A five-axis linkage direct drive two-axis double-arm swing head

Abstract

The present invention discloses a five-axis linkage direct-drive two-axis double-arm swing head, which belongs to the field of machine tools. The A-axis bodies of the two A-axis assemblies are located on the same straight line, and the C-axis body is rotatably installed on the C-axis second shell. The pipe joint is connected to the channel inside the extension sleeve. There are multiple first connecting columns, and the two ends of each first connecting column are respectively fixed to the C-axis second shell and the extension sleeve. A first opening is formed between the first connecting columns, and the two ends of each second connecting column are respectively fixedly connected to the C-axis body and the matching shaft. The second connecting columns are located in the first opening, and a second opening is formed between the second connecting columns. 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. During operation, the external pipeline will not rotate, and the internal pipeline rotates with the rotating assembly and does not twist itself, thereby avoiding damage and leakage due to friction; when the pipeline needs to be repaired, it can be repaired directly through the opening without the need to disassemble the entire swing head.

Description

Technical Field

[0001] This invention relates to the field of machine tools, and in particular to a five-axis linkage direct drive two-axis double-arm oscillating head. Background Technology

[0002] A five-axis milling head includes a C-axis and an A-axis, with the C-axis perpendicular to the A-axis. These axes drive the electric spindle to rotate in different directions for machining. During operation, the five-axis milling head uses hydraulic or pneumatic drive to increase the clamping force of the C-axis and A-axis. Therefore, the five-axis milling head contains numerous pipes and cables. These pipes and cables need to be connected to the A-axis of the milling head from the machine tool. The C-axis travel of the milling head is typically 720°, and these connected cables also rotate 720°. During machine tool design, these pipes and cables are made as long as possible to ensure sufficient flexibility, but they are prone to tangling during use. While cables can generally be selected for their flexibility during production, pipes are more difficult to choose. Pipes typically need to withstand greater pressure, so their materials are generally harder. After prolonged and repeated rotation, the pipes are prone to fatigue, leading to leaks.

[0003] In addition, when the milling head's tubing is damaged, the milling head needs to be disassembled and the tubing removed before repairs can be carried out, resulting in low repair efficiency. Summary of the Invention

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

[0005] One of the objectives of this invention is achieved through the following technical solution:

[0006] A five-axis linkage direct-drive two-axis dual-arm oscillating head includes an electric spindle, an A-axis structure, and a C-axis structure. The A-axis structure is mounted on the C-axis structure, and 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 includes two A-axis assemblies, which are respectively located on both sides of the electric spindle. Each A-axis assembly 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 drively connected to the A-axis body, driving 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 first C-axis housing, a second C-axis housing, a rotating structure, and a C-axis body. The first C-axis housing is used to mount the A-axis structure. The rotating structure is rotatably connected to the top of the first C-axis housing. The second C-axis housing is fixed to the rotating structure, and the C-axis body is rotatably mounted on the second C-axis housing. The five-axis linkage direct drive two-axis dual-arm oscillating head also includes a pipeline structure. The pipeline structure includes a fixing component, a rotating component, and pipelines. The fixing component includes a first connecting post, an extension sleeve, and a pipe joint fixed to the extension sleeve. The pipe joint communicates with the channel inside the extension sleeve. There are multiple first connecting posts, and each first connecting post is fixed at both ends to the second housing of the C-axis and the extension sleeve, respectively. A first opening is formed between the first connecting posts. The rotating component includes a second connecting post and a mating shaft. There are multiple second connecting posts, and each second connecting post is fixedly connected at both ends to the C-axis body and the mating shaft, respectively. The second connecting posts are located in the first opening, and a second opening is formed between the second connecting posts. The mating shaft is provided with an annular groove and an extension hole communicating with the annular groove. The annular groove communicates with the channel of the extension sleeve. The pipeline is located in the second opening, with one end of the pipeline connected to the extension hole of the mating shaft and the other end extending into the interior of the C-axis body.

