A method for braking and releasing the brakes of a five-axis cradle turntable and the five-axis cradle turntable itself.

Abstract

This invention relates to a method for braking and releasing the brakes on a five-axis cradle turntable, and to the five-axis cradle turntable itself. Regarding the braking method, the steps are as follows: setting an A-axis brake piston to press against an A-axis brake pad. Regarding the releasing method, the steps are as follows: injecting oil into the oil supply channel to increase the oil pressure in the oil pressure space, causing the A-axis brake piston to press against the A-axis disc spring under the oil pressure, thus releasing it from the A-axis brake pad. The five-axis cradle turntable includes a movable A-axis brake piston, so that when the A-axis brake piston moves axially, it can clamp the A-axis brake pad between itself and the A-axis bushing, thereby forming a brake. This invention can achieve autonomous braking after the turntable swings a certain angle, which helps prevent slippage during the stationary phase.

Description

Technical Field

[0001] This invention relates to the field of five-axis cradle turntables, and more particularly to a braking method for a five-axis cradle turntable.

[0002] The present invention also relates to a method for releasing the brakes on a five-axis cradle turntable based on the above-described braking method.

[0003] The present invention also relates to a five-axis cradle turntable based on the above-described method for releasing the brake. Background Technology

[0004] For example, Chinese Utility Model Patent Publication No. CN 215432512 U discloses a five-axis cradle turntable, which includes: a base plate; a four-axis assembly, including a four-axis body, a four-axis motor, a four-axis rotating shaft, and a four-axis flange, wherein the four-axis body is disposed on the base plate, the four-axis motor is used to drive the four-axis rotating shaft to rotate, and the four-axis flange is disposed at one end of the four-axis rotating shaft; a tailstock body, disposed on the base plate and disposed at a distance from the four-axis assembly; and a five-axis assembly, including a bridge plate, a rear cover, a five-axis motor, a five-axis rotating shaft, and a five-axis flange, wherein the two ends of the bridge plate are... Mounted on the four-axis flange and the tailstock body, the bridge plate is swayable relative to the base plate. A rear cover is placed on the bottom of the bridge plate, and the rear cover and the bridge plate together form a receiving cavity. The five-axis motor is located within the receiving cavity and drives the five-axis rotating shaft. The five-axis flange is located at one end of the five-axis rotating shaft. The height difference between the flange face of the five-axis flange and the horizontal plane of the rotation center of the four-axis rotating shaft is less than or equal to 0.01 mm. This five-axis cradle turntable lacks braking measures, making it prone to slow slippage during the stopping phase after swinging a certain angle, which can easily cause angular deviations and affect workpiece processing. Summary of the Invention

[0005] One objective of this invention is to provide a five-axis cradle turntable braking method that can form autonomous braking after the turntable swings at a certain angle, which helps to prevent slippage during the stop phase.

[0006] Another objective of this invention is to provide a method for releasing the brakes on a five-axis cradle turntable, based on the aforementioned five-axis cradle turntable braking method, which can release the aforementioned braking method.

[0007] Another objective of this invention is to provide a five-axis cradle turntable, based on the above-described method for releasing the brake, which facilitates the implementation of the above-described braking and brake-releasing methods.

[0008] Regarding the technical subject of braking a five-axis cradle turntable, an A-axis brake pad is provided in the A-axis rotation unit used for turntable oscillation, which is relatively fixed to the A-axis drive shaft, and an A-axis brake piston is provided to press against the A-axis brake pad, thereby forming braking.

[0009] Regarding the technical topic of a method for releasing the brakes on a five-axis cradle turntable, an oil supply channel is established leading to the A-axis brake piston. An oil pressure space is reserved in front of the A-axis brake piston near the A-axis brake pad. The A-axis disc spring is pressed against the A-axis brake piston at the end away from the A-axis brake pad. Oil is injected into the oil supply channel to increase the oil pressure in the oil pressure space. Under the action of the oil pressure, the A-axis brake piston presses against the A-axis disc spring, thereby releasing the brakes by disengaging from the A-axis brake pads.

[0010] Regarding the technical subject of a five-axis cradle turntable, it includes a C-axis rotation unit and two A-axis rotation units arranged coaxially. The C-axis rotation unit is used to rotate the turntable around the C-axis, and the A-axis rotation units are used to rotate the turntable around the A-axis. The C-axis rotation unit is located between the two A-axis rotation units and is driven to rotate by the A-axis rotation units. The A-axis rotation unit includes:

[0011] A-axis torque motor, which includes a first motor stator and a first motor rotor disposed in the first motor stator;

[0012] The A-axis drive shaft is driven to rotate by the A-axis torque motor;

[0013] The A-axis bushing connects to the outer ring of the A-axis rotary table bearing and serves as the outer shell of the brake chamber. The A-axis brake pads are disposed within the brake chamber. The A-axis rotary table bearing is located between the A-axis bushing and the A-axis drive shaft. The A-axis rotary table bearing is sleeved on the end of the A-axis drive shaft away from the A-axis base plate. The inner ring of the A-axis rotary table bearing is connected to the A-axis drive shaft.

