Main shaft with four-shaft structure and mounting method thereof

Abstract

The invention relates to the technical field of machining centers, and particularly discloses a spindle structure with four shafts, which comprises a four-shaft body, the side end of the four-shaft body is detachably connected with a fourth shaft cover plate, a rotating part is arranged in the four-shaft body, and a first four-shaft spindle box and a second four-shaft spindle box are rotatably arranged at the side end of the four-shaft body. The first four-axis spindle box and the second four-axis spindle box are connected into a whole, and an electric spindle is arranged in the second four-axis spindle box; the rotating part comprises a driving source, and the driving source is in electric signal connection with a controller. According to the main shaft with the four-shaft structure, after a workpiece is clamped at a time, machining of various complex surfaces in the space can be completed, the machining efficiency of the workpiece is improved, and errors generated by multiple times of clamping of the workpiece are eliminated. By means of application and popularization of the vertical (horizontal) type machining center with the main shaft with the fourth shaft functional structure, the structural rigidity is good, and large cutting force can be borne during machining.

Description

Technical Field

[0001] The present invention relates to the technical field of machining centers, and particularly relates to a spindle with a four-axis structure and an installation method thereof. Background Art

[0002] The structure with a spindle having a four-axis function is commonly used in vertical machining centers or horizontal machining centers, and is the core power structure of vertical (horizontal) machining centers. The structure with a spindle having a four-axis function directly affects the performance, motion accuracy and the quality of machined workpieces of the machining center. Therefore, the structural design of the spindle with a four-axis function is very important.

[0003] Currently, a vertical machining center (three-axis machine) usually has the worktable moving in the x and y axial directions in the horizontal plane, and the spindle moving in the z-axis perpendicular to the worktable (ground). This type of machine tool is usually used for machining small and medium-sized parts, and can only machine the top surface of the parts, and there are certain limitations in machining the side surfaces of the parts. A horizontal machining center (generally a four-axis machine) usually has an inverted T-shaped structure, with the spindle parallel to the ground, moving in the x and y axial directions in the vertical plane, and the worktable (horizontal turntable) moving in the z-axis along the spindle direction in the horizontal plane. This type of machine tool is usually used for machining medium-sized and medium-large parts. With the horizontal turntable, the four side surfaces of the parts can be machined, and there are certain limitations in machining the top surface of the parts.

[0004] For some common small and medium-sized parts on the market currently, most of them require six-sided machining. When using a vertical or horizontal machining center to machine this type of parts, multiple clamping operations are required to complete the machining of the six surfaces. For some parts, even alternating use of a vertical machining center and a horizontal machining center is required to complete the six-sided machining. Such multiple clamping operations and alternating use of multiple machining machine tools result in long machining time, reduced machining accuracy, long clamping time and high machining cost of the parts. Summary of the Invention

[0005] The purpose of the present invention is to provide a spindle with a four-axis structure to solve the above-mentioned deficiencies in the prior art.

[0006] To achieve the above purpose, the present invention provides the following technical solutions:

[0007] A spindle with a four-axis structure includes a four-axis body. A fourth-axis cover plate is detachably connected to the side end of the four-axis body. A rotating component is arranged inside the four-axis body. A first four-axis spindle box and a second four-axis spindle box are rotatably arranged at the side end of the four-axis body. The first four-axis spindle box and the second four-axis spindle box are integrated. An electric spindle is arranged inside the second four-axis spindle box. The rotating component includes a drive source, and the drive source is electrically connected to a controller. The rotating component is responsible for driving the electric spindle to rotate and tilt so that it is perpendicular to the surface to be machined.

[0008] Further, the driving source is a four-axis servo motor. A transmission component is provided at the end of the four-axis servo motor. The four-axis servo motor is connected to a transmission core shaft through the transmission component. A coupling is fixedly connected to the outer end of the transmission core shaft. The outer end of the coupling is fixedly connected to a transmission flange. The transmission flange is fixedly connected to the second four-axis main shaft box, so that the power of the four-axis servo motor is transmitted to the second four-axis main shaft box.

