Staggered tooth differential automatic universal head

Abstract

The invention discloses a staggered tooth differential automatic universal head which comprises a box body, a transmission shaft arranged in the box body and a universal head main shaft connected with the transmission shaft. The first indexing mechanism and the second indexing mechanism are both of a staggered tooth differential structure. A staggered tooth differential structure of the first indexing mechanism comprises an upper fluted disc pair and a lower fluted disc pair which are composed of a first positioning fluted disc seat, a first indexing fluted disc and a second indexing fluted disc and have different indexing degrees, and differential indexing is achieved through differential motion of the two fluted disc pairs. Upper teeth of the first transposition fluted disc can be meshed with the first positioning fluted disc seat, lower teeth of the first transposition fluted disc can be meshed with the second transposition fluted disc, and the number of the upper teeth of the first transposition fluted disc is not equal to that of the lower teeth of the first transposition fluted disc; a staggered tooth differential structure of the second indexing mechanism comprises an upper fluted disc pair and a lower fluted disc pair which are composed of a second positioning fluted disc seat, a third indexing fluted disc and a fourth indexing fluted disc and have different indexing degrees, and differential indexing is achieved through differential motion of the two fluted disc pairs.

Description

Technical Field

[0001] The present invention relates to the technical field of universal heads, in particular to an automatic universal head with staggered teeth and differentials. Background Art

[0002] In modern manufacturing, five-axis CNC machining technology is a key technology for achieving high-precision machining of complex parts. As the core component of a five-axis machining center, the indexing accuracy of the universal head directly affects machining quality and efficiency. The main problems with the universal head in existing technology are as follows:

[0003] 1. Insufficient indexing accuracy: Traditional universal heads use worm gears or spur gears for transmission, and the indexing accuracy can usually only reach ±30 arc seconds, which is difficult to meet the requirements of high-end manufacturing industries such as aerospace and precision molds.

[0004] 2. Low degree of automation: Most universal heads require manual operation for angle rotation and tool replacement, which is not only inefficient but also prone to human errors. Summary of the Invention

[0005] (1) Technical issues to be resolved

[0006] The technical problem to be solved by the present invention is to provide an automatic universal head with staggered teeth differential, which realizes micro-angle rotation (such as 0.02°) through the staggered teeth differential structure (the number of auxiliary teeth of the upper and lower sets of gear plates is unequal), solves the problem of insufficient accuracy of traditional indexing mechanisms, and is suitable for precision machining; separate C-axis and A-axis rotation mechanisms are provided to support multi-angle spatial positioning and expand the machining range; the bevel gear transmission mechanism composed of the first to fourth bevel gears stably transmits the power of the machine tool spindle to the universal head spindle, ensuring the reliability of torque transmission; the split structure of the upper and lower boxes is convenient for maintenance, and can be quickly connected to the machine tool slide through a connecting mechanism; the spring buffer design at the bottom end of the transmission shaft reduces axial impact and extends the life of components.

[0007] (2) Technical solution

[0008] The solution adopted by the present invention to solve the above technical problems is a staggered tooth differential automatic universal head, comprising a housing, a transmission shaft arranged in the housing, and a universal head main shaft connected to the transmission shaft; the transmission shaft and the universal head main shaft are connected by a transmission mechanism; the housing comprises an upper housing and a lower housing arranged up and down;

[0009] The top of the upper box is provided with a connection mechanism connected to the machine tool ram;

[0010] The top end of the transmission shaft is provided with a main pull nail, which is connected to the main shaft of the machine tool and is used to tighten with the main shaft of the machine tool; the bottom end of the transmission shaft is provided with a lower pressure cover, and a spring is provided between the lower pressure cover and the transmission shaft to buffer the axial impact of the transmission shaft;

[0011] The transmission mechanism includes a first bevel gear connected to the transmission shaft, a second bevel gear meshing with the first bevel gear, a third bevel gear meshing with the second bevel gear, and a fourth bevel gear meshing with the third bevel gear; the fourth bevel gear is connected to the universal head main shaft;

[0012] The first indexing mechanism is used to realize the indexing of the universal head spindle on the C-axis, and includes a first positioning gear plate seat, a first indexing gear plate, a second indexing gear plate, a first transition sleeve, a first flange seat, a first internal gear, and a first external gear; the first external gear is always meshed with the first bevel gear;

[0013] The second indexing mechanism is used to realize the indexing of the universal head spindle on the A-axis, and includes a second positioning gear plate seat, a third indexing gear plate, a fourth indexing gear plate, a second transition sleeve, a second flange seat, a second internal gear and a second external gear; the second external gear is always meshed with the third bevel gear;

[0014] The first indexing mechanism and the second indexing mechanism both adopt a staggered tooth differential structure;

[0015] The staggered tooth differential structure of the first indexing mechanism includes two sets of upper and lower gear disc pairs with different indexings, consisting of a first positioning gear disc seat, a first indexing gear disc, and a second indexing gear disc, and differential indexing is achieved through differential motion of the two sets of gear disc pairs; the upper teeth of the first indexing gear disc can mesh with the first positioning gear disc seat, and the lower teeth of the first indexing gear disc can mesh with the second indexing gear disc, and the number of teeth on the upper teeth of the first indexing gear disc is ≠ the number of teeth on the lower teeth of the first indexing gear disc;

[0016] The staggered tooth differential structure of the second indexing mechanism includes two groups of upper and lower gear disc pairs with different indexings composed of a second positioning gear disc seat, a third indexing gear disc and a fourth indexing gear disc, and the differential indexing is realized by the differential movement of the two groups of gear disc pairs; the upper teeth of the third indexing gear disc can engage with the second positioning gear disc seat, and the lower teeth of the third indexing gear disc can engage with the fourth indexing gear disc, and the number of teeth of the upper teeth of the third indexing gear disc is ≠ the number of teeth of the lower teeth of the third indexing gear disc.

