis rotating shaft 21, the first rotating shaft 22, and the second rotating shaft 23 is not less than 30°.
  • the movement distance of the B-axis push-pull sliding plate 251 is between 300 mm and 350 mm, which can reach the limit position of the box 6 around the B-axis rotation axis 21 from -35° to +35°.
  • the axis centers of the B-axis swing shaft 21, the first rotation shaft 22, and the second rotation shaft 23 can form three vertices of a triangle, and the smallest acute angle in the triangle is not less than 30 degrees.
  • the second rotation axis 23 is projected in the vertical direction of the push-pull direction of the B-axis driving structure 252, and the distance A from the O 2 hinge point to the O 1 hinge point is constant. The larger the value of A is, the better if the structural space permits.
  • the distance from the O 3 hinge point to the O 2 hinge point is a variable during the rotation of the B axis, and the distance between the two extreme positions is the variable B and the variable C respectively. Regardless of the extreme position or the intermediate process position.
  • the three points O 1 , O 2 , and O 3 form a triangle.
  • O 2 On the projection in the vertical direction of the push-pull direction of the B-axis drive structure 252, O 2 must be placed between O 1 and O 3 to avoid reaching a collinear state.
  • the angle of the smallest internal angle of the triangle is not less than 30 degrees.
  • the equivalent lengths of the connecting rods of several mechanical structures are constrained and controlled within a reasonable range.
  • the spindle head 3 can achieve rotation within the range of -45° to +45° relative to the axis of the A-axis swing axis 1, and the spindle head 3 can achieve -35° to +35° around the B-axis rotation axis 21 Rotate within range.
  • the swing angle range of the typical AB-axis milling head in the industry is mostly within the range of -30° to +30°, which cannot fully meet the processing needs.
  • the spindle head 3 can be provided with a fixed spindle head box.
  • the A-axis swing axis 1 and the B-axis rotation axis are respectively connected to the spindle head box.
  • the spindle head box and the box 26 are along the A axis.
  • the swing shaft 1 is axially connected.
  • the A-axis swing axis 1 By reasonably setting the opening width of the box body 26 to install the spindle head box, it is possible to limit the A-axis swing axis 1 to drive the spindle head relative to the axis of the A-axis swing axis 1 to achieve A-axis swing -45° ⁇ + Rotation within the range of 45°; corresponding to the angle at which the B-axis rotating shaft 21 drives the spindle head 3 to swing, it is formed by the first rotating shaft 22, the second rotating shaft 23, the B-axis rotating shaft 21 and the swing link 24 Determined by the crank connecting rod mechanism, when the B-axis push-pull mechanism 25 drives the crank-connecting rod mechanism to move in a straight line, the B-axis push-pull sliding plate 251 moves between 300mm-350mm, and the B-axis swing box can be moved around B.
  • Axis rotation axis realizes rotation within the included angle range of -35° ⁇ +35°.
  • the B-axis push-pull mechanism 25, the linear push-pull mechanism 4, and the A-axis swing shaft 1 are all connected with a drive motor, and the drive motor is a servo motor.
  • the B-axis push-pull mechanism 25, the linear push-pull mechanism 4, and the A-axis swing axis 1 are all driven and controlled by a servo motor.
  • the servo motor is connected to the B-axis push-pull mechanism 25 through a bearing coupling.
  • the precision ball screw on the linear push-pull mechanism 4 transmits axial torque, so that the B-axis push-pull mechanism 25 and the linear push-pull mechanism 4 drive the thrust of linear motion.
  • the servo motor can realize the closed-loop control of position, speed and torque in accuracy, and the speed can reach 2000-3000 rpm. At the same time, it has strong anti-overload ability, stable low-speed operation, short dynamic response time of acceleration and deceleration, low heat and noise, etc. Advantages, suitable for the application requirements of the invention.
  • the sliding saddle 6 is provided with a sliding rail connection structure 7 and a screw connection structure 8 relative to the end surface of the connecting linear push-pull mechanism 4, which can be used to connect the linear push-pull mechanism 4 and connect the power unit to realize up and down movement. Maximize the scope and function of the spindle head.