[0009] Further, a working cavity is provided inside the four-axis body, and the transmission core shaft and the transmission flange are adapted to the working cavity.

[0010] Further, the transmission component includes a speed reduction mechanism. A second transmission pulley is fixedly connected to the side end of the speed reduction mechanism. A driving shaft is fixedly connected to the output end of the four-axis servo motor. A first transmission pulley is sleeved on the outer end of the driving shaft. A synchronous belt is arranged outside the first transmission pulley. The first transmission pulley and the second transmission pulley are both in transmission connection with the synchronous belt.

[0011] Further, the transmission core shaft is connected to the speed reduction mechanism by bolts. An air brake component is provided at the outer end of the transmission core shaft. The air brake component includes an air source. The air source is electrically connected to the controller. The air brake component is responsible for braking the transmission core shaft to brake it at a set position.

[0012] Further, an oil seal is fixedly connected to the inner side of the four-axis body. The inner side of the oil seal is rotationally connected to the transmission flange. The outer side of the oil seal is rotationally connected to the inner side of the second four-axis main shaft box.

[0013] Further, a bearing is provided between the transmission flange and the working cavity. The outer ring of the bearing is connected to the four-axis body by bolts. The inner ring of the bearing is connected to the transmission flange by bolts.

[0014] An installation method for a main shaft with a four-axis structure is applied to the above-mentioned main shaft with a four-axis structure and includes the following steps.

[0015] First, place the four-axis body on the platform, install the speed reduction mechanism on the installation hole inside the four-axis body, install the second transmission pulley on the positioning stop of the speed reduction mechanism, and install the transmission core shaft on the output shaft installation surface of the speed reduction mechanism.

[0016] Install the air brake on the air brake position of the four-axis body and check to ensure that the brake is enclosed.

[0017] Install the bearing on the bearing installation surface of the four-axis body, install the transmission flange into the inner hole and end surface of the bearing, and symmetrically tighten the locking bolts in sequence; install the coupling between the hole on the transmission flange and the outer circle of the transmission core shaft, and symmetrically tighten the bolts on the coupling in sequence to integrate the transmission flange and the transmission core shaft, and install the oil seal between the four-axis body and the transmission flange.

[0018] Install the first drive pulley onto the output shaft of the four-axis servo motor, install the four-axis motor mounting plate onto the four-axis body, and tighten with bolts; put the synchronous belt on the first drive pulley; install the four-axis servo motor and the first drive pulley onto the four-axis motor mounting plate, and at the same time put the synchronous belt on the second drive pulley, and tighten the locking bolts of the four-axis servo motor.

[0019] Install the electric spindle into the hole of the spindle box, install the spindle box and the electric spindle onto the transmission flange, and tighten with bolts.

[0020] General inspection: Stand the assembled four-axis structure upright against the marble hexahedron, and install a standard mandrel onto the electric spindle.

[0021] In the above technical solution, the beneficial effects of the spindle with four-axis structure provided by the present invention are as follows:

[0022] The purpose is to expand the usage functions of vertical (horizontal) machining centers. When the fourth axis participates in the linkage, it can ensure the machining accuracy of parts, effectively improve the ability to absorb the vibration generated during tool cutting, and well prevent the oscillation during the start and stop of the fourth axis. Therefore, it is used on high-speed, high-precision and high-rigidity machine tools. It can complete the machining of various complex surfaces in space after the workpiece is clamped once, improve the machining efficiency of the workpiece and eliminate the errors generated by multiple clamping of the workpiece. The application of the vertical (horizontal) machining center with the function structure of the spindle with the fourth axis is popularized, and the structural stiffness is very good, and it can withstand a large cutting force during machining.

[0023] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not intended to limit the present disclosure.

