Five-axis linkage direct-drive two-axis double-arm swing head

Abstract

The invention discloses a five-axis linkage direct-drive two-axis double-arm swing head, and belongs to the field of machine tools. A-axis bodies of two A-axis assemblies are located on the same straight line, a C-axis body is rotationally installed on a C-axis second shell, a pipe joint is communicated with a channel in an extension sleeve, and a plurality of first connecting columns are arranged; the two ends of each first connecting column are fixed to the C-axis second shell and the extending sleeve respectively, a first opening is formed between the first connecting columns, the two ends of each second connecting column are fixedly connected with the C-axis body and the matching shaft respectively, the second connecting columns are located in the first openings, second openings are formed between the second connecting columns, and the pipeline is located in the second openings. One end of the pipeline is connected with the extending hole of the matching shaft, the other end of the pipeline extends into the C-shaft body, during working, the external pipeline cannot rotate, the internal pipeline rotates along with the rotating assembly and does not twist, and damage and leakage caused by friction are avoided. When the pipeline needs to be maintained, the pipeline is directly maintained through the opening, and the swing head does not need to be completely disassembled.

Description

Technical Field

[0001] The present invention relates to the field of machine tools, and particularly to a five-axis linkage direct drive two-axis double-arm swing head. Background Art

[0002] The five-axis milling head includes a C-axis and an A-axis, the C-axis is perpendicular to the A-axis, and the driving electric spindle rotates in different directions for machining. When the five-axis milling head works, in order to improve the clamping force of the C-axis and the A-axis, hydraulic or pneumatic drive is adopted. Therefore, a large number of pipelines and cables are contained inside the five-axis milling head. These pipelines and cables need to be connected from the machine tool to the A-axis of the milling head. The C-axis stroke of the milling head is generally 720°, and these connected cables will also rotate 720 degrees. During the machine tool design process, this section of pipeline and cable will be reserved long enough as much as possible to make the pipeline and cable have sufficient toughness, but it is easy to get entangled during use. During the production process, generally, the cable can be selected to be soft enough, while the pipeline is more difficult. The pipeline generally has to bear a large pressure, so the material is generally hard. After the pipeline rotates repeatedly for a long time, it is extremely easy to fatigue and cause leakage.

[0003] In addition, when the pipeline of the milling head is damaged, the milling head needs to be disassembled and the pipeline needs to be removed from the milling head to be repaired, resulting in low repair efficiency. Summary of the Invention

[0004] In order to overcome the deficiencies of the prior art, one of the purposes of the present invention is to provide a five-axis linkage direct drive two-axis double-arm swing head with pipelines not easily damaged and high repair efficiency.

[0005] One of the purposes of the present invention is realized by adopting the following technical solutions:

[0006] A five-axis linkage direct-drive two-axis double-arm swing head, comprising an electric spindle, an A-axis structure and a C-axis structure, wherein the A-axis structure is mounted on the C-axis structure, the electric spindle is mounted on the A-axis structure, the axis of the A-axis structure is perpendicular to the axis of the C-axis structure, the A-axis structure comprises two A-axis assemblies, the two A-axis assemblies are respectively located on both sides of the electric spindle, each of the A-axis assemblies comprises an A-axis body and an A-axis drive, the A-axis drive comprises an A-axis stator and an A-axis rotor, the A-axis rotor is located inside the A-axis stator and can rotate relative to the A-axis stator, the A-axis rotor is transmission-connected to the A-axis body to drive the A-axis body to rotate, the A-axis bodies of the two A-axis assemblies are located on the same straight line, the C-axis structure comprises a first C-axis shell, a second C-axis shell, a rotating structure and a C-axis body, the first C-axis shell is used to mount the A-axis structure, the rotating structure is rotationally connected to the top of the first C-axis shell, the second C-axis shell is fixed to the rotating structure, and the C-axis body is rotationally mounted on the second C-axis shell The five-axis linkage direct-drive two-axis double-arm swing head also includes a pipeline structure, which includes a fixed component, a rotating component and a pipeline. The fixed component includes a first connecting column, an extension sleeve and a pipe joint fixed to the extension sleeve, and the pipe joint is connected to the channel inside the extension sleeve. The number of the first connecting columns is multiple, and the two ends of each of the first connecting columns are respectively fixed to the second shell of the C-axis and the extension sleeve, and a first opening is formed between the first connecting columns. The rotating component includes a second connecting column and a matching shaft. The number of the second connecting columns is multiple, and the two ends of each of the second connecting columns are respectively fixedly connected to the C-axis body and the matching shaft. The second connecting column is located in the first opening, and a second opening is formed between the second connecting columns. The matching shaft is provided with an annular groove and an extension hole connected to the annular groove, and the annular groove is connected to the channel of the extension sleeve. The pipeline is located in the second opening, and one end of the pipeline is connected to the extension hole of the matching shaft, and the other end extends to the inside of the C-axis body.