[0017] Specifically, after the machine tool completes the head-grabbing action, the key block of the machine tool spindle is inserted into the keyway of the transmission shaft, the machine tool spindle pull claw grasps the main pull pin above the transmission shaft, and the centering sleeve on the transmission shaft is lifted by several small springs and contacts the inner hole of the machine tool spindle to realize the centering of the transmission shaft. The upper sprocket mounted on the oil receiving tray engages with the lower sprocket mounted on the upper housing. The first bevel gear is fixed to the first bearing seat through the transmission shaft bearing, the first inner spacer, the first outer spacer, the first pressure cover, the dust cover and the second pressure cover. The first bearing seat is centrally mounted on the first positioning gear plate seat, which is in turn centrally mounted on the upper housing; the second bevel gear is connected to the rear end of the third bevel gear through a rectangular spline and fixed by a nut; the third bevel gear is mounted on the second bearing seat through the intermediate shaft bearing, the second inner spacer, the second outer spacer and the first spacer; the fourth bevel gear is centrally connected to the universal head spindle through a key. The power of the machine tool spindle is transmitted to the first bevel gear connected to the transmission shaft spline through the transmission shaft. Through the engagement of the first bevel gear, the second bevel gear, the third bevel gear and the fourth bevel gear, the power is transmitted to the universal head spindle connected to the fourth bevel gear, completing the power transmission of the universal head.

[0018] The above solution is adopted to achieve micro-angle indexing (such as 0.02°) through the staggered tooth differential structure (the number of teeth of the upper and lower sets of gear plates are unequal), which solves the problem of insufficient accuracy of the traditional indexing mechanism and is suitable for precision machining; the C-axis and A-axis indexing mechanisms are set separately to support multi-angle spatial positioning and expand the machining range; the bevel gear transmission mechanism composed of the first to fourth bevel gears stably transmits the machine tool spindle power to the universal head spindle to ensure the reliability of torque transmission; the upper and lower box split structure is easy to maintain, and can be quickly connected to the machine tool slide through the connecting mechanism; the spring buffer design at the bottom of the drive shaft reduces axial impact and extends the life of components; at the same time, this structure can be used on vertical gantry machining centers, as well as on horizontal machining centers On the machining center; a number of pulling head cylinders are provided on the machine tool slide oil receiving pan, and small pulling nails are provided at corresponding positions on the box body of the universal head. The small pulling nails at corresponding positions are tightened by the pulling head cylinders to make the upper tooth plate on the oil receiving pan and the lower tooth plate on the box body of the universal head engage, which can not only ensure the positioning accuracy of the universal head, but also withstand the processing resistance of the universal head; this structure can meet both vertical and horizontal usage; so that one universal head can be used on two machine tools with different spindle processing directions, namely gantry machining center and floor boring horizontal machining center; and the universal head can realize the automatic exchange function with the slide. On the basis of selecting the universal head of the present invention, the machine tool can continue to select accessory heads with other functions, which broadens the functional selection range of the machine tool.

[0019] In some embodiments, the number of teeth on the upper teeth of the first indexing gear disc is 134, and the number of teeth on the lower teeth of the first indexing gear disc is 135; so that the minimum indexing angle achieved by the differential motion of the two groups of gear disc pairs of the first indexing mechanism is 360°÷134-360°÷135=0.02°; the number of teeth on the upper teeth of the third indexing gear disc is 134, and the number of teeth on the lower teeth of the third indexing gear disc is 135; so that the minimum indexing angle achieved by the differential motion of the two groups of gear disc pairs of the second indexing mechanism is 360°÷134-360°÷135=0.02°.

[0020] By adopting the above scheme, two sets of gear disc pairs with staggered teeth differential structure are used to enable the universal head A and C axes to achieve differential processing that cannot be achieved by one set of gear disc pairs; due to the structural size limitation of the universal head, the size of the internal positioning gear disc cannot be made very large, and the minimum indexing of the positioning gear disc processing of the conventional accessory head is only 1 indexing, and there are also problems with the reliability of the operation; the universal head of the present invention adopts a design in which two sets of combined gear disc pairs participate in the rotation together, which makes the gear disc positioning design easy, and adopts two sets of gear disc pairs with a specific number of teeth, so that the universal head can achieve differential positioning of the A and C axes with a minimum of 0.02°, so that the mechanical universal head breaks through the traditional vertical and horizontal processing methods, can perform spatial angle processing, and greatly expands its process processing range.

[0021] In some embodiments, the first indexing mechanism further includes a first piston fixed to the first indexing gear disc, and a second piston fixed to the second indexing gear disc; the second piston is disposed below the first piston; a first oil cylinder is connected to the top of the first piston, a second oil cylinder is connected between the first piston and the second piston, and a third oil cylinder is connected below the second indexing gear disc;

[0022] When the first oil cylinder is filled with pressure oil, the first piston pushes the second piston, the first indexing gear plate, the lower box body and the first flange seat to move downward a distance D, so that the lower teeth of the first positioning gear plate seat are disengaged from the upper teeth of the first indexing gear plate, the lower teeth of the first indexing gear plate are meshed with the upper teeth of the second indexing gear plate, and the first internal gear fixed under the first flange seat is meshed with the first external gear fixed under the first bevel gear; at this time, the machine tool spindle drives the transmission shaft to rotate clockwise, and power can be transmitted to the first internal gear through the first bevel gear and the first external gear, and the first internal gear drives the first flange seat, the lower box body, the second indexing gear plate and the first indexing gear plate to rotate; after rotating to the required angle, the third oil cylinder is filled with pressure oil, and the second indexing gear plate carries the lower box body, the first flange seat, and the first internal gear to push the first indexing gear plate upward a distance D, so that the upper teeth of the first indexing gear plate are meshed with the lower teeth of the first positioning gear plate seat, and the first indexing work is completed at this time;