Landscapes

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

Abstract

一种双摆角主轴头，采用A轴摆动轴（1）通过端面法兰连接主轴头（3），实现A轴部分的摆动，通过第一旋转轴（22）、第二旋转轴（23）、B轴旋转轴（21）和摆动连杆（24）构成的曲柄连杆机构，在B轴推拉机构（25）的推拉作用下，实现B轴部分的摆动。在直线推拉机构（4）的作用下，实现滑枕（5）与滑鞍（6）间直线轴进给运动。从而提高了主轴头的自由度活动范围，增强了主轴头的刚性、扭矩和精度，减小了主轴头设备的体积和重量。

Description

一种双摆角主轴头 技术领域
本发明涉及车床加工技术领域，尤其涉及一种双摆角主轴头。
背景技术
近年来，卧式翻板五轴加工中心以其高精度、高刚性、高效率、五轴联动等特点在航空航天、国防军工等高端行业领域应用越来越多，主要用来加工具有复杂型面的高精度零件，如航空结构件。
而由于翻板卧式五轴加工中心目前多用来加工铝合金和钛合金等材料复杂型面零件，去除率达90％以上。如图6所示，现有技术的双摆铣头刚性、扭矩和精度均有待提高，而且体积过大，动态性能较低，摆角范围无法完全满足加工需要。
现有的翻板铣摆头是通过三爪的并联结构实现的，现有技术中一种德国DST公司生产的Sprint Z3并联主轴头，采用3杆并联运动机构，3杆并联运动机构是由3个伺服电机分别通过滚珠丝杠驱动的，按120°分布的3个移动装置组成，在滚珠丝杠驱动下，滑板各自沿底座上的线性导轨移动，滑板的移动推动可摆动的杆件，再通过万向铰链驱动运动平台，使运动平台上的主轴作Z轴向移动及A轴和B轴方向的偏转，主轴头可在±40°的圆锥范围内摆动。该现有技术虽然已成功应用与于复杂空间曲面零件的加工，但仍然存在缺陷，比如：整体体积大、重量大，它的三条支链结构相同，对称分布，导致机构运动上的强耦合性，增加了控制的难度。
发明内容
本发明提供一种双摆角主轴头，以克服上述技术问题。
本发明双摆角主轴头，包括：A轴摆动轴、B轴摆动结构、主轴头、直线推拉机构、滑枕以及滑鞍；所述B轴摆动结构，包括：B轴旋转轴、第一旋转轴、第二旋转轴、摆动连杆、B轴推拉机构、箱体；所述B轴推拉机构，包括：B轴推拉滑板和B轴驱动结构；所述B轴推拉滑板设置于所述滑枕上方，所述B轴推拉滑板的一端与所述摆动连杆的一端通过所述第一旋转轴活动连接，所述摆动连杆的另一端通过所述第二旋转轴与所述箱体活动连接，所述B轴驱动结构驱动所述B轴推拉滑板沿所述滑枕做直线运动；所述主轴 头位于所述箱体内，所述主轴头轴线与所述B轴旋转轴轴线垂直相交；所述箱体通过B轴旋转轴与所述滑枕的前端活动连接；所述A轴摆动轴通过法兰与所述主轴头连接；所述A轴摆动轴轴线和B轴旋转轴轴线共面；所述滑枕的下方设置所述滑鞍，所述滑鞍上设有所述直线推拉机构；所述直线推拉机构驱动所述滑枕在所述滑鞍上做直线运动。
进一步地，所述B轴推拉滑板的一端与所述摆动连杆的一端通过所述第一旋转轴铰接；所述摆动连杆的另一端通过所述第二旋转轴与所述箱体铰接；所述箱体通过B轴旋转轴与所述滑枕的前端铰接。
进一步地，第一旋转轴轴线设置于B轴旋转轴、第二旋转轴之间位置，在箱体绕B轴旋转轴实现-35°至+35°两端极限位置时，B轴旋转轴、第一旋转轴和第二旋转轴的轴心所构成三角形的最小内角的角度不小于30°。
进一步地，所述主轴头相对于A轴摆动轴轴线可实现-45°至+45°夹角范围内的旋转，所述主轴头可绕B轴旋转轴实现-35°至+35°夹角范围内旋转。
进一步地，所述B轴推拉机构、直线推拉机构、A轴摆动轴均连接有驱动电机，所述驱动电机为伺服电机。
进一步地，所述滑鞍做上下运动。