[0024] This application document provides an overview of various implementations or examples of the technology described in the present disclosure, and is not a full disclosure of the entire scope or all features of the disclosed technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0026] Figure 1 It is a schematic diagram of the overall external structure provided by Embodiment 1 of the present invention;

[0027] Figure 2 It is a schematic diagram of the internal structure of the first four-axis spindle box and the second four-axis spindle box provided by Embodiment 1 of the present invention;

[0028] Figure 3Schematic partial cross-sectional structure diagram of the rotating component provided in Embodiment 1 of the present invention;

[0029] Figure 4 Schematic cross-sectional structure diagram of the four-axis body provided in Embodiment 1 of the present invention;

[0030] Figure 5 Schematic overall structure diagram of the four-axis body removed provided in Embodiment 1 of the present invention;

[0031] Figure 6 Schematic structure diagram of the transmission flange provided in Embodiment 1 of the present invention;

[0032] Figure 7 Schematic cross-sectional structure diagram of the interior of the four-axis body viewed from above provided in Embodiment 1 of the present invention;

[0033] Figure 8 Schematic structure diagram of the brake front-mounted component provided in Embodiment 2 of the present invention;

[0034] Figure 9 Schematic cross-sectional structure diagram of the telescopic member provided in Embodiment 2 of the present invention.

[0035] Explanation of reference numerals:

[0036] 1. Four-axis body; 2. Fourth-axis cover plate; 3. Rotating component; 31. Driving source; 32. Transmission core shaft; 33. Coupling; 34. Transmission flange; 35. Working cavity; 4. First four-axis main spindle box; 5. Second four-axis main spindle box; 6. Transmission component; 61. Reduction mechanism; 62. Second belt pulley; 63. Synchronous belt; 7. Air brake component; 71. Air duct; 72. Sealing cover plate; 73. Air storage disc; 74. Air brake disc; 8. Brake front-mounted component; 81. Friction block; 82. First movable groove; 83. Elastic member; 84. Telescopic member; 841. Hollow block; 842. T-shaped block; 843. Magnetic sheet; 844. Reset member; 9. Oil seal; 10. Bearing; 11. Electric spindle. Detailed implementation manners

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present disclosure.

[0038] Embodiment 1, please refer to Figures 1-7, A spindle with a four-axis structure, including a four-axis body 1. A fourth-axis cover plate 2 is detachably connected to the side end of the four-axis body 1. A rotating component 3 is arranged inside the four-axis body 1. A first four-axis main spindle box 4 and a second four-axis main spindle box 5 are rotatably arranged at the side end of the four-axis body 1. The first four-axis main spindle box 4 and the second four-axis main spindle box 5 are integrated. An electric spindle 11 is arranged inside the second four-axis main spindle box 5; The rotating component 3 includes a driving source 31. The driving source 31 is electrically connected to a controller. The rotating component 3 is responsible for driving the electric spindle 11 to rotate and tilt so that it is perpendicular to the surface to be machined.

[0039] The fourth axis is a rotating axis. When machining a polyhedron, it is necessary to rotate the electric spindle 11 to the corresponding machining surface. Through the rotating component 3, the first four-axis main spindle box 4 and the second four-axis main spindle box 5 can be rotated to the corresponding angles, and the machining of the polyhedron can be completed without multiple clamping.

[0040] The structure of the spindle with the fourth-axis function is assembled on a common vertical (horizontal) machining center. Through combination with a vertical machining center, four-axis linkage is achieved, and through combination with a horizontal machining center, five-axis linkage is achieved; Through the above combination, after the workpiece is clamped once, the machining of various complex shaped surfaces in space can be completed, improving the machining efficiency of the workpiece and eliminating the errors generated by multiple clamping of the workpiece.