[0023] When the second oil cylinder is supplied with pressure oil, the first piston and the first indexing gear plate are subjected to an upward force, so that the upper teeth of the first indexing gear plate and the lower teeth of the first positioning gear plate seat are engaged; and the second piston is subjected to a downward force, driving the second indexing gear plate, the lower box body, the first flange seat and the first internal gear to move downward a distance D, so that the first internal gear and the first external gear fixed below the first bevel gear are engaged; at this time, the machine tool spindle drives the transmission shaft to rotate counterclockwise, and the power is transmitted to the first internal gear through the first bevel gear and the first external gear, and the first internal gear drives the first flange seat, the lower box body and the second indexing gear plate to rotate; after rotating to the required angle, the third oil cylinder is supplied with pressure oil, and the second indexing gear plate drives the lower box body, the first flange seat and the first internal gear to move upward a distance D, so that the upper teeth of the second indexing gear plate and the lower teeth of the first indexing gear plate are engaged, and the second indexing work is completed at this time.

[0024] Specifically, when oil is supplied to the first cylinder, the first piston and the second piston are pushed downward, causing the first set of gear disc pairs to disengage and the second set of gear disc pairs to engage; when oil is supplied to the third cylinder, the second indexing gear disc is pushed upward, causing the first set of gear disc pairs to re-engage; and, when the first set of gear disc pairs disengages, they rotate 2.686567° clockwise, and when the second set of gear disc pairs disengages, they rotate 2.666667° counterclockwise. Finally, the universal head rotates 0.02° clockwise, achieving micro-angle indexing.

[0025] With the above solution, the first piston and the second piston are driven collaboratively by the first, second and third cylinders to achieve engagement / disengagement of the two sets of gear disc pairs. The action process is clear (such as the moving distance D), avoiding mechanical interference. When rotating clockwise, the first indexing is completed when the first cylinder is filled with oil, which is suitable for positive indexing. When rotating counterclockwise, the second indexing is completed when the second cylinder is filled with oil, which is suitable for complex angle adjustment. After the indexing is completed, the gear disc pair re-engages to ensure that there is no displacement risk during processing.

[0026] In some embodiments, the second indexing mechanism further includes a third piston fixed to the third indexing gear disc, and a fourth piston fixed to the fourth indexing gear disc, the fourth piston being arranged below the third piston; a fourth oil cylinder is connected to the top of the third piston, a fifth oil cylinder is connected between the third piston and the fourth piston, and a sixth oil cylinder is connected below the fourth indexing gear disc;

[0027] When the fourth oil cylinder is filled with pressure oil, the third piston pushes the fourth piston, the third indexing gear plate, the main spindle box and the second flange seat to move downward a distance D, so that the lower teeth of the second positioning gear plate seat are disengaged from the upper teeth of the third indexing gear plate, the lower teeth of the third indexing gear plate and the upper teeth of the fourth indexing gear plate are meshed, and the second internal gear fixed under the second flange seat is meshed with the second external gear fixed under the third bevel gear; at this time, the machine tool spindle drives the transmission shaft to rotate clockwise, and the power can be transmitted to the second internal gear through the third bevel gear and the second external gear, and the second internal gear drives the second flange seat, the main spindle box, the fourth indexing gear plate and the third indexing gear plate to rotate; after rotating to the required angle, the sixth oil cylinder is filled with pressure oil, and the fourth indexing gear plate carries the main spindle box, the second flange seat and the second internal gear to push the third indexing gear plate to move upward a distance D, so that the upper teeth of the third indexing gear plate and the lower teeth of the second positioning gear plate seat are meshed, and the first indexing work is completed at this time;

[0028] When the fifth oil cylinder is supplied with pressure oil, the third piston and the third indexing gear disc are subjected to an upward force, so that the upper teeth of the third indexing gear disc and the lower teeth of the second positioning gear disc seat are engaged; and the fourth piston is subjected to a downward force, driving the fourth indexing gear disc, the main spindle box, the second flange seat and the second internal gear to move downward a distance D, so that the second internal gear and the second external gear fixed under the third bevel gear are engaged; at this time, the machine tool spindle drives the transmission shaft to rotate counterclockwise, and the power is transmitted to the second internal gear through the third bevel gear and the second external gear, and the second internal gear drives the second flange seat, the main spindle box and the fourth indexing gear disc to rotate; after rotating to the required angle, the sixth oil cylinder is supplied with pressure oil, and the fourth indexing gear disc moves upward a distance D with the main spindle box, the second flange seat and the second internal gear, so that the upper teeth of the fourth indexing gear disc and the lower teeth of the third indexing gear disc are engaged, and the second indexing work is completed at this time.

[0029] Specifically, when oil is supplied to the fourth cylinder, the third and fourth pistons are pushed downward, causing the first set of gear disc pairs to disengage and the second set of gear disc pairs to engage; when oil is supplied to the sixth cylinder, the fourth indexing gear disc is pushed upward, causing the first set of gear disc pairs to re-engage; and, when the first set of gear disc pairs disengages, it rotates 2.686567° clockwise, and when the second set of gear disc pairs disengages, it rotates 2.666667° counterclockwise. Finally, the universal head rotates 0.02° clockwise, achieving a micro-angle indexing.

[0030] With the above solution, the third piston and the fourth piston are driven in coordination by the fourth, fifth and sixth cylinders to achieve engagement / disengagement of the two sets of gear disc pairs. The action process is clear (such as the moving distance D), avoiding mechanical interference. When rotating clockwise, the first indexing is completed when the fourth cylinder is filled with oil, which is suitable for positive indexing. When rotating counterclockwise, the second indexing is completed when the fifth cylinder is filled with oil, which is suitable for complex angle adjustment. After the indexing is completed, the gear disc pairs re-engage to ensure that there is no displacement risk during processing.