本发明用A轴摆动轴通过法兰连接主轴头，实现主轴头在X轴向摆动；通过第一旋转轴，第二旋转轴，B轴旋转轴、摆动连杆及箱体的组合，在B轴推拉机构的推拉作用下，实现主轴头沿Y轴向摆动；在直线推拉机构的作用下，实现滑枕与滑鞍之间的直线进给运动，实现主轴头沿Z轴向伸缩，从而提高了主轴头的自由度活动范围，增强了主轴头的刚性、扭矩和精度，减小了主轴头设备的体积和重量。
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为本发明双摆角主轴头整体结构示意图；
图2是本发明双摆角主轴头的侧视图；
图3是本发明的滑鞍部分结构示意图；
图4为本发明A轴摆动轴线和B轴旋转轴线共面结构示意图；
图5为本发明箱体绕B轴旋转轴实现-35°至+35°两端极限位置时结构示意图；
图6为现有技术的双摆铣头的结构示意图。
附图标号说明：
A轴摆动轴1、B轴摆动结构2、主轴头3、直线推拉机构4、滑枕5、滑鞍6、滑轨连接结构7、丝杠连接结构8、B轴旋转轴21、第一旋转轴22、第二旋转轴23、摆动连杆24、B轴推拉机构25、箱体26、B轴推拉滑板251、B轴驱动结构252。
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作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。
本发明双摆角主轴头，包括：A轴摆动轴1、B轴摆动结构2、主轴头3、直线推拉机构4、滑枕5以及滑鞍6；所述B轴摆动结构2，包括：B轴旋转轴21、第一旋转轴22、第二旋转轴23、摆动连杆24、B轴推拉机构25、箱体26；B轴推拉机构25，包括：B轴推拉滑板251和B轴驱动结构252；B轴推拉滑板251设置于滑枕5上方，B轴推拉滑板251的一端与摆动连杆24的一端通过第一旋转轴22活动连接，摆动连杆24的另一端通过第二旋转轴23与箱体26活动连接，B轴驱动结构252驱动B轴推拉滑板251沿滑枕5做直线运动；主轴头3位于箱体26内，主轴头3轴线与B轴旋转轴21轴线垂直相交；箱体26通过B轴旋转轴21与滑枕5的前端活动连接；A轴摆动轴1通过法兰与主轴头3连接；A轴摆动轴1轴线和B轴旋转轴21轴线共面；滑枕5的下方设置滑鞍6，滑鞍6上设有直线推拉机构4；直线推拉机构4驱动滑枕5在滑鞍6上做直线运动。
具体而言，如图1所示，B轴旋转轴21设置在装置的水平向上，B轴 旋转轴21、第一旋转轴22、第二旋转轴23、摆动连杆24、B轴推拉机构25、箱体26构成了B轴摆动结构2，其中，B轴推拉机构25由B轴推拉滑板251和B轴驱动结构252组成，第一旋转轴22，第二旋转轴23、B轴旋转轴21以及摆动连杆24共同构成了曲柄连杆机构，箱体26通过B轴旋转轴21与滑枕5活动连接，B轴推拉滑板251设置在B轴驱动结构252上，B轴推拉滑板251在B轴驱动结构252的驱动作用下可以沿滑枕5做直线运动，从而带动第一旋转轴22、第二旋转轴23、B轴旋转轴21同时转动，进而带动箱体及其内部设置的主轴头3作上下摆运动。连杆机构在实现B轴转动过程中，控制轨迹对称，避免主轴头与B轴旋转轴21偏心导致的滑枕5轴行程增大，进一步加大滑枕悬伸，导致整体刚度降低的问题。
如图1所示，A轴摆动轴1设置在装置的纵向上，A轴摆动轴1通过法兰连接主轴头3，当A轴摆动轴1转动可以带动主轴头3作左右摆运动。
如图3所示，在直线推拉机构4的作用下，实现滑枕5沿滑鞍6作直线进给运动。
如图4所示，本实施例中设置主轴头3轴线与B轴旋转轴21轴线垂直相交，因为如果主轴头3轴线与B轴旋转轴21轴线不垂直相交，会导致B轴旋转轴21实现主轴头3摆动时不对称，导致夹角小的一边转速快，夹角大的一边转所慢，若要两边达到同样的加工参数，需要滑枕沿Z轴方向伸缩。采用本实施例的设置，可以保证B轴旋转轴21带动主轴头3摆动时结构对称，匀速转动，从而保证主轴头3转动时，滑枕沿Z轴伸缩量始终一致，提高了整机布局的合理性，增强了主轴头3的刚度和精度，节省了空间。
