Double-fork AB swing head motion structure with W axis and double-fork AB swing head

Abstract

The present invention provides a double-fork AB swing head motion structure with a W-axis and a double-fork AB swing head, comprising: a W-axis component, an A-axis component and a B-axis component, wherein the W-axis component is rotatably mounted on the A-axis component, and the A-axis component is rotatably mounted on the B-axis component; the A-axis component comprises an A-axis driving side and an A-axis driven side, wherein the A-axis driving side is provided with an A-axis torque motor, and the A-axis torque motor is transmission-connected to the W-axis component; the B-axis component comprises a B-axis driving side and a B-axis driven side, wherein the B-axis driving side and the B-axis driven side are both provided with a B-axis torque motor, and the two B-axis torque motors are transmission-connected to the A-axis component respectively. By adopting a torque motor direct drive for both the A-axis component and the B-axis component, and adopting a linear motor direct drive for the normal moving W-axis component, the error caused by the transmission links such as the servo motor plus a worm gear or a ball screw structure is greatly reduced, the transmission accuracy of the swing head is improved, and at the same time, the overall structure of the swing head is made simpler, and the assembly efficiency of the swing head is improved.

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 motion 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] Five-axis linkage machining has always been the ultimate pursuit of CNC machining centers. With the rapid development of the mold industry and the aerospace industry, the demand for five-axis linkage machining machine tools is increasing. The use of high-power high-speed electric spindles can achieve high-speed and high-precision machining, making it a favorite in the machining market.

[0003] The existing Chinese patent application document 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 protective 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] An existing double-swing direct-drive AC swing head with the publication number CN108772714A includes a spindle box, an electric spindle, a box body, an A-axis part, and a C-axis part. The center line of the A-axis part is perpendicular to the center line of the electric spindle, and the center line of the C-axis part coincides with the center line of the electric spindle. The double-swing direct-drive AC swing head disclosed by the present invention has a compact structure, saves space, has a reasonable structure design, is convenient for machining, and has high machining accuracy.

[0005] In the five-axis linkage double swing head structures in the prior art, there are many transmission links and large transmission errors, which need to be improved. Summary of the Invention

[0006] Aiming at the defects in the prior art, the purpose of the present invention is to provide a double-fork AB swing head motion structure with a W axis and a double-fork AB swing head.

[0007] According to the present invention, a double-fork AB swing head motion structure with a W-axis includes: a W-axis component, an A-axis component and a B-axis component, wherein the W-axis component is rotatably mounted on the A-axis component, and the A-axis component is rotatably mounted on the B-axis component; the A-axis component includes an A-axis driving side and an A-axis driven side, and the A-axis driving side is provided with an A-axis torque motor, and the A-axis torque motor is transmission-connected to the W-axis component; the B-axis component includes a B-axis driving side and a B-axis driven side, and the B-axis driving side and the B-axis driven side are both provided with a B-axis torque motor, and the two B-axis torque motors are transmission-connected to the A-axis component respectively.

[0008] Preferably, the A-axis driving side is also provided with an A-axis motor connecting shaft, the stator of the A-axis torque motor is fastened and installed in the A-axis component, the rotor of the A-axis torque motor is transmission-connected to the central shaft of the A-axis driving side through the A-axis motor connecting shaft, and the central shaft of the A-axis driving side is fastened and connected to the W-axis component.

[0009] Preferably, the A-axis component also includes an A-axis grating, which is connected to the A-axis motor connecting shaft; the displacement sensor in the A-axis grating detects the angular error during the movement of the A-axis component, and feeds back the detected angular error value signal to the CNC system through the encoding line in the A-axis grating, and the CNC system controls the A-axis torque motor to compensate for the angular error.

[0010] Preferably, the A-axis component further includes an A-axis housing, and a first A-axis skeleton oil seal is installed between the A-axis driving side center shaft and the A-axis housing.

[0011] Preferably, the B-axis driving side is provided with a B-axis driving side motor connecting shaft and 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 through the B-axis driving side motor connecting shaft, and the B-axis driving side center shaft is fastened and connected to the A-axis component.