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

[0008] Furthermore, the first connecting post and the second connecting post are circumferentially offset.

[0009] Furthermore, the annular groove is arranged circumferentially along the mating shaft, and the extension hole is arranged axially along the mating shaft.

[0010] Furthermore, there are multiple pipe fittings, annular grooves, and extension holes. The multiple annular grooves are arranged along the axis of the mating shaft, and the multiple extension holes have different lengths and communicate with annular grooves of different heights.

[0011] Furthermore, the pipeline structure also includes a cable access assembly, 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] Furthermore, the A-axis structure also includes an angle detection component, which includes an encoder shaft, a circular grating, an encoder mount, and an end cover. The encoder shaft passes through the A-axis body and is fixed to the first housing of the C-axis. The circular grating is fixed to the encoder shaft. The end cover is fixed to the end of the A-axis stator. The encoder mount is fixed to the end cover.

[0013] Furthermore, the A-axis assembly also includes an A-axis brake assembly, which includes an A-axis movable 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 movable brake pad is fixed to the C-axis first housing. The A-axis piston drives the A-axis fixed brake pad to abut against the A-axis movable brake pad, preventing the electric spindle from rotating.

[0014] Furthermore, the A-axis brake assembly also includes an A-axis brake disc, an A-axis guide pin, and an A-axis elastic element. The A-axis moving brake pad is fixed to the C-axis first housing via the A-axis brake disc. The A-axis guide pin is slidably connected to the A-axis piston. The A-axis elastic element is sleeved on the A-axis guide pin, and both ends of the A-axis elastic element abut against the A-axis brake disc and the A-axis piston, respectively.

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

[0016] Compared with existing technologies, the five-axis linkage direct-drive two-axis dual-arm oscillating head of the present invention has the following advantages:

[0017] (1) The structure adopts a coaxial design of two A-axis components, and the dual motor drive of the A-axis provides greater torque.

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

[0019] (3) The external pipeline of the machine tool is connected to the connector. The pipeline will not rotate during operation. The internal pipeline of the machine tool is installed on the rotating component and rotates with the rotating component. It does not twist itself. This avoids the pipeline from fatigue fracture and leakage due to movement and twisting, and from damage and leakage due to friction.

[0020] (4) A first opening is formed between the first connecting posts, the second connecting post is located in the first opening, and a second opening is formed between the second connecting posts. The pipeline is located in 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 body. When the pipeline needs to be repaired, it can be repaired directly through the opening without having to completely disassemble the swing head. Attached Figure Description

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

[0022] Figure 2 for Figure 1 Side view of a five-axis linkage direct drive two-axis double-arm swing head;

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

[0024] Figure 4 for Figure 1 A cross-sectional view of a five-axis linkage direct drive two-axis double-arm oscillating head;

[0025] Figure 5 for Figure 4 Enlarged view of point A of the five-axis linkage direct drive two-axis double arm swing head;

[0026] Figure 6 for Figure 4 Enlarged view of point B of the five-axis linkage direct drive two-axis double arm swing head;

[0027] Figure 7 for Figure 4 A partial structural diagram of a five-axis linkage direct drive two-axis double-arm swing head;

[0028] Figure 8 for Figure 7 A partial structural diagram of another angle of the five-axis linkage direct drive two-axis double-arm oscillating head.

