Automatic indexing right-angle milling head and indexing compensation control method thereof

Abstract

The present invention relates to the technical field of accessory heads of numerically controlled machine tools, and in particular to an automatic indexing right-angle milling head and an indexing compensation control method thereof, wherein a machine tool slide is automatically connected to a direct milling head through a connecting plate, and in the right-angle milling head structure, a driving shaft drives an output shaft sleeve to rotate through a transmission shaft sleeve to form a tool transmission chain, and a driving shaft drives a rotating seat to rotate relative to a fixed seat through a mutually engaged limiting ring and a retaining ring to form an indexing transmission chain; the retaining ring and the limiting ring are engaged or disengaged by controlling the driving shaft, and the connection or disconnection of the indexing transmission chain is achieved, thereby improving the automation level of the right-angle milling head, expanding the processing range of the machine tool, and improving the processing efficiency. In the indexing compensation detection process, the indexing mechanism is controlled by the machine tool spindle motor to rotate the right-angle milling head for a trial rotation, and the compensation coefficient of the indexing error caused by the transmission chain in the right-angle milling head is determined at the same time, so as to facilitate indexing compensation in the subsequent right-angle milling head processing operation process and achieve precise indexing control.

Description

Technical Field

[0001] The invention relates to the technical field of accessory heads for numerically controlled machine tools, and in particular to an automatic indexing right-angle milling head and an indexing compensation control method thereof. Background Art

[0002] With the rapid development of the domestic manufacturing industry, high-precision equipment such as gantry machining centers are developing towards high efficiency and high precision. Most domestic gantry machining centers have vertical spindles fixed on machine tools. With the right-angle milling head, they can achieve fully automatic five-sided machining, expand the machining range of the machine tool, and improve machining efficiency. The automatic indexing right-angle milling head adds an indexing function on the basis of the right-angle milling head. In addition to side machining, it can also perform precise rotation within a certain angle range, which can meet more complex machining needs.

[0003] The stability of indexing and the accuracy of positioning during the use of the automatic indexing milling head are important indicators of the fully automatic right-angle milling head. At present, the power of the C-axis rotation of the fully automatic right-angle milling head produced by domestic machine tool manufacturers is basically provided by the machine tool spindle motor. When the C-axis indexing is required, it is necessary to push open the upper and lower toothed discs of the milling head and the ram, and at the same time switch the power transmission of the spindle motor from driving the right-angle milling head input axis to driving the C-axis. After the switching operation is completed, the toothed discs on the milling head and the ram are meshed to achieve the purpose of precise positioning.

[0004] The machine tool spindle motor transmits power to the gearbox, which is then transmitted to the milling head input shaft through the long coupling, and then to the right-angle milling head; the gearbox has tooth clearance, the long coupling is flexible and there is also a transmission gap between it and the milling head, which leads to deviations in the system kinetic energy transmission. The indexing adjustment of the right-angle milling head is determined by the encoder installed on the spindle motor, but during the C-axis indexing process, it is necessary to overcome the friction of the rotating seal on the milling head. The rotating seal includes 4 to 5 sealing rings, and the friction makes the angle recorded by the encoder larger than the actual rotation angle of the C-axis; ultimately, after the indexing is completed, the tops of the teeth on the milling head and the sprocket on the slide are pressed together and cannot mesh, so that the C-axis cannot be clamped in place. Summary of the invention

[0005] The invention provides an automatic indexing right-angle milling head and an indexing compensation control method thereof, which can effectively solve the problems in the background technology.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] An automatic indexing right-angle milling head is connected to a machine tool ram through a connecting plate, and comprises a milling head housing and a transmission mechanism, an indexing mechanism and a broaching mechanism arranged therein, wherein a gas-liquid channel is provided on the milling head housing;

[0008] The milling head housing includes a fixed seat, a rotating seat and a spindle box, the spindle box is fixed to the bottom of the rotating seat and is rotatably connected to the fixed seat through the rotating seat, and the spindle box includes a vertical shaft mounting hole and a horizontal shaft mounting hole that are vertically connected;

[0009] The transmission mechanism comprises a drive shaft, a transmission sleeve and an output sleeve, wherein the transmission sleeve and the output sleeve are rotatably connected to the vertical shaft mounting hole and the horizontal shaft mounting hole respectively, and are respectively transmission-connected through the first bevel gear and the second bevel gear thereon, and the drive shaft is transmission-connected to the transmission sleeve through a spline shaft;

[0010] The indexing mechanism comprises an upper toothed disc and a lower toothed disc, and a limiting ring and a snap ring which are mutually engaged, the upper toothed disc and the lower toothed disc are relatively arranged on the connecting disc and the rotating seat, the limiting ring is fixed on the inner ring of the rotating seat, and the snap ring is fixed on the outer ring of the driving shaft corresponding to the limiting ring;

[0011] The broaching mechanism includes a broaching rod, a broaching claw and a movable piston. A front end cover and a rear cylinder body are respectively provided at both ends of the horizontal shaft mounting hole. The broaching rod is connected to the broaching claw and both are provided in the output shaft sleeve. The movable piston sleeve is provided at the rear end of the output shaft sleeve and is slidably connected to the rear cylinder body.

[0012] Further, the fixed seat includes an outer sleeve and a fixed disk arranged at the top thereof, the rotating seat includes a ring seat with an inner sleeve arranged at the top thereof, and the lower toothed disk is arranged on the ring seat;

[0013] The limiting ring and the ring seat are respectively arranged on the inner ring and outer ring of the top end of the inner sleeve, the outer sleeve is sleeved on the outer ring of the inner sleeve and rotatably connected thereto, and the outer wall of the ring seat is located between the inner wall and the outer wall of the outer sleeve.

[0014] Furthermore, the rear cylinder body includes a cylinder body and a rear end cover, the cylinder body is coaxially arranged with the horizontal shaft mounting hole, and the rear end cover is fixed to an end of the cylinder body away from the spindle box;

[0015] The movable piston comprises a front half and a rear half, wherein the front half and the rear half are respectively slidably connected to the inner walls of the cylinder and the rear end cover, a sealing seat is arranged in the rear half, a connector is arranged on the sealing seat corresponding to the knife loosening rod, and the front half is abutted against the rear end cover under the driving of the first compression spring;

[0016] The movable piston cooperates with the inner wall of the cylinder and the end surface of the rear end cover to form a first sealing cavity, a fourth annular cavity is formed between the cylinder and the rear end cover, and the inner wall and outer wall of the rear half respectively cooperate with the sealing seat and the rear end cover to form a sixth annular cavity and a fifth annular cavity;

[0017] The connector is connected to the sixth annular cavity through the internal channel of the sealing seat, the fifth annular cavity is connected to the fourth annular cavity through the internal channel of the rear end cover, and the sixth annular cavity can be connected to the fifth annular cavity through a wall hole opened in the rear half.