[0012] Preferably, the B-axis component also includes a B-axis grating, which is connected to the B-axis drive side motor connecting shaft; the displacement sensor in the B-axis grating detects the angular error during the movement of the B-axis component, and feeds back the detected angular error value signal to the CNC system through the encoding line in the B-axis grating, and the CNC system controls the B-axis torque motor to compensate for the angular error.

[0013] Preferably, the B-axis driven side is provided with a B-axis driven side motor connecting shaft and a B-axis driven 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 driven side center shaft through the B-axis driven side motor connecting shaft, and the B-axis driven side center shaft is fastened and connected to the A-axis component.

[0014] Preferably, the B-axis component further includes a B-axis housing, and B-axis skeleton oil seals are respectively installed between both the B-axis driven-side central shaft and the B-axis drive-side central shaft and the B-axis housing.

[0015] Preferably, turntable bearings are respectively connected between the B-axis drive-side central shaft and the B-axis driven-side central shaft and the B-axis housing; a B-axis wedge block is provided between the B-axis housing and the outer ring of the B-axis turntable bearing.

[0016] According to a double-fork AB swing head provided by the present invention, the rotation axes of the W-axis housing and the A-axis housing are perpendicular to each other.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. In the present invention, both the A-axis component and the B-axis component adopt direct drive by torque motors, and the W-axis component for normal movement adopts direct drive by linear motors, which greatly reduces the errors caused by 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.

[0019] 2. The present invention adopts two swing axes, A and B, wherein the swing range of the A-axis component is from +90° to -65°, and the swing range of the B-axis component 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 the parts.

[0020] 3. The present invention compensates for angle errors through a grating to achieve closed-loop control, which can improve machining accuracy.

[0021] 4. In the present invention, both the A-axis component and the B-axis component adopt a double-fork structural 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 single-fork swing heads and insufficient torque of the C-axis component of torque motor direct drive type AC swing heads, thereby reducing the deformation of the swing head itself during the machining process. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] By reading the detailed description of the non-restrictive embodiments with reference to the following drawings, other features, purposes, and advantages of the present invention will become more obvious:

[0023] Figure 1 It is a schematic diagram mainly showing the overall structure of the AB swing head of the present invention;

[0024] Figure 2 It is a schematic diagram mainly showing the external structure of the spindle housing of the W-axis component of the present invention;

[0025] Figure 3 This is a schematic cross-sectional view mainly showing the overall structure of the W-axis component of the present invention;

[0026] Figure 4 This is a schematic view mainly showing the overall external structure of the W-axis component of the present invention;

[0027] Figure 5 This is a schematic cross-sectional view mainly showing the overall structure of the A-axis component of the present invention;

[0028] Figure 6 This is a schematic cross-sectional view mainly showing the overall structure of the B-axis component of the present invention.

[0029] As shown in the figure:

[0030] B-axis component 1, B-axis drive-side motor connecting shaft 20, W-axis cover plate 39

[0031] A-axis component 2, A-axis housing 21, linear motor coil 40

[0032] W-axis component 3, A-axis torque motor 22, linear motor magnetic track 41

[0033] B-axis housing 4, A-axis motor connecting shaft 23, spindle housing 42

[0034] B-axis torque motor 5, A-axis drive-side central shaft 24, pressing block 43

[0035] B-axis driven-side motor connecting shaft 6, A-axis turntable bearing 25, guide rail 44

[0036] B-axis driven-side central shaft 7, A-axis grating 26, slider 45

[0037] B-axis clamp ring 8, A-axis grating connecting plate 27, first bumper 46

[0038] B-axis pneumatic clamp 9, A-axis motor mounting plate 28, guide rail lock 47

[0039] B-axis turntable bearing 10, A-axis housing cover plate 29, second bumper 48

[0040] B-axis wedge block 11, first A-axis skeleton oil seal 30, W-axis grating 49

[0041] B-axis skeleton oil seal 12, A-axis upper housing cover 31, W-axis grating mounting seat 50

