Double-fork AB indexing head double-arm structure with W axis and double-fork AB indexing head

Abstract

The present invention provides a double-fork AB swivel head double-arm structure with a W axis and a double-fork AB swivel head, including: the A-axis component includes an A-axis drive side and an A-axis driven side arranged oppositely, and the B-axis component includes a B-axis drive side and a B-axis driven side arranged oppositely; the W-axis component is respectively rotationally connected to the A-axis drive side and the A-axis driven side, and a second drive assembly for driving the rotation of the W-axis component is arranged inside the A-axis component; the A-axis component is arranged between the B-axis drive side and the B-axis driven side, the A-axis component is respectively rotationally connected to the B-axis drive side and the B-axis driven side, and a third drive assembly for driving the rotation of the A-axis component is arranged inside the B-axis component. Both the A-axis component and the B-axis component adopt a double-fork structure form, and high-rigidity turntable bearings and crossed roller bearings are selected for the bearings. The overall structure of the swivel head is compact and has high rigidity, solving the problem of poor rigidity of the single-fork swivel head, thereby reducing the deformation during the machining process of the swivel head itself.

Description

Technical Field

[0001] The present invention relates to the field of machine tool swing head structure design, and specifically, to a double-fork AB swing head double-arm structure with a W axis and a double-fork AB swing head. In particular, it relates to a high-rigidity and high-precision direct-drive double-fork AB swing head with a large swing angle range and a fast error compensation function for a mirror milling machine tool. Background Art

[0002] During the process of machine tool machining, due to the many requirements for precision machining of the machining object, high requirements are put forward for the equipment. Horizontal mirror milling is especially suitable for machining large thin-walled parts in the aerospace field.

[0003] The existing Chinese patent application with the publication number CN108188455A discloses a high-speed AC five-axis linkage double swing head, including a C-axis motor, an A-axis motor and an electric spindle. One end of the output shaft of the C-axis motor is provided with a C-axis reducer, one surface of the C-axis reducer is provided with a C-axis connection disk, one surface of the output port of the C-axis reducer is provided with a main body, and one side surface of the main body is provided with a left protection cover of the main body. The present invention relates to the technical field of milling machine accessories. For this high-speed AC five-axis linkage double swing head, by loosening the fixing nut of the A-axis reducer and using 4 reverse-thread nuts to adjust the A axis, the A axis is made parallel to the Z axis of the machine tool, and the A-axis fixing nut is strengthened.

[0004] The overall structure of the five-axis linkage double swing head in the prior art adopts a single-arm structure form. When bearing an overturning moment, the swing rigidity is insufficient, it is easy to deform, and there are places to be improved. Summary of the Invention

[0005] Aiming at the defects in the prior art, the purpose of the present invention is to provide a double-fork AB swing head double-arm structure with a W axis and a double-fork AB swing head.

[0006] According to a double-fork AB swing head double-arm structure with a W axis provided by the present invention, it includes: a W-axis component, an A-axis component and a B-axis component. The A-axis component includes an A-axis drive side and an A-axis driven side arranged oppositely. The B-axis component includes a B-axis drive side and a B-axis driven side arranged oppositely; the W-axis component is arranged between the A-axis drive side and the A-axis driven side, the W-axis component is respectively rotationally connected to the A-axis drive side and the A-axis driven side, and a second drive component for driving the rotation of the W-axis component is arranged in the A-axis component; the A-axis component is arranged between the B-axis drive side and the B-axis driven side, the A-axis component is respectively rotationally connected to the B-axis drive side and the B-axis driven side, and a third drive component for driving the rotation of the A-axis component is arranged in the B-axis component.

[0007] Preferably, the second drive assembly is arranged on the A-axis driving side, and the A-axis driving side is rotatably provided with an A-axis driving side center shaft, and the A-axis driving side center shaft is fastened and connected to the W-axis component, and the second drive assembly includes an A-axis torque motor; the stator of the A-axis torque motor is fastened and installed in the A-axis component, and the rotor of the A-axis torque motor is drivingly connected to the A-axis driving side center shaft.