进一步地，B轴推拉滑板251的一端与摆动连杆24的一端通过第一旋转轴22铰接；摆动连杆24的另一端通过第二旋转轴23与箱体26铰接；箱体26通过B轴旋转轴21与滑枕5的前端铰接。
具体而言，如图2所示，第一旋转轴22，第二旋转轴23、B轴旋转轴21以及摆动连杆24构成的曲柄连杆机构采用铰接结构，可以有效的抗剪力和轴力，使摆动连杆24不容易变形，减小轴承磨损，从而提高B轴摆动结构2的使用寿命。
进一步地，第一旋转轴22轴线设置于B轴旋转轴21、第二旋转轴23之间位置，在箱体6绕B轴旋转轴21实现-35°至+35°两端极限位置时，B轴 旋转轴21、第一旋转轴22和第二旋转轴23的轴心所构成三角形的最小内角的角度不小于30°。
具体而言，如图5所示，B轴推拉滑板251运动的距离在300mm-350mm之间，即可达到箱体6绕B轴旋转轴21实现-35°至+35°两端极限位置。B轴摆动轴21、第一旋转轴22、第二旋转轴23的轴心可构成三角形三个顶点，三角形内最小锐角不小于30度。第二旋转轴23在B轴驱动结构252推拉方向的垂直方向上投影，O 2铰点到O 1铰点的距离A为常数，在结构空间允许的情况下A值越大越好。O 3铰点到O 2铰点的距离在B轴旋转过程中为变量，两极限位置距离分别为变量B和变量C。无论极限位置还是中间过程位置。O 1、O 2、O 3三点构成三角形，在B轴驱动结构252推拉方向垂直方向上投影上，O 2必须放置在O 1与O 3之间避免达到共线状态。本实施例该三角形的最小内角的角度不小于30度。进而约束几个机械结构的连杆等效长度，控制在合理范围内。
进一步地，主轴头3相对于A轴摆动轴1轴线可实现-45°至+45°夹角范围内的旋转，主轴头3可绕B轴旋转轴21实现-35°至+35°夹角范围内旋转。
具体而言，行业典型的AB轴铣头的摆角范围大多在-30°至+30°内，无法完全满足加工需要。如图1所示，主轴头3外可以设置用于固定的主轴头箱体，A轴摆动轴1和B轴旋转轴分别与主轴头箱体连接，主轴头箱体与箱体26沿A轴摆动轴1轴向连接，通过合理设置箱体26安装主轴头箱体的开口宽度，可以限定A轴摆动轴1带动主轴头相对于A轴摆动轴1轴线，实现A轴摆动-45°～+45°夹角范围内的旋转；对应B轴旋转轴21带动主轴头3摆动的角度，是通过由第一旋转轴22，第二旋转轴23、B轴旋转轴21以及摆动连杆24共同构成了曲柄连杆机构决定的，当B轴推拉机构25带动曲柄连杆机构作直线运动时，B轴推拉滑板251运动的距离在300mm-350mm之间，即可达到B轴摆动箱体可绕B轴旋转轴实现-35°～+35°夹角范围内的旋转。通过此设计可以在扩大了铣削加工的范围的同时节省了占用的空间。
进一步地，B轴推拉机构25、直线推拉机构4、A轴摆动轴1均连接有驱动电机，驱动电机为伺服电机。
具体而言，如图1、图3所示，B轴推拉机构25、直线推拉机构4、A轴 摆动轴1均采用伺服电机驱动控制，伺服电机通过轴承联轴器，连接B轴推拉机构25、直线推拉机构4上的精密滚珠丝杠，传递轴向扭力，从而使得B轴推拉机构25、直线推拉机构4传动直线运动的推力。采用伺服电机可以在精度上实现位置、速度和力矩的闭环控制，转速能达到2000～3000转，同时，具有抗过载能力强、低速运行平稳、加减速的动态相应时间短、发热和噪音低等优点，适合该发明的应用需求。
如图2所示，滑鞍6相对于连接直线推拉机构4的端面带有滑轨连接结构7、丝杠连接结构8，可以用来连接直线推拉机构4，并连接动力装置实现上下运动，更大限度发挥主轴头的活动范围及作用。
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 (6)