[0042] B-axis housing cover 13, second A-axis skeleton oil seal 32, electric spindle 51

[0043] B-axis adjusting shim 14, A-axis pneumatic clamp mounting plate 33, gasket 52

[0044] B-axis positioning ring 15, crossed roller bearing 34, front end cover 53

[0045] B-axis motor mounting plate 16, A-axis pneumatic clamp 35, Tecan ring 54

[0046] B-axis grating mounting plate 17, A-axis driven-side central shaft 36, end cover pressing plate 55

[0047] B-axis grating 18, W-axis housing 37, spindle sleeve 56

[0048] B-axis drive-side central shaft 19, W-axis rear cover 38, W-axis positioning ring 57 Detailed implementation manner

[0049] 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.

[0050] As Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 shown, a double-fork AB swing head motion 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 arranged inside 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 arranged opposite to each other. The W-axis component 3 is arranged between the A-axis drive side and the A-axis driven side. The W-axis component 3 is respectively rotationally connected to 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 arranged 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 arranged opposite to each other. The A-axis housing 21 is arranged between the B-axis drive side and the B-axis driven side. The B-axis component 1 is respectively rotationally connected to 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 arranged on the B-axis drive side.

[0051] It should be noted that the rotation axis of the W-axis housing 37 and the rotation axis of 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, and 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, and the rotation range of the W-axis component 3 is from +90° to -65°.

[0052] 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 respectively, a W-axis rear cover 38 is fixedly installed on the rear surface 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 the sealing and protection around the W-axis component 3.

[0053] The first drive assembly includes a linear motor coil 40, a linear motor track 41, and a spindle housing 42. The motorized spindle 51 is arranged inside the spindle housing 42. The linear motor track 41 is connected to the spindle housing 42, and the linear motor coil 40 is connected to the inner wall of the W-axis housing 37.

[0054] Specifically, the linear motor coil 40 is connected to the inner lower surface of the W-axis housing 37, and the linear motor track 41 is connected to the spindle housing 42. After the linear motor coil 40 is energized, under the action of electromagnetic force, it drives the linear motor track 41 to drive the parts on the spindle housing 42 to perform high-frequency reciprocating motion. The motorized spindle 51 is installed inside the spindle housing 42 to provide the rotational motion of the tool required for machining.

[0055] Guide rails 44 are arranged on the outer wall of the spindle housing 42, and sliders 45 are arranged on the inner wall of the W-axis housing 37. The sliders 45 are in sliding fit with the guide rails 44.

[0056] A feasible implementation is as follows: 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. Four pressure blocks 43 are installed on both sides of any one of the guide rails 44 to press the 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-off to prevent the motorized spindle 51 from moving after power-off.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] The A-axis driven side is provided with a cross roller collar 34, an A-axis driven side center shaft 36, and an A-axis pneumatic clamp 35. The A-axis driven side center shaft 36 is rotatably connected to the A-axis housing 21 through the cross roller collar 34, the A-axis driven side center shaft 36 is tightly connected to the W-axis housing 37, the A-axis pneumatic clamp 35 is tightly installed in the A-axis housing 21, and the A-axis pneumatic clamp 35 clamps or releases the A-axis driven side center shaft 36. The central axis of the A-axis driven side center shaft 36 is collinear with the central axis of the A-axis driving side center shaft 24.

[0061] Since the A-axis turntable bearing 25 has high overturning stiffness, it can play a main supporting role, while the cross roller shaft ring 34 has high radial stiffness and can play an auxiliary supporting role. The A-axis torque motor 22 can provide power for the A-axis component 2, and drive the A-axis driving side center shaft 24 to rotate through the A-axis torque motor 22 connecting shaft.

[0062] Specifically, the stator of the A-axis torque motor 22 is fixed in the A-axis housing 21 via the A-axis motor mounting plate 28. The A-axis pneumatic clamp 35 is mounted on the A-axis housing 21 via the A-axis pneumatic clamp mounting plate 33.