[0007] Furthermore, the pipeline, the first opening and the second opening are located at the same horizontal height.

[0008] Furthermore, the first connecting column and the second connecting column are staggered in the circumferential direction.

[0009] Furthermore, the annular groove is arranged along the circumferential direction of the mating shaft, and the extension hole is arranged along the axial direction of the mating shaft.

[0010] Furthermore, there are multiple numbers of the pipe joint, the annular groove and the extension hole, the multiple annular grooves are arranged along the axis of the mating shaft, and the multiple extension holes have different lengths and are connected to the annular grooves at different heights.

[0011] Further, the pipeline structure further includes a cable access component, which includes an access sleeve, an end cap, and a cable connector. The access sleeve is fixed to the end of the mating shaft, the end cap is fixed to the end of the access sleeve, and the cable connector is fixed to the end cap.

[0012] Further, the A-axis structure further includes an angle detection component, which includes an encoder shaft, a circular grating, an encoder housing, and an end cap. The encoder shaft passes through the A-axis main body and is fixed to the first housing of the C-axis. The circular grating is fixed to the encoder shaft. The end cap is fixed to the end of the A-axis stator, and the encoder housing is fixed to the end cap.

[0013] Further, the A-axis assembly further includes an A-axis brake component, which includes an A-axis moving brake pad, an A-axis piston, and an A-axis fixed brake pad. The A-axis fixed brake pad is fixed to the A-axis piston, and the A-axis moving brake pad is fixed to the first housing of the C-axis. The A-axis piston drives the A-axis fixed brake pad to abut against the A-axis moving brake pad, preventing the electric spindle from rotating.

[0014] Further, the A-axis brake component further includes an A-axis brake disc, an A-axis guide pin, and an A-axis elastic member. The A-axis moving brake pad is fixed to the first housing of the C-axis through the A-axis brake disc. The A-axis guide pin is slidably connected to the A-axis piston. The A-axis elastic member is sleeved on the A-axis guide pin, and both ends of the A-axis elastic member abut against the A-axis brake disc and the A-axis piston respectively.

[0015] Further, the mating shaft is coaxially arranged with the C-axis main body.

[0016] Compared with the prior art, the five-axis linkage direct drive two-axis double-arm swing head of the present invention has the following advantages:

[0017] (1) Adopting a structure with two coaxial A-axis assemblies and double-motor drive for the A-axis, the torque is greater.

[0018] (2) The A-axis structure and the C-axis structure adopt a torque motor direct drive composed of a stator and a rotor, with no backlash and high response speed.

[0019] (3) The external pipeline of the machine tool is connected to the connector, and the pipeline will not rotate during operation. The pipeline inside the machine tool is installed on the rotating component and rotates with the rotating component without torsion itself, thus avoiding fatigue fracture and leakage of the pipeline caused by movement torsion and damage and leakage caused by friction.