[0029] In the diagram: 10. Electric spindle; 20. A-axis structure; 21. A-axis housing; 22. A-axis assembly; 220. First connecting seat; 221. A-axis body; 223. A-axis drive; 2230. A-axis stator; 2231. A-axis rotor; 2232. Second connecting seat; 224. First mounting assembly; 2240. A-axis bearing; 2241. A-axis bearing housing; 225. A-axis brake assembly; 2250. A-axis gasket; 2251. A-axis 2252. Moving brake pad; 2253. A-axis piston; 2254. A-axis fixed brake pad; 2255. A-axis brake disc; 2256. A-axis guide pin; 2257. A-axis elastic element; 226. Angle detection assembly; 2260. Encoder shaft; 2261. Circular grating; 2262. Adjusting shim; 2263. Encoder mount; 2264. End cover; 30. Rotating structure; 31. C-axis bearing mount; 32. C-axis bearing; 40. C-axis structure; 41. C-axis second housing; 410, water jacket; 411, C-axis cover plate; 42, C-axis drive; 420, C-axis stator; 421, C-axis rotor; 422, third connecting seat; 43, C-axis 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 element; 447, C-axis brake disc; 45, C-axis... 50. Housing; 51. Piping structure; 52. Fixing assembly; 53. First connecting post; 54. Extension sleeve; 55. Channel; 56. Pipe fitting; 57. Rotating assembly; 58. Connecting cover; 59. Second connecting post; 50. Mating shaft; 510. Annular groove; 5221. Mounting groove; 523. Sealing ring; 51. Piping; 52. Cable access assembly; 53. Access sleeve; 54. End cap; 542. Cable fitting. Detailed Implementation

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or it can be fixed through another intermediate component. When a component is said to be "connected to" another component, it can be directly connected to the other component or it may be fixed through another intermediate component. When a component is said to be "set on" another component, it can be set directly on the other component or it may be set through another intermediate component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0033] Please see Figures 1 to 8 The present invention provides a five-axis linkage direct drive two-axis double-arm oscillating head, comprising 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 set and installed on the A-axis structure 20.

[0035] The A-axis structure 20 is mounted at the bottom of the C-axis structure 40. The A-axis structure 20 includes an A-axis housing 21, two A-axis assemblies 22, and an angle detection assembly 226. The electric spindle 10 is fixed to the A-axis housing 21. The two A-axis assemblies 22 are located on either side of the electric spindle 10. Both A-axis assemblies 22 simultaneously drive the electric spindle 10 to rotate around the A-axis, providing greater torque through dual-motor drive. The angle detection assembly 226 is mounted on one of the A-axis assemblies 22 and measures the rotation angle of the A-axis assembly 22.

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

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

[0038] The A-axis brake assembly 225 includes an A-axis washer 2250, an A-axis movable 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 element 2256. The A-axis washer 2250 is installed between the A-axis body 221 and the A-axis movable brake pad 2251 to adjust the distance between the A-axis movable brake pad 2251 and the A-axis 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 mounted on the A-axis guide pin 2255. The A-axis elastic element 2256 is sleeved on the A-axis guide pin 2255, with both ends of the A-axis elastic element 2256 contacting 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 abuts against the A-axis fixed brake pad 2253, and the A-axis fixed brake pad 2253 abuts against the A-axis movable brake pad 2251. The A-axis fixed brake pad 2253 and the A-axis brake disc 2254 work together to act on the A-axis movable brake pad 2251, preventing the electric spindle 10 from rotating.

[0039] An angle detection component 226 is mounted on an A-axis assembly 22 and is used to measure the rotation angle of the A-axis. The angle detection component 226 includes an encoder shaft 2260, a circular grating 2261, an adjusting shim 2262, an encoder mount 2263, and an end cover 2264. The encoder shaft 2260 is fixed to the A-axis housing 21. The circular grating 2261 is mounted on the encoder shaft 2260 and its mounting position is adjusted by the adjusting shim 2262. The end cover 2264 is fixed to the A-axis stator 2230, and the encoder mount 2263 is mounted 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 body 43, and a C-axis brake assembly 44.

[0041] The A-axis structure 20 is installed inside the first C-axis housing, and a rotating structure 30 is installed on the top of the first C-axis housing. The rotating structure 30 includes a C-axis bearing housing 31 and a C-axis bearing 32, and the C-axis bearing housing 31 is rotatably connected to the first C-axis housing through the C-axis bearing 32. The C-axis bearing housing 31 is fixedly connected to the spindle box of the machine tool. The second C-axis housing 41 is fixed to the top of the C-axis bearing housing 31, and the second C-axis housing 41 includes a water jacket 410 and a C-axis cover plate 411, with the C-axis cover plate 411 fixed to the top of the water jacket 410. The C-axis drive 42, the C-axis 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 connecting 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, and the C-axis rotor 421 is fixedly connected to the C-axis body 43 through the third connecting seat 422.