[0014] The A-axis saddle is used to house the A-axis torque motor, A-axis bushing, and A-axis drive shaft. The A-axis bushing and A-axis drive shaft are disposed inside the A-axis saddle. The first motor stator and the first motor rotor are disposed between the A-axis saddle and the A-axis bushing. The first motor stator is fixed to the A-axis saddle, and the first motor rotor is fixed to the A-axis drive shaft to drive the A-axis drive shaft to rotate. The A-axis outer sleeve is fixedly installed on the A-axis saddle.

[0015] An A-axis braking mechanism, used to stop the rotation of the A-axis drive shaft, includes an A-axis brake plate fixing seat, which is circumferentially fixed to the A-axis drive shaft. An A-axis brake pad is circumferentially fixed on the fixing seat, and the A-axis brake pad extends to one side of the A-axis bushing. A movable A-axis brake piston is arranged along the axial direction of the A-axis bushing so that when the A-axis brake piston moves axially, it can clamp the A-axis brake pad between the A-axis bushing and the A-axis bushing to form a brake. An A-axis outer sleeve is connected to the end of the A-axis bushing. A circumferential A-axis base plate is fixedly connected to the bottom end of the A-axis saddle. An A-axis disc spring is arranged between the A-axis base plate and the A-axis brake piston to press the A-axis brake piston for braking. An oil cavity is reserved between the A-axis brake piston and the A-axis bushing. An oil inlet is provided on the A-axis saddle and the A-axis bushing to connect to the oil cavity. Oil is injected into the oil cavity to increase the oil pressure so that the brake piston disengages from the A-axis brake pad to release the brake.

[0016] As a further improvement to the five-axis cradle turntable, an A-axis turntable bearing is fixed on the A-axis bushing. The A-axis turntable bearing is located between the A-axis bushing and the A-axis drive shaft. The A-axis turntable bearing is sleeved on the end of the A-axis drive shaft away from the A-axis base plate. The inner ring of the A-axis turntable bearing is connected to the A-axis drive shaft, and the outer ring of the A-axis turntable bearing is connected to the A-axis bushing.

[0017] The A-axis drive shaft is provided with a first needle roller bearing at one end near the A-axis base plate. The outer ring of the first needle roller bearing is fixed to the A-axis base plate, and the inner ring is fixed to the A-axis drive shaft.

[0018] The A-axis disc spring is provided with an A-axis cylindrical pin for guidance. The A-axis cylindrical pin is fixed to the A-axis base plate. The A-axis brake piston has a groove at one end near the A-axis cylindrical pin for accommodating the end of the A-axis cylindrical pin.

[0019] An encoder mounting base is fixedly sleeved at one end of the A-axis drive shaft near the A-axis base plate. The encoder mounting base is equipped with a grating for reading the rotation angle of the A-axis drive shaft.

[0020] The C-axis rotary unit is mounted on the bridge plate. Both ends of the bridge plate are fixed to the A-axis rotary unit via L-plates. The pipelines of the C-axis rotary unit are laid at the bottom of the bridge plate, extending into the L-plate and fixed by pipeline fixing seats. They then pass through the A-axis rotary units on both sides and exit via cable chains. The pipelines are separated from the cables. The cable chains are mounted on the A-axis rotary units, and the pipeline fixing seats are fixed in the L-plates. The pipelines of the A-axis rotary units also exit via cable chains. The pipelines are separated from the cables.

[0021] As a further improvement to the five-axis cradle turntable, an A-axis sealing cover is provided between the L-plate and the A-axis rotary unit to form a shaft seal for the A-axis drive shaft passing through the L-plate. An A-axis upper cover is also provided between the L-plate and the A-axis rotary unit. The A-axis upper cover and the A-axis sealing cover are spaced apart to form a labyrinth seal. A skeleton oil seal is provided between the A-axis sealing cover and the A-axis upper cover.

[0022] As a further improvement to the five-axis cradle turntable, the A-axis sealing cover has a groove on the side facing the A-axis drive shaft to drain accumulated debris and liquid, and the L-plate has a labyrinth seal on the side facing the A-axis drive shaft to connect to the skeleton oil seal.

[0023] As a further improvement to the five-axis cradle turntable, the C-axis rotation unit is mounted on the bridge plate, and the bridge plate and the L-plate are positioned and fixed by round pins and prism pins.

[0024] As a further improvement to the five-axis cradle turntable, a sealing element and a labyrinth seal are provided on the side of the grating away from the A-axis drive shaft, and a skeleton oil seal is provided on the side of the grating facing the A-axis drive shaft. A grating cover plate is also provided on the side of the grating away from the A-axis drive shaft. The grating cover plate is sleeved around the encoder mounting base and fixed on the A-axis base plate. A skeleton oil seal is provided between the grating cover plate and the encoder mounting base.