[0008] Preferably, the A-axis component includes an A-axis housing, and an A-axis turntable bearing is connected between the A-axis driving side center shaft and the A-axis housing.

[0009] Preferably, the A-axis driven side is rotatably provided with an A-axis driven side center shaft, and the A-axis driven side center shaft is tightly connected to the W-axis component; the A-axis driven side is also provided with an A-axis pneumatic clamp, and the A-axis pneumatic clamp clamps or releases the A-axis driven side center shaft; the center axis of the A-axis driven side center shaft is collinear with the center axis of the A-axis driving side center shaft.

[0010] Preferably, the A-axis component includes an A-axis housing, a cross roller ring is further provided on the driven side of the A-axis, and the center axis of the driven side of the A-axis is rotatably connected to the A-axis housing through the cross roller ring.

[0011] Preferably, the third drive assembly includes a B-axis torque motor, and the B-axis driving side is rotatably provided with a B-axis driving side center shaft; the stator of the B-axis torque motor is fastened and installed in the B-axis component, the rotor of the B-axis torque motor is transmission-connected to the B-axis driving side center shaft, and the B-axis driving side center shaft is fastened and connected to the A-axis component.

[0012] Preferably, the B-axis component includes a B-axis housing, a B-axis turntable bearing is disposed in the B-axis housing, and the B-axis turntable bearing is rotatably connected to the B-axis housing and the B-axis driving side center shaft.

[0013] Preferably, the B-axis driven side is provided with a B-axis driven side center shaft and a B-axis torque motor; the stator of the B-axis torque motor is fastened and installed in the B-axis component, the rotor of the B-axis torque motor is transmission-connected to the B-axis driven side center shaft, and the B-axis driven side center shaft is fastened to the A-axis component; the center axis of the B-axis driven side center shaft is collinear with the center axis of the B-axis driving side center shaft.

[0014] Preferably, the driven side of the B-axis is further provided with a B-axis pneumatic clamp, the B-axis pneumatic clamp is fastened to the stator of the B-axis torque motor, and the B-axis pneumatic clamp clamps or loosens the central axis of the driven side of the B-axis.

[0015] According to a double-fork AB swing head provided by the present invention, the rotation axis of the W-axis box body and the rotation axis of the A-axis box body are perpendicular to each other.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. In the present invention, both the A-axis component and the B-axis component adopt a double-fork structure form, and high-rigidity turntable bearings and crossed roller bearings are selected for the bearings. The overall structure of the swing head is compact and has high rigidity, solving the problems of poor rigidity of the single-fork swing head and insufficient torque of the C-axis component of the torque motor direct-drive AC swing head, thereby reducing the deformation during the machining process of the swing head itself.

[0018] 2. In the present invention, by installing a B-axis adjustment gasket on the right end face of the central shaft on the driven side of the B-axis and connecting it to the A-axis component at the same time, the thickness of the B-axis adjustment gasket can be ground to compensate for the dimensional error during the installation of the A-axis component and the B-axis component, improving the assembly accuracy of the swing head.

[0019] 3. In the present invention, by arranging a B-axis wedge block between the driven side of the B-axis housing and the outer ring of the B-axis turntable bearing, the coaxiality of the central shaft on the driven side of the B-axis and the central shaft on the drive side of the B-axis can be adjusted by screws, thereby improving the accuracy of the swing head. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Other features, objects, and advantages of the present invention will become more apparent by reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0021] Figure 1 is a schematic diagram mainly showing the overall structure of the AB swing head of the present invention;

[0022] Figure 2 is a schematic diagram mainly showing the external structure of the spindle housing of the W-axis component of the present invention;

[0023] Figure 3 is a schematic sectional view mainly showing the overall structure of the W-axis component of the present invention;

[0024] Figure 4 is a schematic diagram mainly showing the overall external structure of the W-axis component of the present invention;

[0025] Figure 5 is a schematic sectional view mainly showing the overall structure of the A-axis component of the present invention;

[0026] Figure 6 is a schematic sectional view mainly showing the overall structure of the B-axis component of the present invention.