[0041] In a further embodiment provided by the present invention, the driving source 31 is a four-axis servo motor. A transmission component 6 is arranged at the end of the four-axis servo motor. The four-axis servo motor is connected to a transmission core shaft 32 through the transmission component 6. A coupling 33 is fixedly connected to the outer end of the transmission core shaft 32. A transmission flange 34 is fixedly connected to the outer end of the coupling 33. The transmission flange 34 is fixedly connected to the second four-axis main spindle box 5, so that the power of the four-axis servo motor is transmitted to the second four-axis main spindle box 5.

[0042] In a further embodiment provided by the present invention, a working cavity 35 is opened inside the four-axis body 1. The transmission core shaft 32 and the transmission flange 34 are adapted to the working cavity 35.

[0043] In a further embodiment provided by the present invention, the transmission component 6 includes a reduction mechanism 61. A second transmission pulley 62 is fixedly connected to the side end of the reduction mechanism 61. The output end of the four-axis servo motor is fixedly connected to a driving shaft. A first transmission pulley is sleeved on the outer end of the driving shaft. A synchronous belt 63 is arranged outside the first transmission pulley. The first transmission pulley and the second transmission pulley 62 are both in transmission connection with the synchronous belt 63.

[0044] Through the controller, the four-axis servo motor is started. The four-axis servo motor drives the first pulley to rotate. The first pulley drives the synchronous belt 63 to move. The synchronous belt 63 drives the second pulley 62 to rotate, enabling the reduction mechanism 61 to rotate. The reduction mechanism 61 drives the transmission core shaft 32 to rotate. The transmission core shaft 32 drives the transmission flange 34 through the coupling 33. The transmission flange 34 is connected to the second four-axis main spindle box 5, and finally enables the second four-axis main spindle box 5 to rotate to the set position.

[0045] The synchronous belt 63 and the pulleys adopt synchronous toothed belts and pulleys. Through the transmission of synchronous toothed belts and pulleys, the vibration generated by the operation of the servo motor is effectively blocked. Since a reducer is equipped, the output torque is increased several times, strengthening the rigidity of the four axes. Moreover, the coaxial arrangement completely solves the problems of action delay or even crawling during startup and continuous movement of the main spindle with the fourth axis structure, changes the force on the servo motor, and improves the service life and safety factor of the main spindle with the fourth axis functional structure.

[0046] In the further embodiment provided by the present invention, the transmission core shaft 32 is connected to the reduction mechanism 61 by bolts. A air brake component 7 is provided at the outer end of the transmission core shaft 32 driven by the transmission core shaft 32. The air brake component 7 includes a gas source, and an electrical signal connection is provided between the gas source and the controller. The air brake component 7 is responsible for braking the transmission core shaft 32 to brake it at the set position.

[0047] The air brake component 7 includes an air storage disc 73 and an air brake disc 74 provided outside the air storage disc 73. The air brake disc 74 brakes the transmission core shaft 32 through annular clamping.

[0048] An air passage 71 is opened on the four-axis body 1. A sealing cover plate 72 is installed outside the four-axis body 1. An air inlet hole is opened on the sealing cover plate 72. The gas source can be an air pump. The output end of the air pump is connected to the air inlet hole of the sealing cover plate 72. The air brake component 7 includes a piston rod and an air brake disc 74. The air brake disc 74 has an arc-shaped structure and is located outside the transmission core shaft 32. When braking is required, the air pump drives the air brake disc 74 to move through air pressure, approach and squeeze the transmission core shaft 32 to achieve the purpose of braking.

[0049] In the further embodiment provided by the present invention, an oil seal 9 is fixedly connected to the inner side of the four-axis body 1. The inner side of the oil seal 9 is rotationally connected to the transmission flange 34, and the outer side of the oil seal 9 is rotationally connected to the inner side of the second four-axis main spindle box 5.

[0050] The oil seal 9 not only realizes the seal between the four-axis body 1 and the second four-axis main spindle box 5, but also reduces the friction during rotation.

[0051] In a further embodiment provided by the present invention, a bearing 10 is provided between the drive flange 34 and the working chamber 35. The outer ring of the bearing 10 is connected to the four-axis body 1 by bolts, and the inner ring of the bearing 10 is connected to the drive flange 34 by bolts.