[0031] In some embodiments, the top end of the upper box is connected to a female quick-change plug that matches the female quick-change plug of the machine tool slide; it is used to transmit the functional path of the universal head to realize various automation functions.

[0032] Specifically, when the machine tool slide approaches the universal head, the pulling head cylinder on the oil receiving pan pulls the small pull pin at the corresponding position on the upper box body to complete the pulling head action. At the same time, the female quick-connector on the oil receiving pan and the female quick-connector on the upper box body are connected, which are used to transmit the water, oil and air circuits for the universal head to realize various automated functions. At the same time, the end face key of the machine tool spindle is inserted into the keyway of the drive shaft, and the machine tool completes the head grabbing action.

[0033] In some embodiments, the functional path required by the universal head is introduced into the first positioning gear disc seat that is centrally connected to the upper box body through the sub-quick-change plug, and then enters the first flange seat through the first transition sleeve that is centrally connected to the first positioning gear disc seat, and then enters the lower box body, and enters the second positioning gear disc seat through the lower box body, and then enters the second flange seat through the second transition sleeve that is centrally connected to the second positioning gear disc seat, and then enters the main spindle box, and is redistributed to the functional path on the universal head through the main spindle box.

[0034] In some embodiments, a spindle tool loosening and broaching mechanism is also included, which includes a spindle fixing assembly, a spindle tool broaching assembly and a spindle tool loosening assembly, which is used to realize automatic tool broaching and automatic tool loosening, improve processing efficiency and reduce manual intervention.

[0035] In some embodiments, the spindle fixing assembly includes a bearing seat disposed outside the universal head spindle, and a bearing disposed between the bearing seat and the universal head spindle.

[0036] In some embodiments, the bearing seat includes a front bearing seat and a rear bearing seat arranged at both ends of the universal head main shaft located at the fourth bevel gear, and bearings are provided between the front bearing seat and the rear bearing seat and the universal head main shaft to enhance the radial and axial bearing capacity of the universal head main shaft, reduce vibration, and ensure processing accuracy; and the front bearing seat and the rear bearing seat are fixed on the spindle box.

[0037] In some embodiments, the spindle broach assembly includes a pull rod assembly provided in the universal head spindle; the pull rod assembly includes a broach claw, a pull rod connected to the broach claw, a broach spring sleeved on the outside of the pull rod, and a locking nut fixed on the tail of the pull rod; the broach spring is accommodated in the tail of the universal head spindle, and both ends are restricted between the limit seat fixed at the tail end of the universal head spindle and the end face inside the universal head spindle, and are in a compressed state; when the universal head spindle grabs the tool, the limit step of the pull rod and the broach spring will be pulled out a distance A. At this time, the tool will be subjected to the reaction force of the compression force of the broach spring in the pull rod assembly to realize the universal head broaching action.

[0038] With the above solution, the compression reaction force of the broach spring provides a constant broaching force, avoiding overload damage to the tool or the universal head spindle; the broach spring absorbs the impact during tool change, extending the life of the drawbar assembly.

[0039] In some embodiments, the spindle tool releasing assembly includes a cylinder seat, a tool-breaking cylinder, a tool-releasing cylinder, a tail end seat, a collision block seat and a tool-breaking piston; the tool-breaking piston and the collision block seat fixed on the tool-breaking piston move to the left under the action of the tool-breaking oil in the tool-breaking cylinder, and after the collision block seat moves to the left a distance C against the locking nut, the tool-breaking action stops. At this time, the pull rod moves the tool-breaking claw to the left, and the tool-breaking claw opens to complete the tool-breaking action; when the oil pressure in the tool-breaking oil circuit returns to zero and the tool-releasing cylinder is filled with oil, the tool-breaking piston and the collision block seat fixed on the tool-releasing piston move to the right a distance C under the action of the tool-releasing oil in the tool-releasing cylinder, and the pull rod assembly moves to the right under the action of the tool-breaking spring. After the pull rod assembly moves to the limit, there is a distance B between the locking nut and the collision block seat, so that the two planes do not contact when the universal head spindle rotates.

[0040] Specifically, when the tool-clamping cylinder is actuated, the impact block seat is pushed to move axially, causing the tool-pulling claw to release the tool; when the tool-releasing cylinder is actuated, the impact block seat is reset and the tool is re-clamped.

[0041] With the above solution, the tool-clamping cylinder and the tool-release cylinder operate in stages to ensure a smooth tool release / clamping process and achieve precise tool release control; distance B prevents the locking nut from contacting the impact block seat, reducing friction loss and improving the rotation stability of the universal head spindle; the oil pressure automatically resets after returning to zero to prevent misoperation.

[0042] (3) Beneficial effects

[0043] Compared with the prior art, the present invention designs a staggered tooth differential automatic universal head.

[0044] (1) The present invention adopts a staggered tooth differential structure of two sets of toothed discs, so that the universal head A and C axes can achieve differential processing that cannot be achieved by one set of toothed discs. Due to the structural size limitation of the universal head, the size of the internal positioning toothed disc cannot be made very large. The minimum indexing of the positioning toothed disc of the conventional accessory head is only 1 indexing, and the reliability of the operation is also problematic. The universal head of the present invention adopts a design in which two sets of combined toothed discs participate in the rotation together, making the toothed disc positioning design easy to use, and adopts two sets of toothed discs with a specific number of teeth, so that the universal head can achieve differential positioning of the A and C axes with a minimum of 0.02°, so that the mechanical universal head breaks through the traditional vertical and horizontal processing methods and can perform spatial angle processing, greatly expanding its process range.