[0025] As a further improvement to the five-axis cradle turntable, the C-axis rotary unit includes:

[0026] A C-axis torque motor, which includes a second motor stator and a second motor rotor;

[0027] The C-axis drive shaft is driven by a C-axis torque motor.

[0028] The turntable is coaxially mounted on the upper end of the C-axis drive shaft;

[0029] The outer sleeve of the C-axis is fixedly sleeved on the outside of the stator of the second motor.

[0030] The rotor bushing is fixedly sleeved to the second motor rotor and the C-axis drive shaft, respectively.

[0031] The bearing bushing is fixedly fitted onto the outer sleeve of the C-shaft.

[0032] The turntable bearing has its outer ring fixedly sleeved inside the bearing bushing, and its inner ring fixedly sleeved to the C-axis drive shaft.

[0033] A C-axis braking mechanism, used to stop the rotation of the C-axis drive shaft, includes:

[0034] The piston cap is fixedly sleeved inside the outer sleeve of the C-axis. It contains oil passages for supplying oil between the C-axis brake pads and the C-axis brake piston to increase the oil pressure, so that the C-axis brake piston can press back against the C-axis disc spring to disengage from the C-axis brake pads.

[0035] The C-axis base plate is fixedly fitted onto the piston gland;

[0036] The C-axis brake piston is located between the piston cover and the C-axis base plate and can move along its axial direction.

[0037] The C-axis disc spring is mounted on the C-axis base plate and located between the C-axis brake piston and the C-axis base plate to press the C-axis brake piston.

[0038] The C-axis brake pad is circumferentially fixed on the C-axis drive shaft and extends between the piston cap and the C-axis brake piston.

[0039] The oil circuit distributor is fixed on the C-axis base plate and has multiple sets of pipelines reserved for use by the fixtures on the turntable.

[0040] As a further improvement to the five-axis cradle turntable, the lower end of the oil circuit distributor is equipped with an angle encoder capable of reading the rotation angle of the turntable;

[0041] A C-axis cylindrical pin is inserted through the C-axis disc spring for guidance, and the bottom surface of the C-axis brake piston is provided with a groove for accommodating the upper end of the C-axis cylindrical pin.

[0042] A second needle roller bearing is provided between the C-axis base plate and the C-axis drive shaft;

[0043] An annular baffle is also provided between the bearing bushing and the C-axis drive shaft;

[0044] The bottom surface of the annular baffle is provided with a groove, and the bearing bushing is provided with a group of evenly distributed through holes communicating with the groove. A C-axis cover is provided on the annular baffle, and the C-axis cover is spaced apart from the annular baffle to form a labyrinth seal.

[0045] This invention can form autonomous braking after the turntable swings at a certain angle, which helps to prevent slippage during the stopping phase. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the overall structure of an embodiment.

[0047] Figure 2 This is a schematic diagram of the cross-sectional structure of the A-axis rotary unit.

[0048] Figure 3 for Figure 2 A magnified view of the area marked A in the middle.

[0049] Figure 4 for Figure 2 A magnified view of the area marked B in the middle.

[0050] Figure 5 This is a structural diagram of the pin location.

[0051] Figure 6 This is a schematic diagram of the cross-sectional structure of the C-axis rotary unit.

[0052] Figure 7 for Figure 6 A magnified view of the area marked C.

[0053] Figure 8 This is a structural diagram of the locating pin location.

[0054] Reference numerals: 1. A-axis rotary unit; 111. First motor stator; 112. First motor rotor; 12. A-axis drive shaft; 13. A-axis saddle; 141. A-axis brake plate mounting seat; 142. A-axis brake pad; 143. First needle roller bearing; 144. A-axis brake piston; 145. A-axis base plate; 146. A-axis disc spring; 147. Oil chamber; 148. A-axis cylindrical pin; 149. A-axis outer sleeve; 15. A-axis bushing; 16. A-axis turntable bearing; 17. Encoder mounting seat; 18. Grating; 2. C-axis rotary unit; 201. Second motor stator; 202. Second motor rotor; 21. C-axis drive shaft; 22. Turntable; 23. C-axis outer sleeve; 24. Rotary... 25. Bearing bushing; 26. C-axis turntable bearing; 27. C-axis braking mechanism; 271. Piston gland; 272. C-axis base plate; 273. C-axis brake piston; 274. C-axis disc spring; 275. C-axis brake pad; 276. Oil circuit distributor; 277. C-axis cylindrical pin; 278. C-axis oil chamber; 28. Angle encoder; 29. ​​Second needle roller bearing; 3. Bridge plate; 4. L-plate; 5. Pipeline fixing seat; 6. Cable chain; 7. A-axis sealing cover; 8. A-axis upper cover; 9. Skeleton oil seal; 10a. Round pin; 10b. Ribbed pin; 10C. Grating cover plate; 101. Annular baffle; 102. Groove; 103. Through hole; 104. C-axis upper cover; 105. Positioning pin. Detailed Implementation