[0020] (4) A first opening is formed between the first connecting columns. The second connecting columns are located within the first opening, and a second opening is formed between the second connecting columns. The pipeline is located within the second opening. One end of the pipeline is connected to the extension hole of the mating shaft, and the other end extends into the interior of the C-axis main body. When the pipeline needs to be repaired, it can be directly repaired through the opening without completely disassembling the swing head. Description of the Drawings

[0021] Figure 1 is a perspective view of the five-axis linkage direct drive two-axis double-arm swing head of the present invention;

[0022] Figure 2 is Figure 1 a side view of the five-axis linkage direct drive two-axis double-arm swing head of

[0023] Figure 3 is Figure 1 a top view of the five-axis linkage direct drive two-axis double-arm swing head of

[0024] Figure 4 is Figure 1 a sectional view of the five-axis linkage direct drive two-axis double-arm swing head of

[0025] Figure 5 is Figure 4 an enlarged view of part A of the five-axis linkage direct drive two-axis double-arm swing head of

[0026] Figure 6 is Figure 4 an enlarged view of part B of the five-axis linkage direct drive two-axis double-arm swing head of

[0027] Figure 7 is Figure 4 a partial structural schematic diagram of the five-axis linkage direct drive two-axis double-arm swing head of

[0028] Figure 8 is Figure 7 another partial structural schematic diagram of the five-axis linkage direct drive two-axis double-arm swing head of

[0029] In the figure: 10, electric spindle; 20, A-axis structure; 21, A-axis housing; 22, A-axis assembly; 220, first connection seat; 221, A-axis main body; 223, A-axis drive; 2230, A-axis stator; 2231, A-axis rotor; 2232, second connection seat; 224, first mounting assembly; 2240, A-axis bearing; 2241, A-axis bearing seat; 225, A-axis brake assembly; 2250, A-axis gasket; 2251, A-axis moving brake pad; 2252, A-axis piston; 2253, A-axis fixed brake pad; 2254, A-axis brake disc; 2255, A-axis guide pin; 2256, A-axis elastic member; 226, angle detection assembly; 2260, encoder shaft; 2261, circular grating; 2262, adjustment pad; 2263, encoder seat; 2264, end cover; 30, rotating structure; 31, C-axis bearing seat; 32, C-axis bearing; 40, C-axis structure; 41, second C-axis housing; 410, water jacket; 411, C-axis cover plate; 42, C-axis drive; 420, C-axis stator; 421, C-axis rotor; 422, third connection seat; 43, C-axis main body; 44, C-axis brake assembly; 440, C-axis moving brake pad; 441, C-axis gasket; 442, C-axis fixed brake pad; 443, C-axis piston; 445, C-axis guide pin; 446, C-axis elastic member; 447, C-axis brake disc; 45, first C-axis housing; 50, pipeline structure; 51, fixing assembly; 510, first connecting column; 511, extension sleeve; 5110, channel; 512, pipe joint; 52, rotating assembly; 520, connection cover; 521, second connecting column; 522, mating shaft; 5220, annular groove; 5221, mounting groove; 523, sealing ring; 53, pipeline; 54, cable access assembly; 540, access sleeve; 541, end cover; 542, cable joint. Detailed implementation manner

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0031] It should be noted that when a component is referred to as "fixed to" another component, it can be directly on the other component or there may be another intermediate component through which it is fixed. When a component is considered to be "connected to" another component, it can be directly connected to the other component or there may be another intermediate component at the same time. When a component is considered to be "disposed on" another component, it can be directly disposed on the other component or there may be another intermediate component at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this article are only for the purpose of illustration.

[0032] Unless otherwise defined, all technical and scientific terms used in this article have the same meaning as those commonly understood by those skilled in the technical field to which this invention belongs. The terms used in the specification of this invention are only for the purpose of describing specific embodiments and are not intended to limit this invention. The term "and / or" used in this article includes any and all combinations of one or more of the related listed items.