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

[0044] The C-axis brake assembly 44 includes a C-axis movable brake pad 440, a C-axis washer 441, a C-axis fixed brake pad 442, a C-axis piston 443, a C-axis guide pin 445, a C-axis elastic element 446, and a C-axis brake disc 447. The C-axis movable brake pad 440 is fixedly connected to the C-axis body 43 via the C-axis washer 441. The C-axis fixed brake pad 442 is fixedly connected to the C-axis brake disc 447, and the C-axis movable 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 mounted on the C-axis bearing seat 31 and slidably connected to the C-axis guide pin 445. The C-axis elastic element 446 is sleeved on the C-axis guide pin 445, and both ends of the C-axis elastic element 446 abut against the C-axis piston 443 and the C-axis brake disc 447, respectively. 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 abuts against the C-axis fixed brake pad 442, and the C-axis fixed brake pad 442 abuts against the C-axis movable brake pad 440. The C-axis fixed brake pad 442 and the C-axis brake disc 447 work together to act on the C-axis movable brake pad 440, making the C-axis first housing 45 unable to rotate.

[0045] The piping structure 50 includes a fixing component 51, a rotating component 52, a pipe 53, and a cable access component 54. The fixing component 51 includes a first connecting post 510, an extension sleeve 511, and a pipe connector 512. One end of the first connecting post 510 is fixed to the C-axis cover plate 411, and the other end is fixed to the extension sleeve 511, thus fixing the extension sleeve 511 to the C-axis cover plate 411. Multiple first connecting posts 510 are provided, spaced apart circumferentially to form a first opening between adjacent first connecting posts 510. In this embodiment, three first connecting posts 510 are used, ensuring the fixing component 51 is structurally stable while maximizing the size of the first opening for easy maintenance. The extension sleeve 511 has a channel 5110, and a pipe connector 512 is fixedly installed on the surface of the extension sleeve 511, communicating with the channel 5110. Multiple pipe connectors 512 are provided, and each pipe connector 512 communicates with at least one channel 5110.

[0046] The rotating assembly 52 includes a connecting cover 520, a second connecting post 521, a mating shaft 522, and a sealing ring 523. The connecting cover 520 is fixed to the end of the C-shaft body 43. One end of the second connecting post 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 circumferentially along 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 provided in two adjacent annular grooves 5220. The mounting groove 5221 is used to install the sealing ring 523 to achieve sealing between adjacent annular grooves 5220.

[0047] One end of the conduit 53 is connected to the extension hole of the mating shaft 522, and the other end is connected to the C-axis body 43 and extends into the interior of the C-axis body 43. When the C-axis body 43 rotates, the conduit 53 and the mating shaft 522 rotate together with the C-axis body 43. Therefore, there is no mutual rotation between the multiple conduits 53, and no damage caused by friction will occur. The conduit 53 is located in the second opening, and the second opening is located in the first opening. Therefore, when the conduit 53 needs maintenance, it can be maintained only through the first and second openings, without having to disassemble the entire oscillating head.

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

[0049] This application discloses a five-axis linkage direct-drive two-axis dual-arm oscillating head with a coaxial design of two A-axis assemblies 22A. The A-axis is driven by dual motors, resulting in greater torque. The A-axis structure 20 and the C-axis structure 40 are 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 connector. During operation, the pipelines do not rotate. The internal pipelines 53 are mounted on the rotating assembly 52 and rotate with the rotating assembly 52 without twisting. This avoids fatigue fracture and leakage caused by movement and twisting of the pipelines 53, as well as damage and leakage caused by friction. A first opening is formed between the first connecting posts 510, and a second opening is formed between the second connecting posts 521. The pipeline 53 is located in 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 body 43. When the pipeline 53 needs maintenance, it can be maintained directly through the opening without disassembling the entire oscillating head.