[0055] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0056] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0057] Example 1

[0058] This cradle turntable is divided into a C-axis rotation unit 2 and two A-axis rotation units 1. The C-axis rotation unit 2 is located in the middle, and the two A-axis rotation units 1 are symmetrically arranged on both sides of the bridge plate 3. When the C-axis torque motor is working normally, the worktable surface of the turntable 22 rotates around the C-axis. When the C-axis braking mechanism 27 is activated, the worktable surface of the turntable 22 stops rotating. When the two A-axis torque motors work synchronously, the A-axis drive shafts 12 on both sides rotate, which in turn drives the bridge plate 3 of the cradle turntable to rotate around the A-axis, thereby realizing the swing angle action. When it is necessary for both sides of the bridge plate 3 to stop rotating, the A-axis braking mechanism is activated.

[0059] The first motor stator 111 of the A-axis torque motor is fixed on the A-axis saddle 13, and the first motor rotor 112 of the A-axis torque motor is connected to the A-axis rotating shaft 12. The inner ring of the turntable bearing 16 is connected to the A-axis drive shaft 12, and the outer ring is connected to the A-axis bushing 143 and the A-axis saddle 13. The left half of the A-axis drive shaft 12 is connected to the brake mounting bracket 141, and the A-axis brake pad 142 is mounted on the brake mounting bracket 141. The bottom of the A-axis drive shaft 12 is fixed to the encoder mounting bracket 17, and a grating 18 is mounted on the encoder mounting bracket 17. The grating 18 can read the rotation angle of the turntable 22. The two A-axis rotary units 1 are coaxially arranged.

[0060] In this embodiment, the pipeline of the C-axis rotary unit 2 passes through the bottom of the two side bridge plates 3, through the L plate 4, is first constrained on the pipeline fixing seat 5, then passes through the inner hole of the A-axis drive shaft, rotates with the cable chain, and is finally fixed on the transition plate. The pipeline and cable are separated. This overall wiring scheme effectively reduces the risk of cable entanglement.

[0061] In this embodiment, the inward groove of the A-axis sealing cover 7 allows most of the accumulated debris and liquid to drain away through the groove. At the same time, the L-shaped design of the A-axis upper cover 8 adds two labyrinth seals, so that a small amount of accumulated debris and liquid enter the sealing layer of the skeleton seal after passing through the two labyrinth seals.

[0062] In this embodiment, the A-axis base plate 145 is fixed on the A-axis saddle 13. The top of the A-axis drive shaft 12 is fixed with an L-plate 4, which is fixed on the bridge plate 3. The L-plate 4 is positioned in the middle by a round pin 10a and a prism pin 10b, thereby ensuring that the bridge plate 3 can accurately follow the swing of the A-axis rotation unit 1 when it swings at the corresponding angle.

[0063] In this embodiment, the C-axis rotation unit 2 of the cradle turntable includes a C-axis drive shaft 21, a turntable bearing 26, an oil circuit distributor 276, a C-axis braking mechanism 27, and a C-axis torque motor. A rotor bushing 24 connects the second motor rotor 202 of the C-axis torque motor to the inner ring of the C-axis turntable bearing 26, and the inner ring of the C-axis turntable bearing 26 is connected to the C-axis drive shaft 21. The outer ring of the C-axis turntable bearing 26 is fixed to a bearing bushing 25, which is connected to a C-axis outer sleeve 23. The second motor stator 201 of the C-axis torque motor is fixed to the C-axis outer sleeve 23. The oil circuit distributor 276 is fixed to the C-axis base plate 272. An angle encoder 28 capable of reading the rotation angle of the turntable 22 is provided at the lower end of the oil circuit distributor 276. This invention has a compact overall structure, a small height dimension, few constituent parts, and a simple structure. It combines the traditional rotating shaft and turntable surface into a single part, reducing intermediate transmission parts and improving structural stability.

[0064] In this embodiment, the C-axis base plate 272 is fixed to the C-axis outer sleeve 23. A group of C-axis disc springs 274 are arranged on the C-axis base plate 272. Under normal operating conditions, oil at a certain pressure enters the C-axis oil chamber 278 from the piston cap 271, causing the C-axis brake piston 273 to move downwards and press against the C-axis disc springs 274, thus disengaging the C-axis brake pads 275 from the C-axis brake piston 273. When braking is required, the oil supply stops, and the C-axis disc springs 274 lift the C-axis brake piston 273, pressing it against the C-axis brake pads 275 to complete the braking action. Each group of C-axis disc springs 274 is equipped with a C-axis cylindrical pin 277 for guidance, and in the same position, a pair of positioning pins 105 are arranged between the C-axis brake piston 273 and the C-axis base plate 272.

[0065] In this embodiment, the C-axis base plate 272 is also equipped with a needle roller bearing to bear the overturning moment generated during processing under special working conditions.