[0018] Furthermore, four rotating sealing rings are arranged on the inner wall of the outer sleeve along its axial direction, and cooperate with the outer wall of the inner sleeve to sequentially form a first annular cavity, a second annular cavity and a third annular cavity between two adjacent rotating sealing rings;

[0019] The first flow channel, the second flow channel and the third flow channel provided in the fixed seat are respectively connected with the first annular cavity, the second annular cavity and the third annular cavity, the first annular cavity and the second annular cavity are respectively connected with the fourth flow channel and the fifth flow channel formed in the rotating seat and the spindle box, and the third annular cavity is respectively connected with the sixth flow channel and the seventh flow channel formed in the rotating seat and the spindle box;

[0020] The first flow channel, the second flow channel and the third flow channel are respectively connected to the first air supply connector, the cutting fluid supply connector and the second air supply connector on the connecting plate, the fourth flow channel is connected to the first sealing cavity, the fifth flow channel is connected to the front end nozzle of the spindle box, the sixth flow channel guides to the front end cover, and the seventh flow channel is connected to the fourth annular cavity.

[0021] Furthermore, the drive shaft includes a shank and a connecting sleeve sleeved at the bottom end thereof, the connecting sleeve and the transmission sleeve are sleeved on the upper shaft body and the lower shaft body of the spline shaft respectively, a washer is arranged between the connecting sleeve and the transmission sleeve, and a return spring is arranged between the top end of the spline shaft and the bottom end of the shank;

[0022] The transmission sleeve is rotatably connected to the vertical shaft mounting hole through a bearing seat sleeved on its outer ring, the retaining ring is sleeved on the outer ring of the connecting sleeve, the limiting ring is located on the side of the retaining ring away from the reset spring, and a transmission key and a keyway are relatively arranged on the limiting ring and the retaining ring.

[0023] Furthermore, a milling head rivet is provided on the top end surface of the fixing seat, and the connecting plate is connected to the milling head rivet via a clamping assembly provided thereon;

[0024] The clamping assembly is arranged in the mounting groove on the bottom surface of the connecting plate, and includes a fixed cylinder and a locking piston slidably connected thereto, the clamping head of the locking piston is slidably connected to the guide hole of the cylinder, and a plurality of through holes are arranged on the circumferential side wall of the locking cavity of the clamping head, and steel balls are arranged in the through holes;

[0025] The guide hole includes a grasping head cavity and a loosening head cavity. The grasping head cavity is arranged close to the locking piston and its inner diameter is adapted to the outer diameter of the clamping head. The inner diameter of the loosening head cavity is larger than the inner diameter of the grasping head cavity. An inner chamfer is arranged at one end of the through hole close to the locking cavity.

[0026] Furthermore, a loosening head oil circuit and a grasping head oil circuit are provided on the connecting plate corresponding to the clamping assembly;

[0027] A second sealed cavity is formed between the locking piston and the bottom of the mounting groove, a third sealed cavity is formed between the locking piston and the cylinder body, and the loose head oil circuit and the grasping head oil circuit are respectively connected to the second sealed cavity and the third sealed cavity;

[0028] A plurality of first slots are evenly formed on the end surface of the cylinder body facing the locking piston along its circumferential direction, a second slot is formed on the end surface of the locking piston corresponding to the first slot, a second compression spring is arranged in the first slot, and two ends of the second compression spring are respectively in contact with the bottom of the first slot and the bottom of the second slot;

[0029] A first oil supply connector and a second oil supply connector are respectively provided at the oil inlets of the loose head oil circuit and the grasping head oil circuit.

[0030] Furthermore, a first detection block is provided on the ring seat at the outer ring of the lower gear plate, and a second detection block is provided on the fixed plate close to the ring seat, and the first detection block is provided as an arc plate;

[0031] A first sensor and a second sensor are provided on the connecting disk corresponding to the first detection block, and a third sensor is provided corresponding to the second detection block. The first sensor and the second sensor are provided along the arc direction of the first detection block. The center angle of the first detection block is larger than the center angle between the first sensor and the second sensor, and is also larger than the center angle between two adjacent tooth tops on the lower tooth disk.

[0032] An automatic indexing right-angle milling head indexing compensation control method is applied to the above-mentioned automatic indexing right-angle milling head, comprising the following steps:

[0033] The machine tool controls the connecting plate to clamp the milling head pull nail on the right-angle milling head, and drives the right-angle milling head to separate from the mounting frame;

[0034] Switch the drive shaft to be in transmission connection with the indexing mechanism, and adjust the rotating seat to rotate to the initial position with the fixed seat;

[0035] According to the preset rotation angle of the rotating seat, the machine tool spindle motor inputs kinetic energy to the rotating seat for one rotation;

[0036] The actual rotation angle of the rotating seat is monitored by a sensor arranged on the connecting plate, and the system compensation coefficient is set according to the rotation error value;

[0037] The compensation angle is increased based on the preset angle of the rotary seat in combination with the compensation coefficient, and is used as the target angle of the machine tool drive.

[0038] Further, when the connecting plate clamps the right-angle milling head, the third sensor detects the third detection block on the fixed seat, and when the rotating seat rotates to the initial position with the fixed seat, the first sensor and the second sensor on the connecting plate simultaneously detect the first detection block on the rotating seat;

[0039] The indexing error is calculated by the following formula Δθ :

[0040] ;

[0041] The compensation coefficient is calculated by the following formula k :

[0042] k = Δθ / 360 ;

[0043] in, α 1 represents the central angle corresponding to the arc length of the first detection block, α 2 represents the central angle between the first sensor and the second sensor, t 11 Indicates the moment when the end of the first detection block leaves the first sensor, t 12 Indicates the moment when the end of the first detection block leaves the second sensor, t 21 Indicates the moment when the front end of the first detection block triggers the first sensor, t 22 Indicates the moment when the front end of the first detection block triggers the second sensor, t 23 Indicates the moment when the rotating seat stops rotating, and sets the front end and the end of the first detection block according to the rotating direction of the rotating seat.