[0045] (2) The present invention realizes the engagement / disengagement of the two sets of gear disc pairs by driving the first piston and the second piston in coordination with the first cylinder, the second cylinder and the third cylinder, and the action process is clear (such as the moving distance D), avoiding mechanical interference; when the first cylinder rotates clockwise, the first indexing is completed when the first cylinder is filled with oil, which is suitable for positive indexing; when the second cylinder rotates counterclockwise, the second indexing is completed when the second cylinder is filled with oil, which is suitable for complex angle adjustment; after the indexing is completed, the gear disc pairs re-engage to ensure that there is no displacement risk during processing; the third piston and the fourth piston are driven in coordination with the fourth cylinder, the fifth cylinder and the sixth cylinder to realize the engagement / disengagement of the two sets of gear disc pairs, and the action process is clear (such as the moving distance D), avoiding mechanical interference; when the fourth cylinder rotates clockwise, the first indexing is completed when the fourth cylinder is filled with oil, which is suitable for positive indexing; when the fifth cylinder rotates counterclockwise, the second indexing is completed when the fifth cylinder is filled with oil, which is suitable for complex angle adjustment; after the indexing is completed, the gear disc pairs re-engage to ensure that there is no displacement risk during processing;

[0046] (3) The present invention ensures a smooth tool release / clamping process and achieves precise tool loosening control by operating the tool-clamping cylinder and the tool-loosening cylinder in stages; the distance B prevents the locking nut from contacting the impact block seat, reduces friction loss, and improves the rotation stability of the universal head spindle; the oil pressure automatically resets after returning to zero to prevent misoperation. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0048] Figure 1 It is a cross-sectional schematic diagram of a staggered tooth differential automatic universal head of the present invention;

[0049] Figure 2 for Figure 1 The enlarged schematic diagram at E in the middle;

[0050] Figure 3 for Figure 1 The enlarged schematic diagram at F in the middle;

[0051] Figure 4 for Figure 1 Enlarged schematic diagram at point G in the middle.

[0052] Component names corresponding to the reference numerals in the figures are: 100, transmission shaft; 101, main pull pin; 102, lower gland; 103, spring; 104, centering sleeve; 105, small spring; 106, keyway; 107, small pull pin; 200, universal head main shaft; 300, upper housing; 301, sub-quick-change plug; 400, lower housing; 501, first bevel gear; 5011, transmission shaft bearing; 5012, first inner spacer; 5013, first outer spacer; 5014, first gland; 5015, dustproof plate; 5016, second gland; 5017, first bearing seat; 502, second bevel gear; 5021, nut; 503, third bevel gear; 5031, intermediate shaft bearing; 5032, second inner spacer; 5033, second outer spacer; 5034, first spacer; 5035, second bearing seat; 504, fourth bevel gear; 600, first indexing mechanism; 601, first positioning gear seat; 602, first indexing gear; 603, second indexing gear; 60 4. First transition sleeve; 605. First flange seat; 606. First internal gear; 607. First external gear; 608. First piston; 609. Second piston; 610. First oil cylinder; 611. Second oil cylinder; 612. Third oil cylinder; 700. Second indexing mechanism; 701. Second positioning gear disc seat; 702. Third indexing gear disc; 703. Fourth indexing gear disc; 704. Second transition sleeve; 705. Second flange seat; 706. Second internal gear; 707. Second external gear; 7 08, third piston; 709, fourth piston; 710, fourth cylinder; 711, fifth cylinder; 712, sixth cylinder; 801, broaching claw; 802, pull rod; 803, broaching spring; 804, locking nut; 805, cylinder seat; 806, knife-beating cylinder; 807, knife-loosening cylinder; 808, tail end seat; 809, bump block seat; 810, knife-beating piston; 811, limit seat; 901, front bearing seat; 902, rear bearing seat; 903, bearing; 1000, spindle box. DETAILED DESCRIPTION

[0053] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0054] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0055] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the features in the following embodiments and embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative work are within the scope of protection of this application.

[0056] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on this application, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspect described herein can be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0057] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The illustrations only show components related to the present application and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0058] Additionally, in the following description, specific details are provided to provide a thorough understanding of the examples, however, one skilled in the art will appreciate that the examples can be practiced without these specific details.

[0059] The following describes the technical solutions provided by various embodiments of the present application in conjunction with the accompanying drawings.

[0060] In the following embodiments, distance A is 3.2 mm; distance B is 1.5 mm; distance C is 10 mm; and distance D is 5 mm.