[0066] In this embodiment, a concave groove 102 is provided on the annular baffle 101. Most of the accumulated debris and water will be drained away through the groove and discharged through the group of evenly distributed through holes 103 on the bearing bushing 25. A small portion will penetrate into the groove 102 and be blocked by the sealing structure.

[0067] Example 2

[0068] A method for braking a five-axis cradle turntable includes the following steps: setting an A-axis brake pad 142 in the A-axis rotation unit 1 used for turntable swinging, which is relatively fixed to the A-axis drive shaft 12, and setting an A-axis brake piston 144 to press against the A-axis brake pad 142, thereby forming braking.

[0069] Example 3

[0070] A method for releasing the brake on a five-axis cradle turntable includes the following steps: establishing an oil supply channel to the A-axis brake piston 144; reserving an oil pressure space in front of the end of the A-axis brake piston 144 near the A-axis brake pad 142; pressing the A-axis disc spring 146 against the end of the A-axis brake piston 144 away from the A-axis brake pad 142; injecting oil into the oil supply channel to increase the oil pressure in the oil pressure space; causing the A-axis brake piston 144 to press against the A-axis disc spring 146 under the action of oil pressure, thereby releasing the brake by disengaging from the A-axis brake pad 142.

[0071] Example 4

[0072] A cradle turntable includes a C-axis rotation unit 2 and two A-axis rotation units 1 arranged coaxially with each other. The C-axis rotation unit 2 is used to rotate the turntable around the C-axis, and the A-axis rotation units are used to rotate the turntable around the A-axis. The C-axis rotation unit 2 is disposed between the two A-axis rotation units 1 and is driven to rotate by the A-axis rotation units 1. The A-axis rotation unit 1 includes:

[0073] A-axis torque motor, which includes a first motor stator 111 and a first motor rotor 112 disposed in the first motor stator 111;

[0074] A-axis drive shaft 12, which is driven to rotate by A-axis torque motor;

[0075] A-axis bushing 15 connects to the outer ring of A-axis rotary table bearing 16 and serves as the outer shell of the brake chamber. The A-axis brake pad 142 is disposed in the brake chamber. The A-axis rotary table bearing 16 is located between the A-axis bushing 15 and the A-axis drive shaft 12. The A-axis rotary table bearing 16 is sleeved on the end of the A-axis drive shaft 12 away from the A-axis base plate 145. The inner ring of the A-axis rotary table bearing 16 is connected to the A-axis drive shaft 12.

[0076] A-axis saddle 13 is used to house the A-axis torque motor, A-axis bushing 15, and A-axis drive shaft 12. The A-axis bushing 15 and A-axis drive shaft 12 are disposed inside the A-axis saddle 13. The first motor stator 111 and the first motor rotor 112 are disposed between the A-axis saddle 13 and the A-axis bushing 15. The first motor stator 111 is fixed to the A-axis saddle 13, and the first motor rotor 112 is fixed to the A-axis drive shaft 12 to drive the A-axis drive shaft 12 to rotate.

[0077] A-axis braking mechanism, used to stop the rotation of A-axis drive shaft 12, includes an A-axis brake plate fixing seat 141, which is circumferentially fixed to the A-axis drive shaft 12. An A-axis brake pad 142 is circumferentially fixed to the fixing seat, the A-axis brake pad 142 extending to one side of the A-axis bushing 15. A movable A-axis brake piston 144 is axially arranged along the A-axis bushing 15, so that when the A-axis brake piston 144 moves axially, it can clamp the A-axis brake pad 142 between itself and the A-axis bushing 15, thereby forming a brake. An A-axis base plate 145 is fixedly connected to the bottom end of the A-axis saddle 13. An A-axis disc spring 146 is provided between the A-axis base plate 145 and the A-axis brake piston 144 to press the A-axis brake piston 144 for braking. An oil cavity 147 is reserved between the A-axis brake piston 144 and the A-axis bushing 15. An oil inlet is provided on the A-axis saddle 13 and the A-axis bushing 15 to connect to the oil cavity 147. Oil is injected into the oil cavity 147 to increase the oil pressure so that the brake piston 144 disengages from the A-axis brake pad 142 to release the brake.

[0078] In this embodiment, an A-axis rotary table bearing 16 is fixed on the A-axis bushing 15. The A-axis rotary table bearing 16 is located between the A-axis bushing 15 and the A-axis drive shaft 12. The A-axis rotary table bearing 16 is sleeved on the end of the A-axis drive shaft 12 away from the A-axis base plate 145. The inner ring of the A-axis rotary table bearing 16 is connected to the A-axis drive shaft 12, and the outer ring of the A-axis rotary table bearing 16 is connected to the A-axis bushing 15.

[0079] The A-axis drive shaft 12 is provided with a first needle roller bearing 143 at one end near the A-axis base plate 145. The outer ring of the first needle roller bearing 143 is fixed on the A-axis base plate 145, and the inner ring is fixed on the A-axis drive shaft 12.