[0044] The beneficial effects of the present invention are:

[0045] In the present invention, the machine tool slide is automatically connected to the direct milling head through a connecting disk. In the right-angle milling head structure, the driving shaft drives the output shaft sleeve to rotate through the transmission shaft sleeve to form a tool transmission chain. The driving shaft drives the rotating seat to rotate relative to the fixed seat through the limit ring and the retaining ring that engage with each other to form a dividing transmission chain; in the tool transmission chain, the vertical downward rotational motion is converted into horizontal rotational motion through a pair of bevel gears with perpendicular axes, thereby providing processing kinetic energy for the tool; in the indexing transmission chain, the right-angle milling head indexing transmission chain is connected or disconnected by controlling the driving shaft and driving the retaining ring on it to engage or disengage with the limit ring fixed on the rotating seat, thereby improving the automation level of the indexing right-angle milling head, expanding the processing range of the machine tool and improving the processing efficiency.

[0046] During the indexing compensation detection process, the indexing mechanism is controlled by the machine tool spindle motor to rotate the right-angle milling head for a trial rotation, and the compensation coefficient of the indexing error caused by the transmission chain in the right-angle milling head is determined at the same time, so as to facilitate indexing compensation in the subsequent right-angle milling head processing operation and realize precise indexing control. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 It is a structural schematic diagram of the automatic indexing right-angle milling head in the present invention;

[0049] Figure 2 It is a schematic diagram of the internal mechanisms of the automatic indexing right-angle milling head of the present invention;

[0050] Figure 3 It is a structural schematic diagram of the rotating seat in the present invention;

[0051] Figure 4 It is a schematic diagram of the structure of the drive shaft and the transmission sleeve in the present invention;

[0052] Figure 5 It is a schematic diagram of the structure of the output shaft sleeve and the broach mechanism in the present invention;

[0053] Figure 6 It is a schematic diagram of the structure of the connecting disk in the present invention;

[0054] Figure 7 A schematic diagram of the oil circuit system for the corresponding clamping components in the connecting plate of the present invention;

[0055] Figure 8 for Figure 7Schematic diagram of the cross-section structure at AA and BB;

[0056] Fig. 9 for Figure 8 A magnified view of the local structure at C in the middle;

[0057] Fig.10 It is a schematic diagram of air supply of the air curtain protection system of the present invention;

[0058] Fig.11 This is a schematic diagram of the liquid supply of the tool external cooling system in the present invention;

[0059] Fig.12 Schematic diagram of triggering air supply for tool unloading operation in the present invention;

[0060] Fig.13 for Fig.12 A magnified view of the local structure at D in the middle;

[0061] Fig.14 It is a schematic diagram of the structure of the detection component of the compensation system in the present invention;

[0062] Fig.15 It is a schematic diagram of the detection state of the compensation system in the present invention;

[0063] Fig.16 This is a schematic diagram of the initial position of the trial operation in the present invention;

[0064] Fig.17 During the trial operation of the present invention t 11 Schematic diagram of the moment detection status;

[0065] Fig.18 During the trial operation of the present invention t 12 Schematic diagram of the moment detection status;

[0066] Fig.19 During the trial operation of the present invention t 21 Schematic diagram of the moment detection status;

[0067] Fig. 20 It is a schematic diagram of the detection state of the stop moment during the trial operation of the present invention.

[0068] Figure numerals: 1, milling head housing; 11, fixed seat; 111, fixed plate; 112, second detection block; 113, outer sleeve; 114, rotating seal ring; 115, milling head rivet; 12, rotating seat; 121, inner sleeve; 122, ring seat; 123, first detection block; 13, spindle box; 131, vertical shaft mounting hole; 132, horizontal shaft mounting hole; 133, front end nozzle; 14, front end cover; 15, rear cylinder body; 151, cylinder body; 152, rear end cover; 2, transmission mechanism; 21, drive shaft; 211, tool handle; 212, connecting sleeve; 21 3. Washer; 214. Return spring; 22. Spline shaft; 23. Drive sleeve; 231. First bevel gear; 232. Bearing seat; 24. Output sleeve; 241. Second bevel gear; 3. Indexing mechanism; 31. Upper toothed disc; 32. Lower toothed disc; 33. Limiting ring; 331. Drive key; 34. Snap ring; 341. Keyway; 4. Broach mechanism; 41. Loosening rod; 42. Broach claw; 43. Moving piston; 431. Front half; 432. Rear half; 433. Wall hole; 44. Sealing seat; 441. Connector; 45. First compression spring; 511. First flow channel; 512, second flow channel; 513, third flow channel; 521, fourth flow channel; 522, fifth flow channel; 523, sixth flow channel; 524, seventh flow channel; 531, first annular cavity; 532, second annular cavity; 533, third annular cavity; 541, first sealing cavity; 542, fourth annular cavity; 543, fifth annular cavity; 544, sixth annular cavity; 551, loose head oil circuit and; 552, grasping head oil circuit; 553, second sealing cavity; 554, third sealing cavity; 6, connecting plate; 61, clamping assembly; 611, cylinder body; 611a, guide hole; 6 11b, gripping head cavity; 611c, loosening head cavity; 611d, first slot; 611e, second compression spring; 612, locking piston; 612a, clamping head; 612b, locking cavity; 612c, through hole; 612d, inner chamfer; 612e, steel ball; 612f, second slot; 62, mounting groove; 631, first air supply connector; 632, cutting fluid supply connector; 633, second air supply connector; 634, first oil supply connector; 635, second oil supply connector; 641, first sensor; 642, second sensor; 643, third sensor. DETAILED DESCRIPTION

[0069] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0070] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0071] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0072] like Figures 1 to 14 The automatic indexing right-angle milling head shown is connected to the machine tool ram through a connecting plate 6, and includes a milling head housing 1 and a transmission mechanism 2, an indexing mechanism 3 and a broaching mechanism 4 arranged therein, and a gas-liquid channel is opened on the milling head housing 1. The broaching mechanism 4 clamps the tool, and the machine tool spindle motor provides rotational power to the indexing mechanism 3 and the tool through the transmission mechanism 2.