[0033] Please refer to Figures 1 to 8 , a five-axis linkage direct drive two-axis double-arm swing head of the present invention includes an electric spindle 10, an A-axis structure 20, a C-axis structure 40, and a pipeline structure 50.

[0034] The electric spindle 10 is vertically arranged and installed on the A-axis structure 20.

[0035] The A-axis structure 20 is installed at the bottom of the C-axis structure 40. The A-axis structure 20 includes an A-axis housing 21, two A-axis components 22, and an angle detection component 226. The electric spindle 10 is fixed to the A-axis housing 21. The two A-axis components 22 are respectively located on both sides of the electric spindle 10. The two A-axis components 22 drive the electric spindle 10 to rotate around the A-axis at the same time. With dual-motor drive, the torque is greater. The angle detection component 226 is installed on one A-axis component 22, and the angle detection component 226 can measure the rotation angle of the A-axis component 22.

[0036] Each A-axis component 22 includes a first connection seat 220, an A-axis main body 221, an A-axis drive 223, a first installation component 224, and an A-axis brake component 225. The first connection seat 220 is fixed to the A-axis housing, and the A-axis main body 221 is fixedly connected to the first connection seat 220. The other end of the A-axis main body 221 is fixedly connected to the A-axis rotor 2231 through a second connection seat 2232. When the A-axis rotor 2231 rotates, it drives the A-axis main body 221 to rotate. The A-axis drive 223 includes an A-axis stator 2230, an A-axis rotor 2231, and a second connection seat 2232. The A-axis stator 2230 is fixed to the first C-axis housing 45. The A-axis rotor 2231 is rotatably installed inside the A-axis stator 2230.

[0037] The first mounting component 224 includes an A-axis bearing 2240 and an A-axis bearing housing 2241. The outer ring of the A-axis bearing 2240 is fixedly connected to the A-axis main body, the inner ring of the A-axis bearing 2240 is fixedly connected to the A-axis bearing housing 2241, and the A-axis bearing housing 2241 is fixed to the first C-axis housing 45.

[0038] The A-axis brake assembly 225 includes an A-axis gasket 2250, an A-axis moving brake pad 2251, an A-axis piston 2252, an A-axis fixed brake pad 2253, an A-axis brake disc 2254, an A-axis guide pin 2255, and an A-axis elastic member 2256. The A-axis gasket 2250 is installed between the A-axis main body 221 and the A-axis moving brake pad 2251 to adjust the distance between the A-axis moving brake pad 2251 and the A-axis main body 221. The A-axis fixed brake pad 2253 is fixed to the A-axis brake disc 2254. The A-axis piston 2252 is slidably installed on the A-axis guide pin 2255. The A-axis elastic member 2256 is sleeved on the A-axis guide pin 2255, and both ends of the A-axis elastic member 2256 are in contact with the A-axis piston 2252 and the A-axis brake disc 2254 respectively. When hydraulic oil enters the A-axis brake assembly 225, the hydraulic oil pushes the A-axis piston 2252 to move. The A-axis piston 2252 contacts the A-axis fixed brake pad 2253, the A-axis fixed brake pad 2253 contacts the A-axis moving brake pad 2251, and the A-axis fixed brake pad 2253 and the A-axis brake disc 2254 jointly act on the A-axis moving brake pad 2251, making the motorized spindle 10 unable to rotate.

[0039] The angle detection component 226 is installed on an A-axis component 22 for measuring the rotation angle of the A-axis. The angle detection component 226 includes an encoder shaft 2260, a circular grating 2261, an adjustment pad 2262, an encoder housing 2263, and an end cover 2264. The encoder shaft 2260 is fixed to the A-axis housing 21. The circular grating 2261 is installed on the encoder shaft 2260 and its installation position is adjusted by the adjustment pad 2262. The end cover 2264 is fixed to the A-axis stator 2230, and the encoder housing 2263 is installed on the end cover 2264.