[0080] A cylindrical pin 148 for guidance is inserted through the A-axis disc spring 146. The cylindrical pin 148 is fixed on the A-axis base plate 145. The A-axis brake piston 144 has a groove at one end near the cylindrical pin 148 for accommodating the end of the cylindrical pin 148.

[0081] An encoder mounting base 17 is fixedly sleeved at one end of the A-axis drive shaft 12 near the A-axis base plate 145. An encoder mounting base 17 is provided with a grating 18 for reading the rotation angle of the A-axis drive shaft 12.

[0082] The C-axis rotary unit 2 is mounted on the bridge plate 3. Both ends of the bridge plate 3 are fixed to the A-axis rotary unit 1 via L-plates 4. The bottom of the bridge plate 3 is provided with the pipelines of the C-axis rotary unit 2, which extend into the L-plate 4 and are fixed by the pipeline fixing seat 5. They then pass through the A-axis rotary units 1 on both sides and exit via the drag chain 6. The pipelines are separated from the cables. The drag chain 6 is mounted on the A-axis rotary unit 1, and the pipeline fixing seat 5 is fixed in the L-plate 4.

[0083] In this embodiment, an A-axis sealing cover 7 is provided between the L-plate 4 and the A-axis rotary unit 1 to form a shaft seal for the A-axis drive shaft 12 passing through the L-plate 4. An A-axis upper cover 8 is also provided between the L-plate 4 and the A-axis rotary unit 1. The A-axis upper cover 8 and the A-axis sealing cover 7 are spaced apart to form a labyrinth seal. A skeleton oil seal 9 is provided between the A-axis sealing cover 7 and the A-axis upper cover 8.

[0084] In this embodiment, the A-axis sealing cover 7 has a groove on the side facing the A-axis drive shaft 12 for draining accumulated debris and liquid, and the L-plate 4 has a labyrinth seal on the side facing the A-axis drive shaft 12 that connects to the skeleton oil seal 9.

[0085] In this embodiment, the C-axis rotation unit 2 is mounted on the bridge plate 3, and the bridge plate 3 and the L plate 4 are positioned and fixed by the round pin 10a and the prism pin 10b.

[0086] In this embodiment, a sealing element and a labyrinth seal are provided on the side of the grating 18 away from the A-axis drive shaft 12, and a skeleton oil seal is provided on the side of the grating 18 facing the A-axis drive shaft 12. A grating cover plate 10C is also provided on the side of the grating 18 away from the A-axis drive shaft 12. The grating cover plate 10C surrounds the encoder mounting base 17 and is fixed on the A-axis base plate 145. A skeleton oil seal is provided between the grating cover plate 10C and the encoder mounting base 17.

[0087] In this embodiment, the C-axis rotation unit 2 includes:

[0088] The C-axis torque motor includes a second motor stator 201 and a second motor rotor 202.

[0089] C-axis drive shaft 21, which is driven by C-axis torque motor;

[0090] Turntable 22 is coaxially mounted on the upper end of C-axis drive shaft 21;

[0091] C-axis outer sleeve 23 is fixedly sleeved on the outside of the second motor stator 201;

[0092] Rotor bushing 24 is fixedly sleeved to the second motor rotor 202 and the C-axis drive shaft 21 respectively;

[0093] Bearing bushing 25, which is fixedly sleeved onto the outer sleeve 23 of the C-shaft;

[0094] The outer ring of the turntable bearing 26 is fixedly sleeved inside the bearing bushing 25, and its inner ring is fixedly sleeved to the C-axis drive shaft 21.

[0095] C-axis braking mechanism 27, used to stop the rotation of C-axis drive shaft 21, includes:

[0096] The piston cap 271 is fixedly sleeved inside the C-axis outer sleeve 23. It has oil passages distributed therein for supplying oil between the C-axis brake pad 275 and the C-axis brake piston 273 to increase the oil pressure, so that the C-axis brake piston 273 presses back the C-axis disc spring 274 to disengage from the C-axis brake pad 275.

[0097] C-axis base plate 272, which is fixedly sleeved on piston cover 271;

[0098] The C-axis brake piston 273 is disposed between the piston cover 271 and the C-axis base plate 272 and can move along its axial direction;

[0099] C-axis disc spring 274 is mounted on C-axis base plate 272 and located between C-axis brake piston 273 and C-axis base plate 272 to press C-axis brake piston 273.

[0100] C-axis brake pad 275 is circumferentially fixed on C-axis drive shaft 21 and extends between piston cap 271 and C-axis brake piston 273.

[0101] The oil circuit distributor 276 is fixed on the C-axis base plate 272 and has multiple sets of pipelines reserved for use by the fixtures on the turntable.

[0102] In this embodiment, the lower end of the oil circuit distributor 276 is provided with an angle encoder 28 capable of reading the rotation angle of the turntable 22;

[0103] The C-axis disc spring 274 is provided with a C-axis positioning pin 277 for guidance, and the bottom surface of the C-axis brake piston 273 is provided with a groove for accommodating the upper end of the C-axis cylindrical pin 277.