[0073] The milling head housing 1 includes a fixed seat 11, a rotating seat 12 and a spindle box 13. The spindle box 13 is fixed to the bottom of the rotating seat 12 and is rotatably connected to the fixed seat 11 through the rotating seat 12. The spindle box 13 includes a vertical shaft mounting hole 131 and a horizontal shaft mounting hole 132 that are vertically connected. The milling head housing 1 is fixedly connected to the connecting plate 6 on the machine tool slide through the fixed seat 11. The tool is installed at the spindle box 13. By driving the rotating seat 12 to rotate relative to the fixed seat 11, the spindle box 13 is driven to rotate and the operating angle of the tool is adjusted.

[0074] The transmission mechanism 2 includes a drive shaft 21, a transmission sleeve 23 and an output sleeve 24. The transmission sleeve 23 and the output sleeve 24 are rotatably connected to the vertical shaft mounting hole 131 and the horizontal shaft mounting hole 132 respectively, and are respectively connected through the first bevel teeth 231 and the second bevel teeth 241 thereon. The drive shaft 21 is connected to the transmission sleeve 23 through the spline shaft 22; the rotational kinetic energy is then converted to the tool in the output sleeve 24 through the first bevel teeth 231 and the second bevel teeth 241 vertically arranged on the rotation axis.

[0075] The indexing mechanism 3 includes an upper toothed disc 31 and a lower toothed disc 32, and a limit ring 33 and a snap ring 34 that are mutually engaged. The upper toothed disc 31 and the lower toothed disc 32 are relatively arranged on the connecting disc 6 and the rotating seat 12, the limit ring 33 is fixed to the inner ring of the rotating seat 12, and the snap ring 34 is fixed to the outer ring of the driving shaft 21 corresponding to the limit ring 33. The snap ring 34 is engaged or disengaged with the limit ring 33 by adjusting the vertical position of the driving shaft 21. When the snap ring 34 is engaged with the limit ring 33, the main shaft motor of the machine tool drives the rotating seat 12 to rotate relative to the fixed seat 11 through the driving shaft 21, so as to realize the fully automatic indexing adjustment of the right-angle milling head.

[0076] The broaching mechanism 4 includes a tool loosening rod 41, a tool broaching claw 42 and a moving piston 43. A front end cover 14 and a rear cylinder 15 are respectively provided at both ends of the horizontal shaft mounting hole 132. The tool loosening rod 41 is connected to the tool broaching claw 42 and both are provided in the output shaft sleeve 24. The moving piston 43 is sleeved at the rear end of the output shaft sleeve 24 and is slidably connected to the rear cylinder 15. In the process of controlling the moving piston 43 to move axially along the tool loosening rod 41, the air supply to the tool loosening rod 41 is opened or closed, thereby achieving the loosening or gripping of the tool by the tool broaching claw 42.

[0077] In the present invention, the machine tool slide is automatically connected to the direct milling head through the connecting plate 6. In the right-angle milling head structure, the driving shaft 21 drives the output shaft sleeve 24 to rotate through the transmission shaft sleeve 23 to form a tool transmission chain. The driving shaft 21 drives the rotating seat 12 to rotate relative to the fixed seat 11 through the mutually engaged limit ring 33 and the retaining ring 34 to form a dividing transmission chain; in the tool transmission chain, the vertical downward rotational motion is converted into horizontal rotational motion through a pair of bevel gears with perpendicular axes, providing processing kinetic energy for the tool; in the indexing transmission chain, the driving shaft 21 is controlled and the retaining ring 34 on it is driven to achieve engagement or disengagement with the upper limit ring 33 fixed on the rotating seat 12, so as to realize the connection or disconnection of the right-angle milling head indexing transmission chain, thereby improving the automation level of the indexing right-angle milling head, expanding the processing range of the machine tool and improving the processing efficiency.

[0078] In this embodiment, if Figure 2 and Figure 3 As shown, the fixed seat 11 includes an outer sleeve 113 and a fixed disk 111 arranged at the top thereof, the rotating seat 12 includes an inner sleeve 121 and a ring seat 122 arranged at the top thereof, and the lower toothed disk 32 is arranged on the ring seat 122; the limiting ring 33 and the ring seat 122 are respectively arranged on the inner ring and outer ring of the top of the inner sleeve 121, the outer sleeve 113 is sleeved on the outer ring of the inner sleeve 121 and is rotatably connected thereto, and the outer wall of the ring seat 122 is located between the inner wall and the outer wall of the outer sleeve 113.

[0079] In the milling head housing 1 structure, the spindle box 13 is suspended at the bottom end of the inner sleeve 121 of the rotating seat 12 and fixedly connected by bolts, the outer sleeve 113 is sleeved on the outer ring of the inner sleeve 121 and rotatably connected thereto, the fixed disk 111 is fixed to the top of the outer sleeve 113 by bolts, and the ring seat 122 is fixed to the top of the inner sleeve 121 by bolts, and at the same time is pressed on the inner ring step of the fixed disk 111, thereby realizing axial limitation of the fixed seat 11 without interfering with its circumferential rotation.

[0080] In this embodiment, if Figure 4 As shown, the drive shaft 21 includes a handle 211 and a connecting sleeve 212 sleeved on the bottom end thereof, the connecting sleeve 212 and the transmission sleeve 23 are sleeved on the upper shaft body and the lower shaft body of the spline shaft 22 respectively, a washer 213 is arranged between the connecting sleeve 212 and the transmission sleeve 23, and a reset spring 214 is arranged between the top end of the spline shaft 22 and the bottom end of the handle 211; the transmission sleeve 23 is rotatably connected to the vertical shaft mounting hole 131 through a bearing seat 232 sleeved on its outer ring, the retaining ring 34 is sleeved on the outer ring of the connecting sleeve 212, the limiting ring 33 is located on the side of the retaining ring 34 away from the reset spring 214, and a transmission key 331 and a keyway 341 are relatively arranged on the limiting ring 33 and the retaining ring 34.