[0061] like Figures 1-4As shown, the present invention provides an automatic universal head with staggered teeth differential, comprising a housing, a transmission shaft 100 arranged in the housing, and a universal head spindle 200 connected to the transmission shaft 100; the transmission shaft 100 and the universal head spindle 200 are connected by a transmission mechanism; the housing comprises an upper housing 300 and a lower housing 400 arranged up and down; the top of the upper housing 300 is provided with a connecting mechanism connected to a machine tool slide; the top of the transmission shaft 100 is provided with a main pull nail 101, the main pull nail 101 is connected to the machine tool spindle for tightening with the machine tool spindle; the bottom end of the transmission shaft 100 is provided with a lower pressure cover 102, and a pressure cover 102 is provided between the lower pressure cover 102 and the transmission shaft 100. A spring 103 is provided for buffering the axial impact of the transmission shaft 100; the transmission mechanism includes a first bevel gear 501 connected to the transmission shaft 100, a second bevel gear 502 meshing with the first bevel gear 501, a third bevel gear 503 meshing with the second bevel gear 502, and a fourth bevel gear 504 meshing with the third bevel gear 503; the fourth bevel gear 504 is connected to the universal head spindle 200; a first indexing mechanism 600, for realizing the indexing of the universal head spindle 200 on the C axis, includes a first positioning gear disc seat 601, a first indexing gear disc 602, a second indexing gear disc 603, a first transition sleeve 604, a first flange seat 605, a first internal gear 60 6 and the first external gear 607; the first external gear 607 is always meshed with the first bevel gear 501; the second indexing mechanism 700 is used to realize the indexing of the universal head spindle 200 on the A axis, including a second positioning gear disc seat 701, a third indexing gear disc 702, a fourth indexing gear disc 703, a second transition sleeve 704, a second flange seat 705, a second internal gear 706 and a second external gear 707; the second external gear 707 is always meshed with the third bevel gear 503; the first indexing mechanism 600 and the second indexing mechanism 700 both adopt a staggered tooth differential structure; the staggered tooth differential structure of the first indexing mechanism 600 includes the first positioning gear disc seat 601, the first indexing gear disc 60 2 and the second indexing toothed disc 603 consist of two sets of upper and lower toothed disc pairs with different indexing, and differential indexing is achieved through the differential motion of the two sets of toothed disc pairs; the upper teeth of the first indexing toothed disc 602 can mesh with the first positioning toothed disc seat 601, and the lower teeth of the first indexing toothed disc 602 can mesh with the second indexing toothed disc 603, and the number of teeth of the upper teeth of the first indexing toothed disc 602 is ≠ the number of teeth of the lower teeth of the first indexing toothed disc 602; the staggered tooth differential structure of the second indexing mechanism 700 includes two sets of upper and lower toothed disc pairs with different indexing composed of the second positioning toothed disc seat 701, the third indexing toothed disc 702 and the fourth indexing toothed disc 703, and differential indexing is achieved through the differential motion of the two sets of toothed disc pairs;The upper teeth of the third indexing gear disc 702 can mesh with the second positioning gear disc seat 701, and the lower teeth of the third indexing gear disc 702 can mesh with the fourth indexing gear disc 703. In addition, the number of teeth of the upper teeth of the third indexing gear disc 702 is ≠ the number of teeth of the lower teeth of the third indexing gear disc 702. Specifically, after the machine tool completes the head gripping action, the key block of the machine tool spindle is inserted into the keyway 106 of the transmission shaft 100, and the machine tool spindle broaching claw 801 grabs the main pull pin 101 above the transmission shaft 100. The centering sleeve 104 on the transmission shaft 100 is lifted by a number of small springs 105 and contacts the inner hole of the machine tool spindle to realize the centering of the transmission shaft 100. The upper gear disc installed on the oil receiving tray meshes with the lower gear disc installed on the upper box body 300. The first bevel gear 501 is fixed to the first bearing seat 5017 through the transmission shaft bearing 5011, the first inner spacer 5012, the first outer spacer 5013, the first pressure cover 5014, the dust plate 5015 and the second pressure cover 5016. The first bearing seat 5017 is centrally installed on the first positioning gear disc seat 601, and the first positioning gear disc seat 601 is centrally installed on the upper box body 300; the second bevel gear 502 is connected to the rear end of the third bevel gear 503 through a rectangular spline and fixed by a nut 5021; the third bevel gear 503 is mounted on the second bearing seat 5035 through the intermediate shaft bearing 5031, the second inner spacer 5032, the second outer spacer 5033 and the first spacer 5034; the fourth bevel gear 504 is centrally connected to the universal head main shaft 200 through a key. The power of the machine tool spindle is transmitted to the first bevel gear 501 connected to the transmission shaft 100 by a spline. Through the meshing of the first bevel gear 501, the second bevel gear 502, the third bevel gear 503 and the fourth bevel gear 504, the power is transmitted to the universal head spindle 200 connected to the fourth bevel gear 504, completing the power transmission of the universal head. The above scheme is adopted to achieve micro-angle indexing (such as 0.02°) through the staggered tooth differential structure (the number of teeth of the upper and lower sets of gear plates are not the same), which solves the problem of insufficient accuracy of the traditional indexing mechanism and is suitable for precision machining; the C-axis and A-axis indexing mechanisms are separately provided to support multi-angle spatial positioning and expand the machining range; the bevel gear transmission mechanism composed of the first to fourth bevel gears 504 stably transmits the power of the machine tool spindle to the universal head spindle 200, ensuring the reliability of torque transmission; the upper and lower box bodies 400 are separated for easy maintenance, and can be quickly connected to the machine tool slide through the connecting mechanism; the transmission shaft 1 The spring 103 buffer design at the bottom of 00 reduces axial impact and extends component life. At the same time, this structure can be used on both vertical gantry machining centers and horizontal machining centers. Several pulling head cylinders are provided on the oil receiving pan of the machine tool ram, and small pull nails 107 are provided at corresponding positions on the box body 300 of the universal head. The small pull nails 107 at corresponding positions are tightened by the pulling head cylinders to engage the upper tooth plate on the oil receiving pan and the lower tooth plate on the box body 300 of the universal head, which can not only ensure the positioning accuracy of the universal head, but also withstand the processing resistance of the universal head. This structure can meet both vertical and horizontal usage.This allows a single universal head to be used on two machine tools, gantry machining centers and floor-type boring and horizontal machining centers, with different spindle machining directions. Furthermore, the universal head can automatically swap with the ram. Machine tools equipped with the universal head of the present invention can also be equipped with accessory heads with other functions, broadening the range of machine tool function options.

[0062] In some embodiments, the number of teeth on the upper teeth of the first indexing gear disc 602 is 134, and the number of teeth on the lower teeth of the first indexing gear disc 602 is 135; so that the minimum indexing angle achieved by the differential motion of the two groups of gear disc pairs of the first indexing mechanism 600 is 360°÷134-360°÷135=0.02°; the number of teeth on the upper teeth of the third indexing gear disc 702 is 134, and the number of teeth on the lower teeth of the third indexing gear disc 702 is 135; so that the minimum indexing angle achieved by the differential motion of the two groups of gear disc pairs of the second indexing mechanism 700 is 360°÷134-360°÷135=0.02°. By adopting the above scheme, two sets of gear disc pairs with staggered teeth differential structure are used to enable the universal head A and C axes to achieve differential processing that cannot be achieved by one set of gear disc pairs; due to the structural size limitation of the universal head, the size of the internal positioning gear disc cannot be made very large, and the minimum indexing of the positioning gear disc processing of the conventional accessory head is only 1 indexing, and there are also problems with the reliability of the operation; the universal head of the present invention adopts a design in which two sets of combined gear disc pairs participate in the rotation together, which makes the gear disc positioning design easy, and adopts two sets of gear disc pairs with a specific number of teeth, so that the universal head can achieve differential positioning of the A and C axes with a minimum of 0.02°, so that the mechanical universal head breaks through the traditional vertical and horizontal processing methods, can perform spatial angle processing, and greatly expands its process processing range.