[0063] It also includes an A-axis grating 26, which is connected to the A-axis motor connecting shaft 23. The A-axis grating 26 is fixed to the A-axis torque motor 22 mounting plate through an A-axis grating connecting plate 27. The A-axis grating 26 is connected to the A-axis torque motor 22 connecting shaft and the A-axis grating connecting plate 27 respectively.

[0064] 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 CNC system through the encoding line in the A-axis grating 26. The CNC system controls the A-axis torque motor 22 to compensate for the angular error to ensure the accuracy of the A-axis component 2.

[0065] A first A-axis skeleton oil seal 30 is installed between the A-axis housing 21 and the A-axis driving side center shaft 24, and a second A-axis skeleton oil seal 32 is installed between the A-axis housing 21 and the A-axis driven side center shaft 36, which play a sealing role. Two A-axis housing cover plates 29 are installed on the left and right sides of the A-axis housing 21, respectively. An A-axis housing upper cover plate 31 is installed on the top of the A-axis housing 21, which plays a protective role.

[0066] like Figure 6 As 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.

[0067] 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.

[0068] 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.

[0069] Through two B-axis turntable bearings 10, the overall B-axis component 1 is ensured to have high rigidity. Since the B-axis component 1 is driven by two torque motors simultaneously, the torque output is greater compared to that directly driven by a single torque motor.

[0070] 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, and the B-axis clamp ring 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 central shaft 7 through the B-axis clamp ring 8, thereby realizing fixed-axis machining.

[0071] A B-axis wedge block 11 is provided 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 central shaft 7 and the B-axis driving-side central shaft 19 can be adjusted by screws, thereby improving the accuracy of the swing head.

[0072] It also includes a B-axis grating 18. The B-axis grating 18 is connected to the B-axis driving-side motor connecting shaft 20 through the B-axis grating mounting plate 17. The displacement sensor in 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 back to the numerical control system through the coding line in 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.

[0073] B-axis skeleton oil seals 12 are respectively installed between the B-axis driven-side central shaft 7 and the B-axis driving-side central shaft 19 and the B-axis housing 44 to prevent external liquid or dust from entering the inside of the B-axis housing 4.

[0074] A B-axis adjusting 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. The thickness of the B-axis adjusting shim 14 can be ground to compensate for the dimensional error during the installation of the A-axis component 2 and the B-axis component 1, and improve the assembly accuracy of the swing head. A B-axis positioning ring 15 is installed at the left end of the B-axis driving-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 side faces of the B-axis housing 4 to play a protective role.

[0075] It should be noted that: both the A-axis component 2 and the B-axis component 1 in 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 type AC swing head, thereby reducing the deformation of the swing head itself during the machining process.

[0076] 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 caused 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.

[0077] Two swing axes A and B are adopted. 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, so as to realize the rapid compensation of machining errors, solve the problem of machining errors caused by easy deformation of thin-walled parts such as large and complex curvature skins, and ensure the machining accuracy of parts.

[0078] 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 codes, the method steps can be logically programmed to make the system and its various devices, modules, and units provided by the present invention 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 regarded as a kind of hardware component, and the devices, modules, and units included therein for realizing various functions can also be regarded as the structures within the hardware component; the devices, modules, and units for realizing various functions can also be regarded as both software modules for implementing the method and structures within the hardware component.

[0079] 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.

[0080] 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 and features in the embodiments of the present application can be combined with each other arbitrarily.