[0081] Under the action of the reset spring 214, the driving shaft 21 drives the retaining ring 34 mounted thereon to engage with the limit ring 33. When the machine tool loosens the right-angle milling head and places it on the mounting frame, the top of the vertical shaft mounting hole 131 of the spindle box 13 is closed by the gasket 213, and the top of the annular cavity between the inner sleeve 121 and the driving shaft 21 is closed by the retaining ring 34 and the limit ring 33 that engage with each other, preventing parts debris from falling into the milling head housing 1, ensuring that the transmission mechanism 2 inside the milling head housing 1 is not contaminated, thereby extending the service life of the right-angle milling head.

[0082] In this embodiment, if Figure 6 and Fig. 9 As shown, a milling head rivet 115 is arranged on the top end surface of the fixing seat 11, and the connecting plate 6 is connected to the milling head rivet 115 through a clamping assembly 61 arranged thereon; the clamping assembly 61 is arranged in the mounting groove 62 on the bottom surface of the connecting plate 6, including a fixed cylinder 611 and a locking piston 612 slidably connected thereto, and the clamping head 612a of the locking piston 612 is slidably connected to the guide hole 611a of the cylinder 611, and the clamping head 612a locks the cavity 61 The circumferential side walls of 2b are provided with a plurality of through holes 612c, and steel balls 612e are arranged in the through holes 612c; the guide hole 611a includes a grasping head cavity 611b and a loosening head cavity 611c, the grasping head cavity 611b is arranged close to the locking piston 612 and its inner diameter is adapted to the outer diameter of the clamping head 612a, the inner diameter of the loosening head cavity 611c is larger than the inner diameter of the grasping head cavity 611b, and an inner chamfer 612d is arranged at one end of the through hole 612c close to the locking cavity 612b.

[0083] Four groups of milling head rivets 115 are arranged on the end surface of the fixed disk 111, which are automatically grabbed by the connecting disk 6 on the machine tool slide, and the automatic loosening function is realized by the clamping assembly 61 arranged corresponding to the milling head rivet 115. When the locking piston 612 moves down, the steel balls 612e arranged in the multiple through holes 612c on the circumferential side wall of the locking cavity 612b of its clamping head 612a are dispersed toward the outer circle, so that the clamping assembly 61 remains in a relaxed state. At this time, the loose head cavity 611c provides a discrete space for the steel balls 612e; when the locking piston 612 moves up, the steel balls 612e arranged thereon gather toward the inner circle to realize the tightening of the milling head rivet 115. At this time, the steel balls 612e move from the loose head cavity 611c to the grabbing head cavity 611b, so that their activity space is reduced, and under the action of the inner wall of the grabbing head cavity 611b, they protrude from the inner wall of the locking cavity 612b.

[0084] An inner chamfer 612d is provided at one end of the through hole 612c close to the locking cavity 612b to ensure that the steel ball 612e will not fall off the inner wall of the locking cavity 612b after the milling head rivet 115 is detached.

[0085] See also Figure 7 and Figure 8 As shown, a loose head oil circuit and a 551 grasping head oil circuit 552 are provided on the connection plate 6 corresponding to the clamping assembly 61; a second sealed cavity 553 is formed between the locking piston 612 and the bottom of the mounting groove 62, and a third sealed cavity 554 is formed between the locking piston 612 and the cylinder body 611. The loose head oil circuit and the 551 grasping head oil circuit 552 are connected to the second sealed cavity 553 and the third sealed cavity 554 respectively; a plurality of sealing chambers are evenly opened on the end surface of the cylinder body 611 facing the locking piston 612 along its circumference. A plurality of first slots 611d are provided, and a second slot 612f is provided on the end surface of the locking piston 612 corresponding to the first slot 611d, and a second compression spring 611e is provided in the first slot 611d, and both ends of the second compression spring 611e are respectively abutted against the bottom of the first slot 611d and the second slot 612f; a first oil supply connector 634 and a second oil supply connector 635 are respectively provided at the oil inlets of the loose head oil circuit and the 551 grasping head oil circuit 552.

[0086] The loosening head oil circuit is connected to the hydraulic oil through the first oil supply connector 634 and injected into the second sealing chamber 553, and the locking piston 612 is driven to move downward, thereby realizing the loosening operation of the clamping assembly 61; the grasping head oil circuit 552 is connected to the hydraulic oil through the second oil supply connector 635 and injected into the third sealing chamber 554, and the locking piston 612 is driven to move upward, thereby realizing the tightening operation of the clamping assembly 61.

[0087] A plurality of second compression springs 611e are provided between the cylinder body 611 and the locking piston 612 to provide a vertical upward force for the locking piston 612; when the machine tool suddenly loses power or the hydraulic station fails, the elastic force of the second compression spring 611e can offset the gravity of the right-angle milling head transmitted to the milling head pull pin 115, so that the right-angle milling head is still in a tightened state. The clamping assembly 61 has a self-locking function, which prevents the right-angle milling head from accidentally falling and being damaged, and improves the stability and reliability of the right-angle milling head working time on the basis of ensuring the automation level of the clamping assembly 61 structure.

[0088] In this embodiment, if Figures 10 to 13 As shown, the rear cylinder body 15 includes a cylinder body 151 and a rear end cover 152, the cylinder body 151 is coaxially arranged with the horizontal shaft mounting hole 132, and the rear end cover 152 is fixed to the end of the cylinder body 151 away from the spindle box 13; the movable piston 43 includes a front half 431 and a rear half 432, the front half 431 and the rear half 432 are respectively slidably connected with the inner walls of the cylinder body 151 and the rear end cover 152, a sealing seat 44 is arranged in the rear half 432, and a connecting head 441 is arranged on the sealing seat 44 corresponding to the loosening rod 41, and the front half 431 is abutted against the rear end cover 152 under the drive of the first compression spring 45; the movable piston 43 includes a front half 431 and a rear half 432, and the front half 431 and the rear end cover 152 are respectively slidably connected with the inner walls of the cylinder body 151 and the rear end cover 152, and a sealing seat 44 is arranged in the rear half 432, and a connecting head 441 is arranged on the sealing seat 44 corresponding to the loosening rod 41, and the front half 431 is driven by the first compression spring 45 to abut against the rear end cover 152; The first sealing cavity 541 is formed by cooperating with the inner wall of the cylinder 151 and the end surface of the rear end cover 152, and a fourth annular cavity 542 is formed between the cylinder 151 and the rear end cover 152. The inner wall and the outer wall of the rear half 432 respectively cooperate with the sealing seat 44 and the rear end cover 152 to form a sixth annular cavity 544 and a fifth annular cavity 543; the connector 441 is connected with the sixth annular cavity 544 through the internal passage of the sealing seat 44, the fifth annular cavity 543 is connected with the fourth annular cavity 542 through the internal passage of the rear end cover 152, and the sixth annular cavity 544 can be connected with the fifth annular cavity 543 through the wall hole 433 opened in the rear half 432.