[0027] As shown in the figure:

[0028] B-axis component 1, B-axis drive-side motor connecting shaft 20, W-axis cover plate 39

[0029] A-axis component 2, A-axis housing 21, linear motor coil 40

[0030] W-axis component 3, A-axis torque motor 22, linear motor magnetic track 41

[0031] B-axis housing 4, A-axis motor connecting shaft 23, spindle housing 42

[0032] B-axis torque motor 5, A-axis drive-side central shaft 24, pressing block 43

[0033] B-axis driven-side motor connecting shaft 6, A-axis turntable bearing 25, guide rail 44

[0034] B-axis driven-side central shaft 7, A-axis grating 26, slider 45

[0035] B-axis clamp ring 8, A-axis grating connection plate 27, first bumper 46

[0036] B-axis pneumatic clamp 9, A-axis motor mounting plate 28, guide rail lock 47

[0037] B-axis turntable bearing 10, A-axis housing cover plate 29, second bumper 48

[0038] B-axis wedge block 11, first A-axis skeleton oil seal 30, W-axis grating 49

[0039] B-axis skeleton oil seal 12, A-axis upper housing cover 31, W-axis grating mounting seat 50

[0040] B-axis housing cover plate 13, second A-axis skeleton oil seal 32, electric spindle 51

[0041] B-axis adjusting gasket 14, A-axis pneumatic clamp mounting plate 33, gasket 52

[0042] B-axis positioning ring 15, crossed roller collar 34, front end cover 53

[0043] B-axis motor mounting plate 16, A-axis pneumatic clamp 35, Tecalemit ring 54

[0044] B-axis grating mounting plate 17, A-axis driven-side central shaft 36, end cover pressing plate 55

[0045] B-axis grating 18, W-axis housing 37, spindle sleeve 56

[0046] B-axis drive-side central shaft 19, W-axis rear cover 38, W-axis positioning ring 57 Detailed implementation manners

[0047] The present invention will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several changes and improvements can still be made. These all belong to the protection scope of the present invention.

[0048] As Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 shown, a double-fork AB swing head double-arm structure with a W axis and a double-fork AB swing head according to the present invention includes a W axis component 3, an A axis component 2, and a B axis component 1. The W axis component 3 includes a W axis housing 37, a first drive assembly, and an electric spindle 51. Both the first drive assembly and the electric spindle 51 are disposed within the W axis housing 37, and one end of the electric spindle 51 extends out of the W axis housing 37. The first drive assembly drives the electric spindle 51 to reciprocate. The A axis component 2 includes an A axis housing 21. The A axis housing 21 includes an A axis drive side and an A axis driven side that are oppositely disposed. The W axis component 3 is disposed between the A axis drive side and the A axis driven side. The W axis component 3 is rotatably connected to both the A axis drive side and the A axis driven side, and a second drive assembly for driving the W axis component 3 to rotate is provided on the A axis drive side. The B axis component 1 includes a B axis housing 4. The B axis housing 4 includes a B axis drive side and a B axis driven side that are oppositely disposed. The A axis housing 21 is disposed between the B axis drive side and the B axis driven side. The B axis component 1 is rotatably connected to both the B axis drive side and the B axis driven side, and a third drive assembly for driving the A axis housing 21 to rotate is provided on the B axis drive side.

[0049] It should be noted that the rotation axes of the W axis housing 37 and the A axis housing 21 are perpendicular to each other. The overall shapes of the A axis component 2 and the B axis component 1 are both fork-shaped. The A axis component 2 is rotatably installed between the forks of the B axis component 1. The rotation range of the A axis component 2 is ±65°. The W axis component 3 is rotatably installed between the forks of the A axis component 2. The rotation range of the W axis component 3 is from +90° to -65°.

[0050] As Figure 2 , Figure 3 and Figure 4 shown, W axis covers 39 are fixedly installed on the upper and lower surfaces of the W axis housing 37, a W axis rear cover 38 is fixedly installed on the rear of the W axis housing 37, and a gasket 52 and a front cover 53 are connected to the front end of the W axis housing 37 to achieve sealing and protection around the W axis component 3.