[0063] In some embodiments, the first indexing mechanism 600 further includes a first piston 608 fixed to the first indexing gear disc 602, and a second piston 609 fixed to the second indexing gear disc 603; the second piston 609 is relatively arranged below the first piston 608; the top of the first piston 608 is connected to a first oil cylinder 610, a second oil cylinder 611 is connected between the first piston 608 and the second piston 609, and a third oil cylinder 612 is connected below the second indexing gear disc 603; when pressure oil enters the first oil cylinder 610, the first piston 608 pushes the second piston 609, the first indexing gear disc 602, the lower box body 400 and the first flange seat 605 to move downward The first gear 606 of the first gear 607 is engaged with the first bevel gear 501, and the first gear 607 of the first gear 607 is engaged with the first bevel gear 501. The second indexing gear disc 603 brings the lower housing 400, the first flange seat 605 and the first internal gear 606 to push the first indexing gear disc 602 upward by a distance D, so that the upper teeth of the first indexing gear disc 602 and the lower teeth of the first positioning gear disc seat 601 are engaged, and the first indexing work is completed at this time; when the pressure oil enters the second oil cylinder 611, the first piston 608 and the first indexing gear disc 602 are subjected to an upward force, so that the upper teeth of the first indexing gear disc 602 and the lower teeth of the first positioning gear disc seat 601 are engaged; and the second piston 609 is subjected to a downward force, driving the second indexing gear disc 603, the lower housing 400, the first flange seat 605 and the first internal gear 606 to move downward by a distance D, So that the first internal gear 606 and the first external gear 607 fixed below the first bevel gear 501 are engaged; at this time, the machine tool spindle drives the transmission shaft 100 to rotate counterclockwise, and the power is transmitted to the first internal gear 606 through the first bevel gear 501 and the first external gear 607, and the first internal gear 606 drives the first flange seat 605, the lower box body 400 and the second indexing gear plate 603 to rotate; after rotating to the required angle, the third oil cylinder 612 enters the pressure oil, and the second indexing gear plate 603 moves upward a distance D with the lower box body 400, the first flange seat 605 and the first internal gear 606, so that the upper teeth of the second indexing gear plate 603 and the lower teeth of the first indexing gear plate 602 are engaged, and the second indexing work is completed at this time.Specifically, when oil is introduced into the first cylinder 610, the first piston 608 and the second piston 609 are pushed downward, causing the first set of gear disc pairs to disengage and the second set of gear disc pairs to engage; when oil is introduced into the third cylinder 612, the second indexing gear disc 603 is pushed upward, causing the first set of gear disc pairs to re-engage; and, when the first set of gear disc pairs disengages, they rotate 2.686567° clockwise, and when the second set of gear disc pairs disengages, they rotate 2.666667° counterclockwise. Finally, the universal head rotates 0.02° clockwise, achieving a micro-angle indexing. By adopting the above scheme, the first piston 608 and the second piston 609 are driven in coordination by the first cylinder 610, the second cylinder 611 and the third cylinder 612 to realize the engagement / disengagement of the two sets of gear disc pairs. The action process is clear (such as the moving distance D), and mechanical interference is avoided; when rotating clockwise, the first indexing is completed when the first cylinder 610 is filled with oil, which is suitable for positive indexing; when rotating counterclockwise, the second indexing is completed when the second cylinder 611 is filled with oil, which is suitable for complex angle adjustment; after the indexing is completed, the gear disc pair re-engages to ensure that there is no displacement risk during processing.