[0052] An installation method for a main shaft with a four-axis structure, which is applied to the above-mentioned main shaft with a four-axis structure, includes the following steps;

[0053] In the present invention, first place the four-axis body 1 on the platform, install the reduction mechanism 61 on the mounting hole inside the four-axis body 1, and use a feeler gauge to check whether there is a gap on the mounting surface of the reduction mechanism 61. If there is a gap, it needs to be repaired. Insert the locking bolts and gradually tighten them diagonally in turn. Install the drive pulley 1 on the positioning stop of the reduction mechanism 61 and gradually tighten the locking bolts diagonally in turn. Rotate the rotating shaft of the reduction mechanism 61 and check the radial runout of the first drive pulley. The required radial runout is: 0.01 mm;

[0054] Install the drive core shaft 32 on the output shaft mounting surface of the reduction mechanism 61, insert the bolts and tighten them symmetrically in turn. Check: Rotate the rotating shaft of the reduction mechanism 61 and check the coaxiality between the drive core shaft 32 and the output shaft of the reduction mechanism 61. The required coaxiality ≤ 0.02 mm;

[0055] Install the air brake device at the air brake position of the four-axis body 1, insert the bolts and tighten them symmetrically in turn. Check: Use a 0.02 mm feeler gauge to check the gap between the inner hole of the air brake and the drive core shaft 32. It is required that the gap is uniform throughout the circumference to ensure that the brake ring is held;

[0056] Install the bearing 10 on the bearing 10 mounting surface of the four-axis body 1, check the coaxiality between the inner hole of the bearing 10 and the drive core shaft 32. The required coaxiality ≤ 0.02 mm; Install the drive flange 34 into the inner hole and end face of the bearing 10 and tighten the locking bolts symmetrically in turn; Install the coupling 33 between the hole on the drive flange 34 and the outer circle of the drive core shaft 32 and tighten the bolts on the coupling 33 symmetrically in turn to integrate the drive flange 34 and the drive core shaft 32; Check: Rotate the first drive pulley to drive the output shaft of the reduction mechanism 61, the coupling 33, the bearing 10 and the drive flange 34 to rotate, and detect the coaxiality and end face runout of the hole on the drive flange 34. The required coaxiality and end face runout are both ≤ 0.02 mm; Install the oil seal 9 between the four-axis body 1 and the drive flange 34.

[0057] Install the second drive pulley 62 onto the output shaft of the four-axis servo motor and secure it firmly with radial bolts. Check the radial runout of the drive pulley 2, with the requirement of radial runout: 0.01 mm. Install the four-axis motor mounting plate onto the four-axis body 1 and tighten it with bolts. Install the tensioning block onto the four-axis body 1 and tighten it with bolts. Slip the synchronous belt 63 over the second drive pulley 62. Install the four-axis servo motor and the second drive pulley 62 onto the four-axis motor mounting plate, and at the same time slip the synchronous belt 63 over the second drive pulley 62. Tighten the locking bolts of the four-axis servo motor. Tighten the synchronous belt 63 through the tensioning block.

[0058] Install the electric spindle 11 into the hole of the spindle box. Use a 0.02 mm feeler gauge to check whether there is any gap between the electric spindle 11 and the joint surface of the spindle box, with the requirement that the 0.02 mm feeler gauge cannot be inserted. Install the spindle box and the electric spindle 11 onto the transmission flange 34 and tighten them with bolts. Overall inspection: Stand up the assembled four-axis structure (the electric spindle 11 is in a horizontal position) and lean it against the marble hexahedron. Install a standard mandrel onto the electric spindle 11. With the upper plane of the marble hexahedron as the reference, use a dial indicator to calibrate the upper generatrix of the standard mandrel. The error of the upper generatrix of the standard mandrel within 250 mm is 0 - 0. Swing the spindle box, the electric spindle 11, and the standard mandrel, and measure the values of the generatrix of the standard mandrel at each position on the upper plane of the marble hexahedron. The requirement is that the perpendicularity between the rotation axis and the axis of the electric spindle 11 ≤ 0.02 mm. Install the fourth-axis cover plate 2 onto the four-axis body 1; install the four-axis spindle box cover onto the spindle box.