[0089] Furthermore, four rotating seal rings 114 are arranged on the inner wall of the outer sleeve 113 along its axial direction, and cooperate with the outer wall of the inner sleeve 121 to form a first annular cavity 531, a second annular cavity 532 and a third annular cavity 533 in sequence between two adjacent rotating seal rings 114; the first flow channel 511, the second flow channel 512 and the third flow channel 513 opened in the fixed seat 11 are respectively connected to the first annular cavity 531, the second annular cavity 532 and the third annular cavity 533, and the first annular cavity 531 and the second annular cavity 532 are respectively connected to the fourth flow channel 521 and the fourth flow channel 522 formed in the rotating seat 12 and the spindle box 13. The fifth flow channel 522 is connected, and the third annular cavity 533 is respectively connected with the sixth flow channel 523 and the seventh flow channel 524 formed in the rotating seat 12 and the spindle box 13; the first flow channel 511, the second flow channel 512 and the third flow channel 513 are respectively connected to the first air supply connector 631, the cutting fluid supply connector 632 and the second air supply connector 633 on the connecting plate 6, the fourth flow channel 521 is connected to the first sealing cavity 541, the fifth flow channel 522 is connected to the front end nozzle 133 of the spindle box 13, the sixth flow channel 523 guides to the front end cover 14, and the seventh flow channel 524 is connected to the fourth annular cavity 542.

[0090] The right-angle milling head is combined with the reasonable arrangement of water, oil and gas circuits to fully enhance the auxiliary functions of the automatic right-angle milling head. Fig.11 As shown, the cutting fluid supply connector 632 is sequentially delivered to the front end nozzle 133 of the spindle box 13 through the second flow channel 512, the second annular cavity 532, and the fifth flow channel 522. When cutting, the cutting fluid is sprayed from the front end nozzle 133 of the spindle box 13 of the right-angle milling head to cool the tool and the workpiece, and the tool is externally cooled; secondly, as shown in FIG. Fig.10 As shown, the second air supply connector 633 is connected to the third annular cavity 533 through the third flow channel 513, and the third annular cavity 533 guides the airflow to the connection between the front cover 14 and the rear cylinder body 15 and the movable piston 43 through the sixth flow channel 523 and the seventh flow channel 524 respectively. The low-pressure airflow forms an air curtain protection on the outer ring of the output shaft sleeve 24 located at the front cover 14, isolating external polluted air and cooling water mist from entering the front bearing, thereby avoiding contamination of the bearing and achieving the purpose of extending the service life of the bearing.

[0091] Last seen Fig.12 and Fig.13 As shown, the first air supply connector 631 is connected to the first sealing cavity 541 through the first flow channel 511, the first annular cavity 531, and the fourth flow channel 521 in sequence, and after ventilation, the movable piston 43 is driven to move toward the loosening rod 41, so that the connector 441 of the inner sealing ring abuts against one end of the loosening rod 41, and the inner air path thereof is connected; at this time, due to the movement of the movable piston 43, the wall hole 433 opened in the rear half 432 thereof is connected to the wall hole 433 of the rear half 432 thereof. Fig.10The seventh flow channel 524 shown in the figure is connected to supply air to the knife-pulling claw 42 at one end of the knife-loosening rod 41 away from the moving piston 43, thereby loosening the knife-pulling claw 42 to facilitate the knife-unloading operation.

[0092] As a preferred embodiment of the present invention, see Fig.14 and Fig.15 As shown, a first detection block 123 is provided on the ring seat 122 at the outer ring of the lower toothed disc 32, and a second detection block 112 is provided on the fixed disc 111 near the ring seat 122, and the first detection block 123 is configured as an arc plate; a first sensor 641 and a second sensor 642 are provided on the connecting disc 6 corresponding to the first detection block 123, and a third sensor 643 is provided corresponding to the second detection block 112, and the first sensor 641 and the second sensor 642 are provided along the arc direction of the first detection block 123, and the center angle of the first detection block 123 is greater than the center angle between the first sensor 641 and the second sensor 642, and is also greater than the center angle between two adjacent tooth tops on the lower toothed disc 32.

[0093] Based on the above detection component, the present invention further discloses an automatic indexing right angle milling head indexing compensation control method for the above automatic indexing right angle milling head, such as Figures 15 to 20 As shown, the following steps are included:

[0094] The milling head pull pin on the right-angle milling head is clamped by the machine tool control connection disk, and the right-angle milling head is driven to separate from the mounting frame; the drive shaft is switched to the transmission connection with the indexing mechanism, and the rotating seat is adjusted to rotate to the initial position with the fixed seat; according to the preset rotation angle of the rotating seat, the machine tool spindle motor inputs the kinetic energy for the rotating seat to rotate one circle; the actual rotation angle of the rotating seat is monitored by the sensor set on the connection disk, and the system compensation coefficient is set according to the rotation error value; the compensation angle is increased based on the preset rotation angle of the rotating seat combined with the compensation coefficient, and it is used as the target angle of the machine tool drive. In the indexing control process, based on the rotation angle set by the rotating seat, the machine tool system multiplies the compensation coefficient by the set angle to obtain the compensation angle to compensate to the set rotation angle, and uses this as the execution drive value and the corresponding rotation kinetic energy is provided by the machine tool spindle motor to achieve the drive.