[0051] The first drive assembly includes a linear motor coil 40, a linear motor magnetic track 41, and a spindle housing 42. The electric spindle 51 is disposed within the spindle housing 42. The linear motor magnetic track 41 is connected to the spindle housing 42. The linear motor coil 40 is connected to the inner wall of the W axis housing 37.

[0052] Specifically, the linear motor coil 40 is connected to the inner lower surface of the W-axis housing 37, and the linear motor magnetic track 41 is connected to the spindle housing 42. After the linear motor coil 40 is energized, under the action of electromagnetic force, the linear motor magnetic track 41 is driven to drive the parts on the spindle housing 42 to perform high-frequency reciprocating motion. The electric spindle 51 is installed inside the spindle housing 42 to provide the tool rotation motion required for processing.

[0053] A guide rail 44 is provided on the outer wall of the main spindle housing 42 , and a slider 45 is provided on the inner wall of the W-axis housing 37 . The slider 45 is slidably matched with the guide rail 44 .

[0054] A feasible implementation is: two guide rails 44 are installed in parallel at intervals on the upper surface of the spindle housing 42 to play a guiding role. A pressure block 43 is also installed on the spindle housing 42. The pressure block 43 is respectively installed with four clamping guide rails 44 on both sides of any guide rail 44. Four sliders 45 are arranged on the inner wall of the W-axis housing 37, and each guide rail 44 corresponds to two sliders 45. A guide rail lock 47 is installed on one of the guide rails 44. The guide rail lock 47 can clamp the guide rail 44 after power failure to prevent the electric spindle 51 from moving after power failure.

[0055] The two guide rails 44 are also directly provided with W-axis gratings 49, which are mounted on the spindle housing 42 through two W-axis grating mounting seats 50, and can feedback the moving position of the electric spindle 51 to ensure the motion accuracy. Two second bumpers 48 are installed next to the W grating of the W-axis housing 37, and a first bumper 46 is installed on the W-axis housing 37 between the two second bumpers 48. The two second bumpers 48 and the first bumper 46 play the role of hard limit.

[0056] The front end of the electric spindle 51 is sleeved with a spindle sleeve 56 to prevent rust. A special ring 54 is installed inside the front cover 53, and the end cover pressure plate 55 presses the special ring 54. The friction coefficient between the special ring 54 and the spindle sleeve 56 is small, which can achieve the sealing of the moving parts. A W-axis positioning ring 57 is installed on the W-axis housing 37, and is connected to the A-axis component 2 to ensure the coaxial accuracy of the W-axis and the A-axis.

[0057] like Figure 5 As shown, the left side of the A-axis component 2 is the driving side, and the right side of the A-axis component 2 is the driven side. The A-axis driving side is provided with an A-axis driving side central shaft 24, and the second driving assembly includes an A-axis torque motor 22 and an A-axis motor connecting shaft 23. The stator of the A-axis torque motor 22 is fastened and installed in the A-axis housing 21, and the rotor of the A-axis torque motor 22 is transmission-connected to the A-axis driving side central shaft 24 through the A-axis motor connecting shaft 23. An A-axis turntable bearing 25 is connected between the A-axis driving side central shaft 24 and the A-axis housing 21, and the A-axis driving side central shaft 24 is fastened and connected to the W-axis housing 37.

[0058] On the driven side of the A-axis, there are a crossed roller collar 34, a central shaft 36 on the driven side of the A-axis, and a pneumatic clamp 35 for the A-axis. The central shaft 36 on the driven side of the A-axis is rotatably connected to the A-axis housing 21 through the crossed roller collar 34. The central shaft 36 on the driven side of the A-axis is fixedly connected to the W-axis housing 37. The pneumatic clamp 35 for the A-axis is fixedly installed in the A-axis housing 21, and the pneumatic clamp 35 for the A-axis clamps or releases the central shaft 36 on the driven side of the A-axis. The central axis of the central shaft 36 on the driven side of the A-axis is collinear with the central axis of the central shaft 24 on the driving side of the A-axis.