[0040] The C-axis structure 40 includes a first C-axis housing 45, a rotating structure 30, a second C-axis housing 41, a C-axis drive 42, a C-axis main body 43, and a C-axis brake assembly 44.

[0041] The A-axis structure 20 is installed inside the first C-axis housing, and the rotating structure 30 is installed on the top of the first C-axis housing. The rotating structure 30 includes a C-axis bearing seat 31 and a C-axis bearing 32. The C-axis bearing seat 31 is rotationally connected to the first C-axis housing through the C-axis bearing 32. The C-axis bearing seat 31 is fixedly connected to the spindle box of the machine tool. The second C-axis housing 41 is fixed on the top of the C-axis bearing seat 31. The second C-axis housing 41 includes a water jacket 410 and a C-axis cover plate 411. The C-axis cover plate 411 is fixed on the top of the water jacket 410. The C-axis drive 42, the C-axis main body 43, and the C-axis brake assembly 44 are installed inside the second C-axis housing 41.

[0042] The C-axis drive 42 includes a C-axis stator 420, a C-axis rotor 421, and a third coupling seat 422. The C-axis stator 420 is fixed to the water jacket 410. The C-axis rotor 421 is located inside the C-axis stator 420. The C-axis rotor 421 is fixedly connected to the C-axis main body 43 through the third coupling seat 422.

[0043] The C-axis main body 43 is perpendicular to the A-axis main body 221.

[0044] The C-axis brake assembly 44 includes a C-axis moving brake pad 440, a C-axis gasket 441, a C-axis fixed brake pad 442, a C-axis piston 443, a C-axis guide pin 445, a C-axis elastic member 446, and a C-axis brake disc 447. The C-axis moving brake pad 440 is fixedly connected to the C-axis main body 43 through the C-axis gasket 441. The C-axis fixed brake pad 442 is fixedly connected to the C-axis brake disc 447. The C-axis moving brake pad 440 is located between the C-axis fixed brake pad 442 and the C-axis brake disc 447. The C-axis piston 443 is movably installed in the C-axis bearing seat 31 and is slidably connected to the C-axis guide pin 445. The C-axis elastic member 446 is sleeved on the C-axis guide pin 445. The two ends of the C-axis elastic member 446 are respectively in contact with the C-axis piston 443 and the C-axis brake disc 447. When hydraulic oil enters the C-axis brake assembly 44, the hydraulic oil pushes the C-axis piston 443 to move. The C-axis piston 443 contacts the C-axis fixed brake pad 442. The C-axis fixed brake pad 442 contacts the C-axis moving brake pad 440. The C-axis fixed brake pad 442 and the C-axis brake disc 447 act together on the C-axis moving brake pad 440, making the first C-axis housing 45 unable to rotate.

[0045] The pipeline structure 50 includes a fixing component 51, a rotating component 52, a pipeline 53, and a cable access component 54. The fixing component 51 includes a first connecting column 510, an extension sleeve 511, and a pipe joint 512. One end of the first connecting column 510 is fixed to the C-axis cover plate 411, and the other end is fixed to the extension sleeve 511, so that the extension sleeve 511 is fixedly connected to the C-axis cover plate 411. The number of the first connecting columns 510 is multiple, and the multiple first connecting columns 510 are arranged at intervals in the circumferential direction, so that a first opening is formed between two adjacent first connecting columns 510. In this embodiment, the number of the first connecting columns 510 is three. While making the structure of the fixing component 51 stable, the size of the first opening is as large as possible to facilitate maintenance. The extension sleeve 511 is provided with a channel 5110, and the pipe joint 512 is fixedly installed on the surface of the extension sleeve 511, and the pipe joint 512 communicates with the channel 5110. The number of the pipe joints 512 is multiple, and each pipe joint 512 communicates with at least one channel 5110.