[0095] When the connecting plate clamps the right-angle milling head, the third sensor detects the third detection block on the fixed seat, and when the rotating seat rotates to the initial position with the fixed seat, the first sensor and the second sensor on the connecting plate simultaneously detect the first detection block on the rotating seat;

[0096] The indexing error is calculated by the following formula Δθ :

[0097] ;

[0098] The compensation coefficient is calculated by the following formula k:

[0099] k = Δθ / 360 ;

[0100] in, α 1 represents the central angle corresponding to the arc length of the first detection block, α 2 represents the central angle between the first sensor and the second sensor, t 11 Indicates the moment when the end of the first detection block leaves the first sensor, t 12 Indicates the moment when the end of the first detection block leaves the second sensor, t 21 Indicates the moment when the front end of the first detection block triggers the first sensor, t 22 Indicates the moment when the front end of the first detection block triggers the second sensor, t 23 Indicates the moment when the rotating seat stops rotating, and sets the front end and the end of the first detection block according to the rotating direction of the rotating seat.

[0101] During the specific implementation of the above embodiment, the indexing mechanism is controlled by the machine tool spindle motor to rotate the right-angle milling head for a trial rotation, and the compensation coefficient of the indexing error caused by the transmission chain in the right-angle milling head is determined at the same time, so as to facilitate indexing compensation in the subsequent right-angle milling head processing operation and realize precise indexing control.

[0102] Specifically, Fig.16 The test run initial position shown in the figure, at this time, the first detection block covers the monitoring area of ​​the first sensor and the second sensor. During the rotation of the rotating seat, the first detection block will successively leave the monitoring area of ​​the two sensors, such as Fig.17 and Fig.18 As shown, the time when the first detection block moves away from the two sensors is recorded successively t 11 and t 12 , when the central angle between the first sensor and the second sensor is known, the initial angular velocity ω1 of the rotating seat can be calculated, specifically using the following formula:

[0103] ;

[0104] Further, at the end of one cycle of the rotating seat test run, the first detection block will successively pass through and trigger the first sensor and the second sensor, such as Fig.19 and Fig. 20 As shown, the time when the first detection block triggers two sensors in succession is recorded t 21 andt 22 , and the moment when the rotating seat stops t 23 , the final angular velocity ω2 of the rotating seat can be calculated using the following formula:

[0105] ;

[0106] Calculate the center angle between the rear end of the first detection block and the second sensor at the initial position according to the initial angular velocity θ 1 , calculate the center angle between the front end of the first detection block and the second sensor at the stop time according to the final angular velocity θ 2 ; Finally, the angle difference between the initial position of the rotating seat and the stopping moment is calculated by the following formula:

[0107] ;

[0108] ;

[0109] .

[0110] The connection status of the connecting disk and the fixed seat is determined by the third sensor on the connecting disk. The first sensor, the second sensor and the third sensor arranged on the connecting disk will respectively feed back the detection signals to the machine tool compensation system. In the specific implementation process, the first sensor and the second sensor respectively feed back digital signals 1 and 2 when determining whether the first detection block is detected. Similarly, the third sensor respectively feeds back digital signals 1 and 2 when determining whether the second detection block is detected.

[0111] Therefore, the feedback system is in the initial position, t 11 , t 12 , t 21 , t 22 The digital signals received at all times are: (1,1,1), (0,1,1), (0,0,1), (1,0,1), (1,1,1). After conversion to decimal, they are 7, 3, 1, 5, 7. That is, during the trial operation, each detection point corresponds to a feedback signal at each moment, which improves the convenience and reliability of the compensation system detection process and facilitates the compensation system to calculate the compensation coefficient in a timely and accurate manner.

[0112] Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An automatic indexing right-angle milling head connected to a machine tool ram via a connecting plate, characterized in that: It includes a milling head housing and a transmission mechanism, a dividing mechanism and a broaching mechanism arranged therein, and a gas-liquid channel is opened on the milling head housing; The milling head housing includes a fixed seat, a rotating seat and a spindle box, the spindle box is fixed to the bottom of the rotating seat and is rotatably connected to the fixed seat through the rotating seat, and the spindle box includes a vertical shaft mounting hole and a horizontal shaft mounting hole that are vertically connected; The transmission mechanism comprises a drive shaft, a transmission sleeve and an output sleeve, wherein the transmission sleeve and the output sleeve are rotatably connected to the vertical shaft mounting hole and the horizontal shaft mounting hole respectively, and are respectively transmission-connected through the first bevel gear and the second bevel gear thereon, and the drive shaft is transmission-connected to the transmission sleeve through a spline shaft; The indexing mechanism comprises an upper toothed disc and a lower toothed disc, and a limiting ring and a snap ring which are mutually engaged, the upper toothed disc and the lower toothed disc are relatively arranged on the connecting disc and the rotating seat, the limiting ring is fixed on the inner ring of the rotating seat, and the snap ring is fixed on the outer ring of the driving shaft corresponding to the limiting ring; The broaching mechanism comprises a broaching rod, a broaching claw and a movable piston. A front end cover and a rear cylinder are respectively arranged at both ends of the horizontal shaft mounting hole. The broaching rod is connected to the broaching claw and both are arranged in the output shaft sleeve. The movable piston is sleeved at the rear end of the output shaft sleeve and is slidably connected to the rear cylinder. The fixed seat includes an outer sleeve and a fixed disk arranged at the top thereof, the rotating seat includes an inner sleeve and a ring seat arranged at the top thereof, and the lower toothed disk is arranged on the ring seat; The limiting ring and the ring seat are respectively arranged on the inner ring and outer ring of the top end of the inner sleeve, the outer sleeve is sleeved on the outer ring of the inner sleeve and is rotatably connected thereto, and the outer wall of the ring seat is located between the inner wall and the outer wall of the outer sleeve; A first detection block is arranged on the ring seat at the outer ring of the lower gear plate, and a second detection block is arranged on the fixed plate close to the ring seat, wherein the first detection block is arranged as an arc plate; A first sensor and a second sensor are provided on the connecting disk corresponding to the first detection block, and a third sensor is provided corresponding to the second detection block. The first sensor and the second sensor are provided along the arc direction of the first detection block. The center angle of the first detection block is larger than the center angle between the first sensor and the second sensor, and is also larger than the center angle between two adjacent tooth tops on the lower tooth disk.