[0104] A needle roller bearing 29 is provided between the C-axis base plate 272 and the C-axis transmission shaft 21;

[0105] An annular baffle 101 is also provided between the bearing bushing 25 and the C-axis drive shaft 21;

[0106] The bottom surface of the annular baffle 101 is provided with a groove 102, and the bearing bushing 25 is provided with a group of evenly distributed through holes 103 that communicate with the groove 102. A C-axis cover 104 is provided on the annular baffle 101, and the C-axis cover 104 is spaced apart from the annular baffle 101 to form a labyrinth seal.

[0107] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, several equivalent substitutions or obvious modifications can be made without departing from the concept of the present invention, and all such modifications, achieving the same performance or purpose, should be considered within the scope of protection of the present invention.

Claims

1. A five-axis cradle turntable, characterized in that... The system includes a C-axis rotation unit (2) and two A-axis rotation units (1) arranged coaxially. The C-axis rotation unit (2) is used to rotate the turntable around the C-axis, and the A-axis rotation units are used to rotate the turntable around the A-axis. The C-axis rotation unit (2) is located between the two A-axis rotation units (1) and is driven to rotate by the A-axis rotation units (1). The A-axis rotation unit (1) includes: A-axis torque motor, which includes a first motor stator (111) and a first motor rotor (112) disposed in the first motor stator (111). A-axis drive shaft (12), which is driven to rotate by A-axis torque motor; A-axis bushing (15) is connected to the outer ring of A-axis turntable bearing (16) and serves as the outer shell of brake chamber. A-axis brake pad (142) is disposed in brake chamber. The A-axis turntable bearing (16) is located between A-axis bushing (15) and A-axis drive shaft (12). The A-axis turntable bearing (16) is sleeved on the end of the A-axis drive shaft (12) away from the A-axis base plate (145). The inner ring of the A-axis turntable bearing (16) is connected to the A-axis drive shaft (12). An A-axis outer sleeve (149) is connected to the end of A-axis bushing (15). A-axis saddle (13) is used to house the A-axis torque motor, A-axis bushing (15) and A-axis drive shaft (12). The A-axis bushing (15) and A-axis drive shaft (12) are located inside the A-axis saddle (13). The first motor stator (111) and the first motor rotor (112) are located between the A-axis saddle (13) and the A-axis bushing (15). The first motor stator (111) is fixed to the A-axis saddle (13). The first motor rotor (112) is fixed to the A-axis drive shaft (12) to drive the A-axis drive shaft (12) to rotate. The A-axis outer sleeve (149) is fixedly installed on the A-axis saddle (13). The A-axis braking mechanism, used to stop the rotation of the A-axis drive shaft (12), includes an A-axis brake plate fixing seat (141) which is circumferentially fixed on the A-axis drive shaft (12), and an A-axis brake pad (142) which is circumferentially fixed on it. The A-axis brake pad (142) extends to one side of the A-axis bushing (15), and a movable A-axis brake piston (144) is arranged axially along the A-axis bushing (15) so that when the A-axis brake piston (144) moves axially, it can clamp the A-axis brake pad (142) between the A-axis bushing (15) and the A-axis brake pad (142) to form a brake. The A-axis saddle... (13) A fixed circumferential A-axis base plate (145) is fixed at the bottom end. An A-axis disc spring (146) is provided between the A-axis base plate (145) and the A-axis brake piston (144) to press the A-axis brake piston (144) for braking. An oil cavity (147) is reserved between the A-axis brake piston (144) and the A-axis bushing (15). An oil inlet is provided on the A-axis saddle (13) and the A-axis bushing (15) to connect to the oil cavity (147). Oil is injected into the oil cavity (147) to increase the oil pressure so that the brake piston (144) disengages from the A-axis brake pad (142) to release the brake.

2. The five-axis cradle turntable according to claim 1, characterized in that... The A-axis bushing (15) is fixed with an A-axis turntable bearing (16). The A-axis drive shaft (12) is provided with a first needle roller bearing (143) at one end near the A-axis base plate (145). The outer ring of the first needle roller bearing (143) is fixed on the A-axis base plate (145), and the inner ring is fixed on the A-axis drive shaft (12). The A-axis disc spring (146) is provided with an A-axis cylindrical pin (148) for guidance. The A-axis cylindrical pin (148) is fixed on the A-axis base plate (145). The A-axis brake piston (144) has a groove at one end near the A-axis cylindrical pin (148) for accommodating the end of the A-axis cylindrical pin (148). The A-axis drive shaft (12) is fixedly sleeved with an encoder mounting base (17) at one end near the A-axis base plate (145). The encoder mounting base (17) is provided with a grating (18) for reading the rotation angle of the A-axis drive shaft (12). The C-axis rotary unit (2) is mounted on the bridge plate (3). Both ends of the bridge plate (3) are fixed to the A-axis rotary unit (1) via L-plates (4). The bottom of the bridge plate (3) is provided with the pipeline of the C-axis rotary unit (2), which extends into the L-plate (4) and is fixed by the pipeline fixing seat (5). The pipeline passes through the A-axis rotary units (1) on both sides and exits via the drag chain (6). The pipeline is separated from the cable. The drag chain (6) is mounted on the A-axis rotary unit (1), and the pipeline fixing seat (5) is fixed in the L-plate (4).