[0059] Since the tilting stiffness of the A-axis turntable bearing 25 is high, it can play a main supporting role, while the radial stiffness of the crossed roller collar 34 is relatively high, which can play an auxiliary supporting role. The A-axis torque motor 22 can provide power for the A-axis component 2, and drives the central shaft 24 on the driving side of the A-axis to rotate through the connecting shaft of the A-axis torque motor 22.

[0060] Specifically, the stator of the A-axis torque motor 22 is fixed in the A-axis housing 21 through the A-axis motor mounting plate 28. The pneumatic clamp 35 for the A-axis is installed on the A-axis housing 21 through the pneumatic clamp mounting plate 33 for the A-axis.

[0061] It also includes an A-axis grating 26, and the A-axis grating 26 is connected to the A-axis motor connecting shaft 23. The A-axis grating 26 is fixed on the mounting plate of the A-axis torque motor 22 through the A-axis grating connecting plate 27. The A-axis grating 26 is respectively connected to the A-axis torque motor 22 connecting shaft and the A-axis grating connecting plate 27.

[0062] The displacement sensor in the A-axis grating 26 detects the angular error during the movement of the A-axis component 2, and feeds back the detected angular error value signal to the numerical control system through the coding line in the A-axis grating 26. The numerical control system controls the A-axis torque motor 22 to compensate for the angular error, ensuring the accuracy of the A-axis component 2.

[0063] A first A-axis skeleton oil seal 30 is installed between the A-axis housing 21 and the central shaft 24 on the driving side of the A-axis, and a second A-axis skeleton oil seal 32 is installed between the A-axis housing 21 and the central shaft 36 on the driven side of the A-axis, playing a sealing role. Two A-axis housing covers 29 are respectively installed on the left and right sides of the A-axis housing 21. An A-axis housing upper cover 31 is installed on the top of the A-axis housing 21, playing a protective role.

[0064] Such as Figure 6As shown, the left side of the B-axis component 1 is the driven side, and the right side is the driving side. The B-axis driving side is provided with a B-axis driving side central shaft 19, and the third driving assembly includes a B-axis torque motor 5 and a B-axis driving side motor connecting shaft 20. The stator of the B-axis torque motor 5 is fastened and installed in the B-axis housing 4, and the rotor of the B-axis torque motor 5 is transmission-connected to the B-axis driving side central shaft 19 through the B-axis driving side motor connecting shaft 20. A B-axis turntable bearing 10 is connected between the B-axis driving side central shaft 19 and the B-axis housing 4, and the B-axis driving side central shaft 19 is fastened and connected to the A-axis housing 21.

[0065] The driven side of the B-axis is provided with a B-axis driven side center shaft 7, and the third driving assembly includes a B-axis torque motor 5 and a B-axis driven side motor connecting shaft 6. The stator of the B-axis torque motor 5 is fixedly installed in the B-axis housing 4, and the rotor of the B-axis torque motor 5 is connected to the B-axis driven side center shaft 7 through the B-axis driven side motor connecting shaft 6. A B-axis turntable bearing 10 is connected between the B-axis driven side center shaft 7 and the B-axis housing 4, and the B-axis driven side center shaft 7 is fixedly connected to the A-axis housing 21.

[0066] The B-axis driven side is also provided with a B-axis pneumatic clamp 9, which is fastened to the stator of the B-axis torque motor 5, and clamps or loosens the B-axis driven side center shaft 7. The central axis of the B-axis driven side center shaft 7 is collinear with the central axis of the B-axis driving side center shaft 19.

[0067] The B-axis component 1 is ensured to have a high rigidity as a whole by two B-axis turntable bearings 10. Since the B-axis component 1 is driven by two torque motors at the same time, the torque outputted by the direct drive of a single torque motor is greater.

[0068] Specifically, the B-axis pneumatic clamp 9 is connected to the stator of the B-axis torque motor 5 on the driven side through the B-axis motor mounting plate 16. The B-axis pneumatic clamp 9 includes a B-axis clamp ring, which is connected to the B-axis driven side motor connecting shaft 6. After the B-axis pneumatic clamp 9 is ventilated, it can lock the B-axis driven side center shaft 7 through the B-axis clamp ring 8, thereby realizing fixed axis processing.