[0046] The rotating component 52 includes a connecting cover 520, a second connecting column 521, a mating shaft 522, and a sealing ring 523. The connecting cover 520 is fixed to the end of the C-axis main body 43. One end of the second connecting column 521 is fixed to the connecting cover 520, and the other end communicates with the mating shaft 522, so that the mating shaft 522 is fixedly connected to the connecting cover 520. The mating shaft 522 is provided with an annular groove 5220, a mounting groove 5221, and an extension hole. The annular groove 5220 is arranged along the circumferential direction of the mating shaft 522, and multiple annular grooves 5220 are arranged axially. The extension hole extends axially, and each annular groove 5220 communicates with an extension hole. At least one mounting groove 5221 is arranged between two adjacent annular grooves 5220, and the mounting groove 5221 is used for installing the sealing ring 523 to realize the sealing between two adjacent annular grooves 5220.

[0047] One end of the pipeline 53 is connected to the extension hole of the mating shaft 522, and the other end is connected to the C-axis main body 43 and extends into the C-axis main body 43. When the C-axis main body 43 rotates, the pipeline 53 and the mating shaft 522 rotate together with the C-axis main body 43. Therefore, there is no relative rotation between multiple pipelines 53, and no damage caused by friction will occur. The pipeline 53 is located in the second opening, and the second opening is located in the first opening. Therefore, when the pipeline 53 needs to be repaired, it can be repaired only through the first opening and the second opening, and it is not necessary to disassemble the whole swing head.

[0048] The cable access component 54 includes an access sleeve 540, an end cover 541, and a cable connector 542. The access sleeve 540 is fixed to the top of the mating shaft 522, the end cover 541 is fixed to the top of the access sleeve 540, and the cable connector 542 is installed on the end cover 541.

[0049] The present application discloses a structure of a five-axis linkage direct-drive two-axis double-arm swing head, which adopts a coaxial design of two A-axis components 22A and is driven by two A-axis motors, providing greater torque. The A-axis structure 20 and the C-axis structure 40 are directly driven by torque motors composed of stators and rotors, with no backlash and high response speed. The external pipelines of the machine tool are connected to the connectors, and the pipelines do not rotate during operation. The internal pipeline 53 of the machine tool is installed on the rotating component 52 and rotates with the rotating component 52 without torsion itself, thus avoiding fatigue fracture and leakage of the pipeline 53 due to movement torsion and damage and leakage due to friction. A first opening is formed between the first connecting columns 510, the second connecting columns 521 are located within the first opening, and a second opening is formed between the second connecting columns 521. The pipeline 53 is located within the second opening. One end of the pipeline 53 is connected to the extension hole of the mating shaft 522, and the other end extends into the interior of the C-axis main body 43. When the pipeline 53 needs to be repaired, it can be directly repaired through the opening without completely disassembling the swing head.

[0050] The above embodiments merely illustrate several implementation manners of the present invention, and the description thereof is relatively specific and detailed. However, it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can be made. These are all equivalent modifications and evolutions made to the above embodiments based on the essence of the present invention and fall within the protection scope of the present invention.