Claims

1. A double-fork AB swing head motion structure with a W axis, characterized in that, Comprising: A W-axis component (3), an A-axis component (2), and a B-axis component (1). The W-axis component (3) is rotatably mounted on the A-axis component (2), and the A-axis component (2) is rotatably mounted on the B-axis component (1); The A-axis component (2) includes an A-axis drive side and an A-axis driven side. An A-axis torque motor (22) is provided on the A-axis drive side, and the A-axis torque motor (22) is in transmission connection with the W-axis component (3); The B-axis component (1) includes a B-axis drive side and a B-axis driven side. B-axis torque motors (5) are provided on both the B-axis drive side and the B-axis driven side, and the two B-axis torque motors (5) are respectively in transmission connection with the A-axis component (2); An A-axis motor connecting shaft (23) is further provided on the A-axis drive side. The stator of the A-axis torque motor (22) is fixedly mounted in the A-axis component (2), the rotor of the A-axis torque motor (22) is in transmission connection with the central axis (24) of the A-axis drive side through the A-axis motor connecting shaft (23), and the central axis (24) of the A-axis drive side is fixedly connected to the W-axis component (3); A B-axis drive side motor connecting shaft (20) and a B-axis drive side central axis (19) are provided on the B-axis drive side. 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 in transmission connection with the B-axis drive side central axis (19) through the B-axis drive side motor connecting shaft (20), and the B-axis drive side central axis (19) is fixedly connected to the A-axis component (2); The W-axis component includes a W-axis box body, a first driving component, and an electric spindle. Both the first driving component and the electric spindle are provided in the W-axis box body, and one end of the electric spindle extends out of the W-axis box body. The first driving component drives the electric spindle to move reciprocally; The first driving component includes a linear motor coil, a linear motor magnetic rail, and a spindle box body. The electric spindle is provided in the spindle box body, the linear motor magnetic rail is connected to the spindle box body, and the linear motor coil is connected to the inner wall of the W-axis box body; An crossed roller bearing collar, an A-axis driven side central axis, and an A-axis pneumatic clamp are provided on the A-axis driven side. The A-axis driven side central axis is rotatably connected to the A-axis box body through the crossed roller bearing collar, the A-axis driven side central axis is fixedly connected to the W-axis box body, the A-axis pneumatic clamp is fixedly mounted in the A-axis box body, and the A-axis pneumatic clamp clamps or releases the A-axis driven side central axis.

2. The double-fork AB swing head motion structure with a W axis according to claim 1, characterized in that, The A-axis component (2) further includes an A-axis grating (26), and the A-axis grating (26) is connected to the A-axis motor connecting shaft (23); 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), and the numerical control system controls the A-axis torque motor (22) to compensate for the angular error.

3. The double-fork AB swing head motion structure with a W axis according to claim 2, characterized in that, The A-axis component (2) further includes an A-axis box body (21), and a first A-axis skeleton oil seal (30) is installed between the A-axis drive side central axis (24) and the A-axis box body (21).

4. The double-fork AB swing head motion structure with a W axis according to claim 1, characterized in that, The B-axis component (1) further comprises a B-axis grating (18), wherein the B-axis grating (18) is connected to a B-axis drive-side motor connecting shaft (20); The displacement sensor in the B-axis grating (18) detects the angular error during the movement of the B-axis component (1), and feeds back the detected angular error value signal to the numerical control system via the encoding line in the B-axis grating (18), and the numerical control system controls the B-axis torque motor (5) to compensate for the angular error.

5. The double-fork AB swing head motion structure with a W axis according to claim 4, characterized in that, The B-axis driven side is provided with a B-axis driven side motor connecting shaft (6) and a B-axis driven side center shaft (7); 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 driven side center shaft (7) via the B-axis driven side motor connecting shaft (6); and the B-axis driven side center shaft (7) is fixedly connected to the A-axis component (2).

6. The double-fork AB swing head motion structure with a W axis according to claim 5, characterized in that, The B-axis component (1) also includes a B-axis housing (4), and B-axis skeleton oil seals (12) are respectively installed between the B-axis driven side center shaft (7) and the B-axis driving side center shaft (19) and the B-axis housing (4).

7. The double-fork AB swing head motion structure with a W axis according to claim 6, characterized in that, A B-axis turntable bearing (10) is respectively connected between the B-axis driving side center shaft (19) and the B-axis driven side center shaft (7) and the B-axis housing (4); A B-axis wedge block (11) is provided between the B-axis housing (4) and the outer ring of the B-axis turntable bearing (10).

8. A double-fork AB swing head, characterized in that, The double-fork AB swing head motion structure with a W-axis as described in any one of claims 1 to 7 is adopted, and the rotation axis of the W-axis component and the rotation axis of the A-axis box (21) are perpendicular to each other.

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