[0059] The functional structure of the spindle driving the fourth axis designed in this way has good rigidity, can absorb the assembly errors of the installation surface, and meets the requirement of high precision. It expands the performance of the vertical (horizontal) machining center. The concepts of high speed, high load, high rigidity, and high precision have become the development trend of future industrial product processing.

[0060] Example 2, please refer to Figures 8-9 , The difference between Example 2 and Example 1 is that the following technical features are added to the main body of a spindle-driven four-axis structure solution:

[0061] A braking pre-component is arranged outside the transmission mandrel. The braking pre-component includes that a plurality of first movable grooves 82 and second movable grooves are formed in the outer wall of the transmission mandrel 32. The plurality of first movable grooves 82 and second movable grooves are evenly distributed in a ring shape. A telescopic member 84 is slidably connected in the second movable groove. Elastic members 83 are fixedly connected between the telescopic member 84 and the second movable groove respectively. A friction block 81 is fixedly connected to the end of the telescopic member 84. The friction block 81 is initially located in the first movable groove 82.

[0062] The friction block 81 is made of the same material as the transmission mandrel 32. When the rotation speed of the transmission mandrel 32 is too fast, under the action of centrifugal force, the friction block 81 first moves outward and rubs against the air brake disc 74 during the rotation process. Under the action of friction force, the telescopic member 84 starts to slide, so that the friction block 81 is always in contact with the air brake disc 74 before braking; when braking starts, the friction block 81 can be immediately pressed for braking.

[0063] Specifically, the telescopic member 84 includes a hollow block 841 and a T-shaped block 842. The hollow block 841 is made of iron. A magnetic sheet 843 is fixedly connected to the bottom of the T-shaped block 842. The magnetic sheet 843 is initially attached to the hollow block 841. A reset member 844 is also fixedly connected between the hollow block 841 and the T-shaped block 842. The reset member 844 can be a reset spring. When the transmission mandrel 32 stops rotating, after losing the extrusion, the friction force is greatly reduced, so that the telescopic member 84 slides to the initial position under the action of the elastic member 83. The friction block 81 returns to the second moving groove under the action of the reset member 844 after losing the block, and stays in the second moving groove all the time when the acceleration is small, that is, when making a small-angle rotation, the friction block 81 will not come out.

[0064] When the inclination angle of the large-angle motor shaft is involved, in order to quickly respond to the signal, compared with the small-angle steering, it is necessary to rotate to the corresponding angle more quickly. In order to shorten the effective braking time of the air brake, the centrifugal inertia effect can be utilized to drive the friction block 81 outside the transmission mandrel 32 outward and rub against the air brake disc 74 to disengage from the original slot, so that it cannot return to its position during deceleration. When approaching the braking position, decelerate and drive the air brake at the same time. At this time, the air brake disc 74 is already in contact with the friction block 81, reducing the gap between the two, so that the braking time can be greatly shortened; thus, it not only ensures that the rotation time exceeding 90 degrees is also almost the same as the rotation time and braking time within 90 degrees, but also the braking effect can reach the ideal effect.

[0065] Only some exemplary embodiments of the present invention are described by way of illustration above. Undoubtedly, for those of ordinary skill in the art, without departing from the spirit and scope of the present invention, the described embodiments can be modified in various different ways. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the protection scope of the claims of the present invention.