[0069] A B-axis wedge block 11 is arranged between the driven side of the B-axis housing 4 and the outer ring of the B-axis turntable bearing 10. The coaxiality of the B-axis driven side center axis 7 and the B-axis driving side center axis 19 can be adjusted by screws, thereby improving the accuracy of the swing head.

[0070] It also includes a B-axis grating 18, and the B-axis grating 18 is connected to the B-axis drive-side motor connecting shaft 20 through a B-axis grating mounting plate 17. A displacement sensor inside the B-axis grating 18 detects the angular error during the movement of the B-axis component 1, and feeds the detected angular error value signal to the numerical control system through the coding wire inside the B-axis grating 18. The numerical control system controls the B-axis torque motor 5 to compensate for the angular error. Closed-loop control is achieved, which can improve the accuracy of the B-axis component 1.

[0071] B-axis skeleton oil seals 12 are respectively installed between the B-axis driven-side central shaft 7 and the B-axis drive-side central shaft 19 and the B-axis housing 44 to prevent external liquid or dust from entering the B-axis housing 4.

[0072] A B-axis adjustment shim 14 is installed on the right end face of the B-axis driven-side central shaft 7 and is connected to the A-axis component 2 at the same time. By grinding the thickness of the B-axis adjustment shim 14, the dimensional error during the installation of the A-axis component 2 and the B-axis component 1 can be compensated, and the assembly accuracy of the swing head can be improved. A B-axis positioning ring 15 is installed on the left end of the B-axis drive-side central shaft 19 and is connected to the A-axis component 2 at the same time, which plays a positioning role between the B-axis component 1 and the A-axis component 2 and improves the coaxial accuracy when the B-axis component 1 and the A-axis component 2 rotate. B-axis housing covers 13 are respectively installed on the left and right sides of the B-axis housing 4 to play a protective role.

[0073] It should be noted that: both the A-axis component 2 and the B-axis component 1 of this application adopt a double-fork structure form, and high-rigidity turntable bearings and crossed roller bearings 34 are selected for the bearings. The overall structure of the swing head is compact and has high rigidity, solving the problems of poor rigidity of the single-fork swing head and insufficient torque of the C-axis component of the torque motor direct-drive AC swing head, thereby reducing the deformation during the machining process of the swing head itself.

[0074] Both the A-axis component 2 and the B-axis component 1 are directly driven by torque motors, and the normal movement W-axis component is directly driven by a linear motor, which greatly reduces the errors brought by the transmission links such as servo motors plus worm and worm gear or ball screw structures, improves the transmission accuracy of the swing head, and at the same time makes the overall structure of the swing head simpler and improves the assembly efficiency of the swing head.

[0075] Two swing axes A and B are adopted, where the swing range of the A-axis component 2 is from +90° to -65°, and the swing range of the B-axis component 1 is ±65°. The swing range is relatively large. At the same time, the W-axis component can perform high-frequency reciprocating movement in the normal direction of the workpiece, thereby realizing rapid compensation of machining errors, solving the problem of machining errors caused by easy deformation of thin-walled parts such as large and complex curvature skins, and ensuring the machining accuracy of parts.

[0076] Those skilled in the art know that, in addition to implementing the system and its various devices, modules, and units provided by the present invention in the form of pure computer-readable program code, the method steps can be logically programmed to enable the system and its various devices, modules, and units provided by the present invention to be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers, etc., to achieve the same functions. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered as a kind of hardware component, and the devices, modules, and units included therein for implementing various functions can also be regarded as the structures within the hardware component; the devices, modules, and units for implementing various functions can also be regarded as either software modules for implementing the method or the structures within the hardware component.

[0077] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0078] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. Without conflict, the embodiments of the present application and the features in the embodiments can be combined arbitrarily with each other.