  1. 一种双摆角主轴头，其特征在于，包括：
    A轴摆动轴(1)、B轴摆动结构(2)、主轴头(3)、直线推拉机构(4)、滑枕(5)以及滑鞍(6)；
    所述B轴摆动结构(2)，包括：B轴旋转轴(21)、第一旋转轴(22)、第二旋转轴(23)、摆动连杆(24)、B轴推拉机构(25)、箱体(26)；
    所述B轴推拉机构(25)，包括：B轴推拉滑板(251)和B轴驱动结构(252)；
    所述B轴推拉滑板(251)设置于所述滑枕(5)上方，所述B轴推拉滑板(251)的一端与所述摆动连杆(24)的一端通过所述第一旋转轴(22)活动连接，所述摆动连杆(24)的另一端通过所述第二旋转轴(23)与所述箱体(26)活动连接，所述B轴驱动结构(252)驱动所述B轴推拉滑板(251)沿所述滑枕(5)做直线运动；
    所述主轴头(3)位于所述箱体(26)内，所述主轴头(3)轴线与所述B轴旋转轴(21)轴线垂直相交；所述箱体(26)通过B轴旋转轴(21)与所述滑枕(5)的前端活动连接；
    所述A轴摆动轴(1)通过法兰与所述主轴头(3)连接；所述A轴摆动轴(1)轴线和B轴旋转轴(21)轴线共面；
    所述滑枕(5)的下方设置所述滑鞍(6)，所述滑鞍(6)上设有所述直线推拉机构(4)；所述直线推拉机构(4)驱动所述滑枕(5)在所述滑鞍(6)上做直线运动。
  2. 根据权利要求1所述的一种双摆角主轴头，其特征在于，所述B轴推拉滑板(251)的一端与所述摆动连杆(24)的一端通过所述第一旋转轴(22)铰接；所述摆动连杆(24)的另一端通过所述第二旋转轴(23)与所述箱体(26)铰接；所述箱体(26)通过B轴旋转轴(21)与所述滑枕(5)的前端铰接。
  3. 根据权利要求1、2所述的一种双摆角主轴头，其特征在于，所述第一旋转轴(22)轴线设置于所述B轴旋转轴(21)与所述第二旋转轴(23)之间位置，在所述箱体(6)绕所述B轴旋转轴(21)实现-35°至+35°两端极限位置时，所述B轴旋转轴(21)、第一旋转轴(22)和第二旋转轴(23)的轴心所构成三角形的最小内角的角度不小于30°。
  4. 根据权利要求1所述的一种双摆角主轴头，其特征在于，所述主轴头(3)相对于所述A轴摆动轴(1)轴线可实现-45°至+45°夹角范围内的旋转，所述主轴头(3)可绕B轴旋转轴(21)实现-35°至+35°夹角范围内旋转。
  5. 根据权利要求1所述的一种双摆角主轴头，其特征在于，所述B轴推拉机构(25)、直线推拉机构(4)、A轴摆动轴(1)均通过伺服电机驱动。
  6. 根据权利要求1所述的一种双摆角主轴头，其特征在于，所述滑鞍(6)做上下运动。
PCT/CN2020/132125 2020-05-19 2020-11-27 一种双摆角主轴头 WO2021232732A1 (zh)