2. The automatic indexing right-angle milling head according to claim 1, characterized in that: The rear cylinder body comprises a cylinder body and a rear end cover, wherein the cylinder body is coaxially arranged with the horizontal shaft mounting hole, and the rear end cover is fixed to an end of the cylinder body away from the spindle box; The movable piston comprises a front half and a rear half, wherein the front half and the rear half are respectively slidably connected to the inner walls of the cylinder and the rear end cover, a sealing seat is arranged in the rear half, a connector is arranged on the sealing seat corresponding to the knife loosening rod, and the front half is abutted against the rear end cover under the drive of the first compression spring; The movable piston cooperates with the inner wall of the cylinder and the end surface of the rear end cover to form a first sealing cavity, a fourth annular cavity is formed between the cylinder and the rear end cover, and the inner wall and outer wall of the rear half respectively cooperate with the sealing seat and the rear end cover to form a sixth annular cavity and a fifth annular cavity; The connector is connected to the sixth annular cavity through the internal channel of the sealing seat, the fifth annular cavity is connected to the fourth annular cavity through the internal channel of the rear end cover, and the sixth annular cavity can be connected to the fifth annular cavity through a wall hole opened in the rear half.

3. The automatic indexing right-angle milling head according to claim 2, characterized in that: Four rotating sealing rings are arranged on the inner wall of the outer sleeve along its axial direction, and cooperate with the outer wall of the inner sleeve to form a first annular cavity, a second annular cavity and a third annular cavity in sequence between two adjacent rotating sealing rings; The first flow channel, the second flow channel and the third flow channel provided in the fixed seat are respectively connected with the first annular cavity, the second annular cavity and the third annular cavity, the first annular cavity and the second annular cavity are respectively connected with the fourth flow channel and the fifth flow channel formed in the rotating seat and the spindle box, and the third annular cavity is respectively connected with the sixth flow channel and the seventh flow channel formed in the rotating seat and the spindle box; The first flow channel, the second flow channel and the third flow channel are respectively connected to the first air supply connector, the cutting fluid supply connector and the second air supply connector on the connecting plate, the fourth flow channel is connected to the first sealing cavity, the fifth flow channel is connected to the front end nozzle of the spindle box, the sixth flow channel guides to the front end cover, and the seventh flow channel is connected to the fourth annular cavity.

4. The automatic indexing right-angle milling head according to claim 3, characterized in that: The drive shaft comprises a shank and a connecting sleeve sleeved at the bottom end thereof, the connecting sleeve and the transmission sleeve are sleeved on the upper shaft body and the lower shaft body of the spline shaft respectively, a washer is arranged between the connecting sleeve and the transmission sleeve, and a return spring is arranged between the top end of the spline shaft and the bottom end of the shank; The transmission sleeve is rotatably connected to the vertical shaft mounting hole through a bearing seat sleeved on its outer ring, the retaining ring is sleeved on the outer ring of the connecting sleeve, the limiting ring is located on the side of the retaining ring away from the reset spring, and a transmission key and a keyway are relatively arranged on the limiting ring and the retaining ring.

5. The automatic indexing right-angle milling head according to claim 4, characterized in that: A milling head rivet is arranged on the top end surface of the fixing seat, and the connecting plate is connected to the milling head rivet via a clamping assembly arranged thereon; The clamping assembly is arranged in the mounting groove on the bottom surface of the connecting plate, and includes a fixed cylinder body and a locking piston slidably connected thereto, the clamping head of the locking piston is slidably connected to the guide hole of the cylinder body, and a plurality of through holes are arranged on the circumferential side wall of the locking cavity of the clamping head, and steel balls are arranged in the through holes; The guide hole includes a grasping head cavity and a loosening head cavity. The grasping head cavity is arranged close to the locking piston and its inner diameter is adapted to the outer diameter of the clamping head. The inner diameter of the loosening head cavity is larger than the inner diameter of the grasping head cavity. An inner chamfer is arranged at one end of the through hole close to the locking cavity.

6. The automatic indexing right-angle milling head according to claim 5, characterized in that: A loosening head oil circuit and a grasping head oil circuit are arranged on the connection plate corresponding to the clamping assembly; A second sealed cavity is formed between the locking piston and the bottom of the mounting groove, a third sealed cavity is formed between the locking piston and the cylinder body, and the loose head oil circuit and the grasping head oil circuit are respectively connected to the second sealed cavity and the third sealed cavity; A plurality of first slots are evenly formed on the end surface of the cylinder body facing the locking piston along its circumferential direction, a second slot is formed on the end surface of the locking piston corresponding to the first slot, a second compression spring is arranged in the first slot, and two ends of the second compression spring are respectively in contact with the bottom of the first slot and the bottom of the second slot; A first oil supply connector and a second oil supply connector are respectively provided at the oil inlets of the loose head oil circuit and the grasping head oil circuit.

7. An automatic indexing right-angle milling head indexing compensation control method, characterized in that: The automatic indexing right-angle milling head as described in claim 6 above comprises the following steps: The machine tool controls the connecting plate to clamp the milling head pull nail on the right-angle milling head, and drives the right-angle milling head to separate from the mounting frame; Switch the drive shaft to be in transmission connection with the indexing mechanism, and adjust the rotating seat to rotate to the initial position with the fixed seat; According to the preset rotation angle of the rotating seat, the machine tool spindle motor inputs kinetic energy to the rotating seat for one rotation; The actual rotation angle of the rotating seat is monitored by a first sensor and a second sensor arranged on the connecting plate, and a system compensation coefficient is set according to the rotation error value; The compensation angle is increased based on the preset angle of the rotary seat in combination with the compensation coefficient, and is used as the target angle of the machine tool drive.

8. The automatic indexing right angle milling head indexing compensation control method according to claim 7 is characterized in that: When the connecting plate clamps the right-angle milling head, the third sensor detects the second detection block on the fixed seat, and when the rotating seat rotates to the initial position with the fixed seat, the first sensor and the second sensor on the connecting plate simultaneously detect the first detection block on the rotating seat; The indexing error is calculated by the following formula Δθ : ； The compensation coefficient is calculated by the following formula k : k = Δθ / 360 ； in, α 1 represents the central angle corresponding to the arc length of the first detection block, α 2 represents the central angle between the first sensor and the second sensor, t 11 Indicates the moment when the end of the first detection block leaves the first sensor, t 12 Indicates the moment when the end of the first detection block leaves the second sensor, t 21 Indicates the moment when the front end of the first detection block triggers the first sensor, t 22 Indicates the moment when the front end of the first detection block triggers the second sensor, t 23 Indicates the moment when the rotating seat stops rotating, and sets the front end and the end of the first detection block according to the rotating direction of the rotating seat.

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