3. The five-axis cradle turntable according to claim 2, characterized in that... An A-axis sealing cover (7) is provided between the L-plate (4) and the A-axis rotary unit (1) to form a shaft seal for the A-axis drive shaft (12) passing through the L-plate (4). An A-axis upper cover (8) is also provided between the L-plate (4) and the A-axis rotary unit (1). The A-axis upper cover (8) and the A-axis sealing cover (7) are spaced apart to form a labyrinth seal. A skeleton oil seal (9) is provided between the A-axis sealing cover (7) and the A-axis upper cover (8).

4. The five-axis cradle turntable according to claim 3, characterized in that... The A-axis sealing cover (7) has a groove on the side facing the A-axis drive shaft (12) for draining accumulated debris and liquid. The L-plate (4) has a labyrinth seal on the side facing the A-axis drive shaft (12) that connects to the skeleton oil seal (9).

5. The five-axis cradle turntable according to claim 4, characterized in that... The C-axis rotary unit (2) is mounted on the bridge plate (3), and the bridge plate (3) and the L plate (4) are positioned and fixed by round pins (10a) and ridge pins (10b).

6. The five-axis cradle turntable according to claim 5, characterized in that... A sealing element and a labyrinth seal are provided on the side of the grating (18) away from the A-axis drive shaft (12), and a skeleton oil seal is provided on the side of the grating (18) facing the A-axis drive shaft (12). A grating cover plate (10C) is also provided on the side of the grating (18) away from the A-axis drive shaft (12). The grating cover plate (10C) surrounds the encoder mounting base (17) and is fixed on the A-axis base plate (145). A skeleton oil seal is provided between the grating cover plate (10C) and the encoder mounting base (17).

7. The five-axis cradle turntable according to claim 1, characterized in that... The C-axis rotary unit (2) includes: C-axis torque motor, which includes a second motor stator (201) and a second motor rotor (202); C-axis drive shaft (21), which is driven by C-axis torque motor; The turntable (22) is coaxially mounted on the upper end of the C-axis drive shaft (21); C-axis outer sleeve (23) is fixedly sleeved on the outside of the second motor stator (201); The rotor bushing (24) is fixedly sleeved with the second motor rotor (202) and the C-axis drive shaft (21) respectively; Bearing bushing (25), which is fixedly sleeved onto the outer sleeve of C-shaft (23); The turntable bearing (26) has its outer ring fixedly sleeved inside the bearing bushing (25), and its inner ring fixedly sleeved with the C-axis drive shaft (21). C-axis braking mechanism (27), used to stop the rotation of C-axis drive shaft (21), includes: The piston cap (271) is fixedly sleeved inside the C-axis outer sleeve (23), and has oil passages distributed therein for supplying oil between the C-axis brake pad (275) and the C-axis brake piston (273) to increase the oil pressure so that the C-axis brake piston (273) presses back the C-axis disc spring (274) to disengage from the C-axis brake pad (275). The C-axis base plate (272) is fixedly sleeved on the piston cap (271); The C-axis brake piston (273) is disposed between the piston cover (271) and the C-axis base plate (272) and can move along its axial direction; C-axis disc spring (274) is mounted on C-axis base plate (272) and located between C-axis brake piston (273) and C-axis base plate (272) to press C-axis brake piston (273). C-axis brake pad (275), which is circumferentially fixed on C-axis drive shaft (21) and extends between piston cap (271) and C-axis brake piston (273); The oil circuit distributor (276) is fixed on the C-axis base plate (272) and has multiple sets of pipelines reserved for use by the fixtures on the turntable.

8. The five-axis cradle turntable according to claim 7, characterized in that... The lower end of the oil circuit distributor (276) is provided with an angle encoder (28) capable of reading the rotation angle of the turntable (22); The C-axis disc spring (274) is provided with a C-axis cylindrical pin (277) for guidance, and the bottom surface of the C-axis brake piston (273) is provided with a groove for accommodating the upper end of the C-axis cylindrical pin (277); A needle roller bearing (29) is provided between the C-axis base plate (272) and the C-axis drive shaft (21). An annular baffle (101) is also provided between the bearing bushing (25) and the C-axis drive shaft (21). The bottom surface of the annular baffle (101) is provided with a groove (102), and the bearing bushing (25) is provided with a group of evenly distributed through holes (103) communicating with the groove (102). A C-axis cover (104) is provided on the annular baffle (101), and the C-axis cover (104) is spaced apart from the annular baffle (101) to form a labyrinth seal.

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