Priority Applications (4)

Application Number Priority Date Filing Date Title
KR1020227027933A KR20220153004A (ko) 2020-05-19 2020-11-27 이중 스윙각 주축 헤드
JP2022543734A JP7442653B2 (ja) 2020-05-19 2020-11-27 二軸揺動角主軸ヘッド
US17/796,992 US20230055529A1 (en) 2020-05-19 2020-11-27 Double-swing angle spindle head
EP20936100.5A EP4091744A4 (en) 2020-05-19 2020-11-27 DOUBLE OSCILLATION ANGLE SPINDLE HEAD

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202010426603.3A CN111590091B (zh) 2020-05-19 2020-05-19 一种双摆角主轴头
CN202010426603.3 2020-05-19

Publications (1)

Publication Number Publication Date
WO2021232732A1 true WO2021232732A1 (zh) 2021-11-25

Family

ID=72187441

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/132125 WO2021232732A1 (zh) 2020-05-19 2020-11-27 一种双摆角主轴头

Country Status (6)

Country Link
US (1) US20230055529A1 (zh)
EP (1) EP4091744A4 (zh)
JP (1) JP7442653B2 (zh)
KR (1) KR20220153004A (zh)
CN (1) CN111590091B (zh)
WO (1) WO2021232732A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114055188A (zh) * 2022-01-13 2022-02-18 沈阳马卡智工科技有限公司 一种用于数控机床双摆头回转轴的行程限位装置
CN114535678A (zh) * 2022-03-07 2022-05-27 中国北方车辆研究所 一种高集成度同轴双分度万能铣头装置

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111036941A (zh) * 2019-12-31 2020-04-21 科德数控股份有限公司 一种多连杆联动角度附件头
CN111590091B (zh) * 2020-05-19 2022-12-20 科德数控股份有限公司 一种双摆角主轴头
US11881232B2 (en) * 2021-11-08 2024-01-23 Western Digital Technologies, Inc. Dual spindle motor hard disk drive

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2168187B2 (es) * 1999-11-08 2003-12-01 Torres Martinez M Cabezal de fresar.
CN103659402A (zh) * 2012-09-13 2014-03-26 机械科学研究总院先进制造技术研究中心 一种集成气动辅助排屑装置的双摆头
CN104441080A (zh) * 2014-10-30 2015-03-25 青岛速霸数控设备有限公司 一种双摆五轴头
CN104607957A (zh) * 2015-02-09 2015-05-13 宁波海天精工股份有限公司 一种ab摆形式强力五轴联动铣头
CN108334030A (zh) * 2017-12-19 2018-07-27 成都飞机工业（集团）有限责任公司 一种双摆头结构五轴数控机床rtcp标定及补偿方法
CN110052882A (zh) * 2019-01-09 2019-07-26 科德数控股份有限公司 一种带有双摆铣头的滑枕装置
CN111590091A (zh) * 2020-05-19 2020-08-28 科德数控股份有限公司 一种双摆角主轴头

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10045176B4 (de) 2000-09-13 2004-03-18 Deckel Maho Pfronten Gmbh Werkzeugmaschine
JP2003048135A (ja) 2001-08-07 2003-02-18 Colombo Mauro 操作ヘッド
CN100443252C (zh) * 2007-02-08 2008-12-17 上海交通大学 单螺杆驱动式双摆角铣头
US8714892B2 (en) * 2010-10-01 2014-05-06 Tsinghua University Spindle head structure rotatable in A/B axes
CN102785086A (zh) * 2012-08-23 2012-11-21 西北工业大学 一种用于五坐标机床的锁紧摆头
CN209439504U (zh) * 2018-11-21 2019-09-27 泉州市日旭精密机械有限公司 立卧两用铣头
CN111036940A (zh) * 2019-12-31 2020-04-21 科德数控股份有限公司 一种联动摆头结构