Claims

1. A double-fork AB swing head double-arm structure with a W axis, characterized in that include: A W-axis component (3), an A-axis component (2) and a B-axis component (1), wherein the A-axis component (2) comprises an A-axis driving side and an A-axis driven side which are arranged opposite to each other, and the B-axis component (1) comprises a B-axis driving side and a B-axis driven side which are arranged opposite to each other; The W-axis component (3) is arranged between the A-axis driving side and the A-axis driven side, the W-axis component (3) is rotationally connected to the A-axis driving side and the A-axis driven side respectively, and a second driving component for driving the W-axis component (3) to rotate is arranged in the A-axis component (2); The A-axis component (2) is arranged between the B-axis driving side and the B-axis driven side, the A-axis component (2) is rotationally connected to the B-axis driving side and the B-axis driven side respectively, and a third driving component for driving the A-axis component (2) to rotate is arranged in the B-axis component (1); The second drive assembly is arranged on the A-axis drive side, the A-axis drive side is rotatably provided with an A-axis drive side center shaft (24), the A-axis drive side center shaft (24) is tightly connected to the W-axis component (3), and the second drive assembly comprises an A-axis torque motor (22); The stator of the A-axis torque motor (22) is fixedly mounted in the A-axis component (2), and the rotor of the A-axis torque motor (22) is drivingly connected to the A-axis driving side center shaft (24); The A-axis driven side is rotatably provided with an A-axis driven side center shaft (36), and the A-axis driven side center shaft (36) is tightly connected to the W-axis component (3); The A-axis driven side is also provided with an A-axis pneumatic clamp (35), and the A-axis pneumatic clamp (35) clamps or releases the A-axis driven side center shaft (36); The central axis of the driven side central axis (36) of the A-axis is collinear with the central axis of the driving side central axis (24) of the A-axis; The A-axis component (2) comprises an A-axis housing (21), a cross roller shaft ring (34) is further provided on the driven side of the A-axis, and a central axis (36) on the driven side of the A-axis is rotatably connected to the A-axis housing (21) via the cross roller shaft ring (34); The third driving assembly comprises a B-axis torque motor (5), and the B-axis driving side is rotatably provided with a B-axis driving side central axis (19); The stator of the B-axis torque motor (5) is fixedly mounted in the B-axis component (1), the rotor of the B-axis torque motor (5) is transmission-connected to the B-axis drive side center shaft (19), and the B-axis drive side center shaft (19) is fixedly connected to the A-axis component (2); The B-axis driven side is provided with a B-axis driven side central axis (7) and a B-axis torque motor (5); The stator of the B-axis torque motor (5) is fixedly mounted in the B-axis component (1); the rotor of the B-axis torque motor (5) is drivingly connected to the driven-side center shaft (7) of the B-axis; and the driven-side center shaft (7) of the B-axis is fixedly connected to the A-axis component (2); The central axis of the driven side central axis (7) of the B-axis is collinear with the central axis of the driving side central axis (19) of the B-axis.

2. The double-fork AB swing head double-arm structure with a W axis according to claim 1, characterized in that The A-axis component (2) comprises an A-axis housing (21), and an A-axis turntable bearing (25) is connected between the A-axis driving side central axis (24) and the A-axis housing (21).

3. The double-fork AB swing head double-arm structure with a W axis according to claim 1, characterized in that, The B-axis component (1) includes a B-axis housing (4). A B-axis turntable bearing (10) is arranged inside the B-axis housing (4), and the B-axis turntable bearing (10) is rotationally connected to the B-axis housing (4) and the B-axis drive-side central shaft (19).

4. The double-fork AB swing head double-arm structure with a W axis according to claim 1, characterized in that, A B-axis pneumatic clamp (9) is further arranged on the B-axis driven side. The B-axis pneumatic clamp (9) is fixedly installed on the stator of the B-axis torque motor (5), and the B-axis pneumatic clamp (9) clamps or releases the B-axis driven-side central shaft (7).

5. A double-fork AB swing head, characterized in that, Adopt the double-fork AB swing head double-arm structure with a W-axis according to any one of claims 1-4. The rotation axis of the W-axis component (3) and the rotation axis of the A-axis housing (21) are perpendicular to each other.

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