Claims

1. A main shaft with a four-axis structure, including a four-axis body, and a fourth-axis cover plate is detachably connected to the side end of the four-axis body, characterized in that: The four-axis body is provided with a rotating component, and the side end of the four-axis body is rotatably provided with a first four-axis spindle box and a second four-axis spindle box, the first four-axis spindle box and the second four-axis spindle box are connected as a whole, and the second four-axis spindle box is provided with an electric spindle; The rotating component includes a driving source, the driving source electrical signal is connected to a controller, and the rotating component is responsible for driving the electric spindle to rotate and tilt so that it is perpendicular to the surface to be processed.

2. The spindle with a four-axis structure according to claim 1, characterized in that, The driving source is a four-axis servo motor, a transmission component is provided at the end of the four-axis servo motor, the four-axis servo motor is connected to a transmission core shaft through the transmission component, the outer end of the transmission core shaft is fixedly connected to a coupling, the outer end of the coupling is fixedly connected to a transmission flange, the transmission flange is fixedly connected to the second four-axis spindle box, so that the power of the four-axis servo motor is transmitted to the second four-axis spindle box.

3. The spindle with a four-axis structure according to claim 2, characterized in that, A working chamber is provided inside the quadriaxial body, and the transmission core shaft and the transmission flange are adapted to the working chamber.

4. The spindle belt four-axis structure according to claim 3, wherein The transmission component includes a reduction mechanism, a second transmission pulley is fixedly connected to the side end of the reduction mechanism, a driving shaft is fixedly connected to the output end of the four-axis servo motor, a first transmission pulley is sleeved on the outer end of the driving shaft, a synchronous belt is arranged on the outside of the first transmission pulley, and the first transmission pulley and the second transmission pulley are both connected to the synchronous belt transmission.

5. The spindle with a four-axis structure according to claim 4, characterized in that The transmission core shaft is connected to the reduction mechanism by bolts. The transmission core shaft drives an air brake component to be arranged at the outer end. The air brake component includes an air source. The air source is connected to the controller by electrical signals. The air brake component is responsible for braking the transmission core shaft to a set position.

6. The spindle with a four-axis structure according to claim 5, characterized in that, An oil seal is fixedly connected to the inner side of the four-axis body, the inner side of the oil seal is rotatably connected to the transmission flange, and the outer side of the oil seal is rotatably connected to the inner side of the second four-axis main shaft box.

7. The spindle belt four-axis structure according to claim 6, wherein A bearing is arranged between the transmission flange and the working chamber, the outer ring of the bearing is connected to the quadriaxial body through bolts, and the inner ring of the bearing is connected to the transmission flange through bolts.

8. An installation method for a main shaft with a four-axis structure, applied to the main shaft with a four-axis structure described in claims 1-7, characterized in that, The following steps are included: First, place the quad-axis on the platform, install the reduction mechanism on the mounting hole in the quad-axis, install the second transmission pulley on the positioning stop of the reduction mechanism, and install the transmission mandrel on the mounting surface of the reduction mechanism output shaft; Put the air brake device on the quadcopter's air brake position and check to make sure the brake is in the loop; Install the bearing on the bearing mounting surface of the four-axis body, install the transmission flange into the inner hole and end surface of the bearing, and tighten the locking bolts symmetrically in sequence; install the coupling between the upper hole of the transmission flange and the outer circle of the transmission core shaft, and tighten the bolts on the coupling symmetrically in sequence to make the transmission flange and the transmission core shaft become one, and seal the oil seal between the four-axis body and the transmission flange; Install the first transmission pulley on the output shaft of the four-axis servo motor, install the four-axis motor mounting plate on the four-axis body, and tighten it with bolts; put the synchronous belt on the first transmission pulley; install the four-axis servo motor and the first transmission pulley on the four-axis motor mounting plate, and put the synchronous belt on the second transmission pulley at the same time, and tighten the locking bolts of the four-axis servo motor; Install the electric spindle into the spindle box hole, install the spindle box and the electric spindle onto the transmission flange, and tighten with bolts; General inspection: Stand up the assembled four-axis structure and lean it against the marble hexahedron, and install a standard mandrel on the electric spindle.

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