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2168187B2 (es) * 1999-11-08 2003-12-01 Torres Martinez M Cabezal de fresar.
CN103659402A (zh) * 2012-09-13 2014-03-26 机械科学研究总院先进制造技术研究中心 一种集成气动辅助排屑装置的双摆头
CN104441080A (zh) * 2014-10-30 2015-03-25 青岛速霸数控设备有限公司 一种双摆五轴头
CN104607957A (zh) * 2015-02-09 2015-05-13 宁波海天精工股份有限公司 一种ab摆形式强力五轴联动铣头
CN108334030A (zh) * 2017-12-19 2018-07-27 成都飞机工业（集团）有限责任公司 一种双摆头结构五轴数控机床rtcp标定及补偿方法
CN110052882A (zh) * 2019-01-09 2019-07-26 科德数控股份有限公司 一种带有双摆铣头的滑枕装置
CN111590091A (zh) * 2020-05-19 2020-08-28 科德数控股份有限公司 一种双摆角主轴头

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4091744A4 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114055188A (zh) * 2022-01-13 2022-02-18 沈阳马卡智工科技有限公司 一种用于数控机床双摆头回转轴的行程限位装置
CN114055188B (zh) * 2022-01-13 2022-05-17 沈阳马卡智工科技有限公司 一种用于数控机床双摆头回转轴的行程限位装置
CN114535678A (zh) * 2022-03-07 2022-05-27 中国北方车辆研究所 一种高集成度同轴双分度万能铣头装置

Also Published As

Publication number Publication date
CN111590091A (zh) 2020-08-28
KR20220153004A (ko) 2022-11-17
JP7442653B2 (ja) 2024-03-04
US20230055529A1 (en) 2023-02-23
EP4091744A1 (en) 2022-11-23
JP2023511348A (ja) 2023-03-17
CN111590091B (zh) 2022-12-20
EP4091744A4 (en) 2023-07-05

Similar Documents

Publication Publication Date Title
WO2021232732A1 (zh) 一种双摆角主轴头
CN103204249B (zh) 一种飞机发动机安装用多轴调姿平台
CN110052882B (zh) 一种带有双摆铣头的滑枕装置
KR102450266B1 (ko) 다방향 고정점 회전이 가능한 대칭형 3축 병렬 스핀들 헤드
CN105818135B (zh) 一种结构参数和工作空间可变的五自由度并联机构
CN108656087A (zh) 一种驱动平行布置的两转动一移动三自由度并联机构
CN110238821B (zh) 一种含闭环单元高冗余驱动完全对称并联机构
CN109877813B (zh) 一种大转角2t2r四自由度并联机构
CN102699899A (zh) 过约束高刚度多坐标混联机器人
CN109514596B (zh) 一种双十字铰三自由度并联关节机构
KR20220093329A (ko) 다축 로터리 테이블
JP2002516186A (ja) 工作機械の平行な運動学的構造
WO2022088508A1 (zh) 一种约束冗余的两转动两移动四自由度并联机构
JPS61152380A (ja) ロボツト
WO2023226439A1 (zh) 大型弯板移动式加工机器人装置
CN108858142A (zh) 五自由度并联机器人
CN210998684U (zh) 一种三分支三自由度冗余驱动式并联加工头
CN210100011U (zh) 重载荷多关节工业机器人
AU2021363109B2 (en) A processing platform for multi-angle double-sided incremental sheet forming with displacement compensation function
CN110480601B (zh) 四分支的交叉型三自由度并联机构
CN208358264U (zh) 带有空间四边形结构的五自由度并联机床
CN203526978U (zh) 一种双螺杆驱动的变角承载平台
CN111941393A (zh) 一种球坐标型五自由度混联机器人
CN210189799U (zh) 一种七自由度液压重载机械臂
CN109807858B (zh) 大变形驱动的空间两转一平弹性连杆并联机构

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20936100

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2022543734

Country of ref document: JP

Kind code of ref document: A

ENP Entry into the national phase

Ref document number: 2020936100

Country of ref document: EP

Effective date: 20220819

NENP Non-entry into the national phase

Ref country code: DE