Claims

1. A five-axis linkage direct drive two-axis double-arm swing head, comprising an electric spindle, an A-axis structure and a C-axis structure. The A-axis structure is installed on the C-axis structure, the electric spindle is installed on the A-axis structure, and the axis of the A-axis structure is perpendicular to the axis of the C-axis structure. It is characterized in that: The A-axis structure includes two A-axis assemblies, which are respectively located on both sides of the electric spindle. Each of the A-axis assemblies includes an A-axis body and an A-axis drive. The A-axis drive includes an A-axis stator and an A-axis rotor. The A-axis rotor is located inside the A-axis stator and can rotate relative to the A-axis stator. The A-axis rotor is transmission-connected to the A-axis body to drive the A-axis body to rotate. The A-axis bodies of the two A-axis assemblies are located on the same straight line. The C-axis structure includes a C-axis first shell, a C-axis second shell, a rotating structure and a C-axis body. The C-axis first shell is used to install the A-axis structure. The rotating structure is rotationally connected to the top of the C-axis first shell. The C-axis second shell is fixed to the rotating structure. The C-axis body is rotationally installed on the C-axis second shell. The five-axis linkage direct-drive two-axis double-arm swing head also includes a pipeline structure, which includes a fixed component, a rotating component and a pipe The fixing assembly comprises a first connecting column, an extension sleeve and a pipe joint fixed to the extension sleeve, the pipe joint is communicated with the channel inside the extension sleeve, the number of the first connecting columns is multiple, and the two ends of each of the first connecting columns are respectively fixed to the second shell of the C-axis and the extension sleeve, and a first opening is formed between the first connecting columns. The rotating assembly comprises a second connecting column and a matching shaft, the number of the second connecting columns is multiple, and the two ends of each of the second connecting columns are respectively fixedly connected to the C-axis body and the matching shaft, the second connecting column is located in the first opening, and a second opening is formed between the second connecting columns, the matching shaft is provided with an annular groove and an extension hole communicated with the annular groove, the annular groove is communicated with the channel of the extension sleeve, the pipeline is located in the second opening, one end of the pipeline is connected to the extension hole of the matching shaft, and the other end extends to the inside of the C-axis body.

2. The five-axis linkage direct drive two-axis double-arm swing head according to claim 1, characterized in that: The pipeline, the first opening and the second opening are located at the same level.

3. The five-axis linkage direct drive two-axis double-arm swing head according to claim 1, wherein: The first connecting column and the second connecting column are staggered in the circumferential direction.

4. The five-axis linkage direct drive two-axis double-arm swing head according to claim 1, characterized in that: The annular groove is arranged along the circumferential direction of the mating shaft, and the extension hole is arranged along the axial direction of the mating shaft.

5. The five-axis linkage direct drive two-axis double-arm swing head according to claim 1, characterized in that: There are multiple numbers of the pipe joint, the annular groove and the extension hole. The multiple annular grooves are arranged along the axis of the mating shaft. The multiple extension holes have different lengths and are connected to the annular grooves at different heights.

6. The five-axis linkage direct drive two-axis double-arm swing head according to claim 1, characterized in that: The pipeline structure also includes a cable access assembly, which includes an access sleeve, an end cover and a cable connector. The access sleeve is fixed to the end of the mating shaft, the end cover is fixed to the end of the access sleeve, and the cable connector is fixed to the end cover.

7. The five-axis linkage direct drive two-axis double-arm swing head according to claim 1, characterized in that: The A-axis structure also includes an angle detection component, which includes an encoder shaft, a circular grating, an encoder seat and an end cover. The encoder shaft is passed through the A-axis body and fixed to the C-axis first housing. The circular grating is fixed to the encoder shaft. The end cover is fixed to the end of the A-axis stator, and the encoder seat is fixed to the end cover.

8. The five-axis linkage direct drive two-axis double-arm swing head according to claim 1, characterized in that: The A-axis component further includes an A-axis brake assembly, which includes an A-axis moving brake pad, an A-axis piston, and an A-axis fixed brake pad. The A-axis fixed brake pad is fixed to the A-axis piston, and the A-axis moving brake pad is fixed to the first C-axis housing. The A-axis piston drives the A-axis fixed brake pad to abut against the A-axis moving brake pad, making the motorized spindle unable to rotate.

9. The five-axis linkage direct drive two-axis double-arm swing head according to claim 8, characterized in that: The A-axis brake assembly further includes an A-axis brake disc, an A-axis guide pin, and an A-axis elastic member. The A-axis moving brake pad is fixed to the first C-axis housing through the A-axis brake disc. The A-axis guide pin is slidably connected to the A-axis piston, and the A-axis elastic member is sleeved on the A-axis guide pin. The two ends of the A-axis elastic member respectively abut against the A-axis brake disc and the A-axis piston.

10. The five-axis linkage direct drive two-axis double-arm swing head according to claim 1, characterized in that: The mating shaft is coaxially arranged with the C-axis main body.

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