[0050] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention. These are all equivalent modifications and improvements made to the above embodiments based on the essential technology of the present invention, and all of these fall within the protection scope of the present invention.

Claims

1. A five-axis linkage direct-drive two-axis dual-arm oscillating 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, and the axis of the A-axis structure is perpendicular to the axis of the C-axis structure, characterized in that: The A-axis structure includes two A-axis assemblies, located on opposite sides of the electric spindle. Each A-axis assembly 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 it. The A-axis rotor is connected to the A-axis body, driving the A-axis body to rotate. The A-axis bodies of the two A-axis assemblies are on the same straight line. The C-axis structure includes a first C-axis housing, a second C-axis housing, a rotating structure, and a C-axis body. The first C-axis housing is used to mount the A-axis structure. The rotating structure is rotatably connected to the top of the first C-axis housing. The second C-axis housing is fixed to the rotating structure. The C-axis body is rotatably mounted on the second C-axis housing. The five-axis linkage direct-drive two-axis dual-arm oscillating head also includes a piping structure, which includes a fixing assembly, a rotating assembly, and a pipe. The fixed assembly includes a first connecting post, an extension sleeve, and a pipe joint fixed to the extension sleeve. The pipe joint communicates with a channel inside the extension sleeve. There are multiple first connecting posts, each of which is fixed at both ends to the second housing of the C-axis and the extension sleeve, respectively. A first opening is formed between the first connecting posts. The rotating assembly includes a second connecting post and a mating shaft. There are multiple second connecting posts, each of which is fixedly connected at both ends to the C-axis body and the mating shaft, respectively. The second connecting posts are located inside the first opening, and a second opening is formed between the second connecting posts. The mating shaft has an annular groove and an extension hole communicating with the annular groove. The annular groove communicates with a channel of the extension sleeve. The pipe is located in the second opening, with one end of the pipe connected to the extension hole of the mating shaft and the other end extending into the interior of the C-axis body.

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

3. The five-axis linkage direct drive two-axis dual-arm oscillating head according to claim 1, characterized in that: The first connecting post and the second connecting post are circumferentially offset.

4. The five-axis linkage direct drive two-axis dual-arm oscillating head according to claim 1, characterized in that: The annular groove is arranged circumferentially along the mating shaft, and the extension hole is arranged axially along the mating shaft.

5. The five-axis linkage direct drive two-axis dual-arm oscillating head according to claim 1, characterized in that: The number of the pipe joint, the annular groove, and the extension hole are all multiple. 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.

6. The five-axis linkage direct drive two-axis dual-arm oscillating head according to claim 1, characterized in that: The pipeline structure also includes a cable access assembly, 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.

7. The five-axis linkage direct drive two-axis dual-arm oscillating 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 mount, and an end cover. The encoder shaft passes through the A-axis body and is fixed to the first housing of the C-axis. The circular grating is fixed to the encoder shaft. The end cover is fixed to the end of the A-axis stator. The encoder mount is fixed to the end cover.

8. The five-axis linkage direct drive two-axis dual-arm oscillating head according to claim 1, characterized in that: The A-axis assembly also includes an A-axis brake assembly, which includes an A-axis movable 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 movable brake pad is fixed to the C-axis first housing. The A-axis piston drives the A-axis fixed brake pad to abut against the A-axis movable brake pad, preventing the electric spindle from rotating.

9. The five-axis linkage direct drive two-axis dual-arm oscillating 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 element. The A-axis moving brake pad is fixed to the C-axis first housing via the A-axis brake disc. The A-axis guide pin is slidably connected to the A-axis piston. The A-axis elastic element is sleeved on the A-axis guide pin, and both ends of the A-axis elastic element abut against the A-axis brake disc and the A-axis piston, respectively.

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

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