[0064] In some embodiments, the second indexing mechanism 700 further includes a third piston 708 fixed to the third indexing gear disc 702, and a fourth piston 709 fixed to the fourth indexing gear disc 703, the fourth piston 709 being relatively arranged below the third piston 708; the top of the third piston 708 is connected to a fourth oil cylinder 710, a fifth oil cylinder 711 is connected between the third piston 708 and the fourth piston 709, and a sixth oil cylinder 712 is connected below the fourth indexing gear disc 703; when pressure oil is introduced into the fourth oil cylinder 710, the third piston 708 pushes the fourth piston 709, the third indexing gear disc 702, the spindle box 1000 and the second flange seat 705 to move downward a distance D, so that After the first gear 705 is in the working state, the second gear 706 is in the working state, and the second gear 707 is in the working state. The third indexing gear disc 703 carries the main spindle box 1000, the second flange seat 705, and the second internal gear 706 to push the third indexing gear disc 702 to move upward a distance D, so that the upper teeth of the third indexing gear disc 702 and the lower teeth of the second positioning gear disc seat 701 are engaged, and the first indexing work is completed at this time; when the fifth oil cylinder 711 enters the pressure oil, the third piston 708 and the third indexing gear disc 702 are subjected to an upward force, so that the upper teeth of the third indexing gear disc 702 and the lower teeth of the second positioning gear disc seat 701 are engaged; and the fourth piston 709 is subjected to a downward force, driving the fourth indexing gear disc 703, the main spindle box 1000, the second flange seat 705 and the second internal gear 706 to move downward a distance D, so that , the second internal gear 706 and the second external gear 707 fixed below the third bevel gear 503 are meshed; at this time, the machine tool spindle drives the transmission shaft 100 to rotate counterclockwise, and the power is transmitted to the second internal gear 706 through the third bevel gear 503 and the second external gear 707, and the second internal gear 706 drives the second flange seat 705, the spindle box 1000 and the fourth indexing gear disc 703 to rotate; after rotating to the required angle, the sixth oil cylinder 712 enters the pressure oil, and the fourth indexing gear disc 703 moves upward a distance D with the spindle box 1000, the second flange seat 705 and the second internal gear 706, so that the upper teeth of the fourth indexing gear disc 703 and the lower teeth of the third indexing gear disc 702 are meshed, and the second indexing work is completed at this time.Specifically, when oil is supplied to the fourth cylinder 710, the third piston 708 and the fourth piston 709 are pushed downward, causing the first group of gear disc pairs to disengage and the second group of gear disc pairs to engage; when oil is supplied to the sixth cylinder 712, the fourth indexing gear disc 703 is pushed upward, causing the first group of gear disc pairs to re-engage; and, when the first group of gear disc pairs disengages, they rotate 2.686567° clockwise, and when the second group of gear disc pairs disengages, they rotate 2.666667° counterclockwise. Finally, the universal head rotates 0.02° clockwise, achieving a micro-angle indexing. By adopting the above scheme, the third piston 708 and the fourth piston 709 are driven in coordination by the fourth cylinder 710, the fifth cylinder 711 and the sixth cylinder 712 to realize the engagement / disengagement of the two sets of gear disc pairs. The action process is clear (such as the moving distance D), and mechanical interference is avoided; when rotating clockwise, the first indexing is completed when the fourth cylinder 710 is filled with oil, which is suitable for positive indexing; when rotating counterclockwise, the second indexing is completed when the fifth cylinder 711 is filled with oil, which is suitable for complex angle adjustment; after the indexing is completed, the gear disc pair re-engages to ensure that there is no displacement risk during processing.

[0065] In some embodiments, the top of the upper housing 300 is connected to a female quick-change plug 301 that mates with the female quick-change plug of the machine tool ram; this is used to transmit the functional paths for the universal head to implement various automated functions. Specifically, when the machine tool ram approaches the universal head, the pull-head cylinder on the oil pan pulls the small pull pin 107 at the corresponding position on the upper housing 300, completing the pull-head action. Simultaneously, the female quick-connector on the oil pan and the female quick-connector on the upper housing 300 are connected, transmitting the water, oil, and air paths for the universal head to implement various automated functions. Simultaneously, the end face key of the machine tool spindle is inserted into the keyway 106 of the drive shaft 100, and the machine tool completes the head gripping action. In some embodiments, the functional path required by the universal head is introduced into the first positioning gear disc seat 601 which is centrally connected to the upper box body 300 through the sub-quick-change plug 301, and then enters the first flange seat 605 through the first transition sleeve 604 which is centrally connected to the first positioning gear disc seat 601, and then enters the lower box body 400, and enters the second positioning gear disc seat 701 through the lower box body 400, and then enters the second flange seat 705 through the second transition sleeve 704 which is centrally connected to the second positioning gear disc seat 701, and then enters the main spindle box 1000, and is redistributed to the functional path on the universal head through the main spindle box 1000.

[0066] In some embodiments, a spindle tool-loosening and broaching mechanism is further included, and the spindle tool-loosening and broaching mechanism includes a spindle fixing assembly, a spindle broaching assembly, and a spindle tool-loosening assembly, which is used to realize automatic tool-loosening and automatic tool-loosening, improve processing efficiency, and reduce manual intervention. In some embodiments, the spindle fixing assembly includes a bearing 903 seat provided outside the universal head spindle 200, and a bearing 903 provided between the bearing 903 seat and the universal head spindle 200. In some embodiments, the bearing 903 seat includes a front bearing seat 901 and a rear bearing seat 902 arranged at both ends of the universal head spindle 200 at the fourth bevel gear 504, and bearings 903 are provided between the front bearing seat 901 and the rear bearing seat 902 and the universal head spindle 200 to enhance the radial and axial bearing capacity of the universal head spindle 200, reduce vibration, and ensure processing accuracy; and the front bearing seat 901 and the rear bearing seat 902 are fixed to the spindle box 1000. In some embodiments, the spindle broach assembly includes a pull rod assembly provided in the universal head spindle 200; the pull rod assembly includes a broach claw 801, a pull rod 802 connected to the broach claw 801, a broach spring 803 sleeved on the outside of the pull rod 802, and a locking nut 804 fixed on the tail of the pull rod 802; the broach spring 803 is accommodated in the tail of the universal head spindle 200, and both ends are restricted between the limit seat 811 fixed at the tail end of the universal head spindle 200 and the end face inside the universal head spindle 200, and are in a compressed state; when the universal head spindle 200 grabs the tool, the limit step of the pull rod 802 and the broach spring 803 will be pulled out a distance A. At this time, the tool will be subjected to the reaction force of the compression force of the broach spring 803 in the pull rod assembly to realize the universal head broaching action. With the above solution, the compression reaction force of the broach spring 803 provides a constant broaching force to avoid overload damage to the tool or the universal head spindle 200; the broach spring 803 absorbs the impact during tool change and prolongs the life of the drawbar assembly. In some embodiments, the spindle tool loosening assembly includes a cylinder seat 805, a tool-beating cylinder 806, a tool-releasing cylinder 807, a tail end seat 808, a bump block seat 809 and a tool-beating piston 810; the tool-beating piston 810 and the bump block seat 809 fixed on the tool-beating piston 810 move to the left under the action of the tool-beating oil of the tool-beating cylinder 806, and after the bump block seat 809 moves to the left against the locking nut 804 by a distance C, the tool-beating action stops. At this time, the drawbar 802 moves left with the broach claw 801, and the broach claw 801 opens, completing the knife-beating action; when the oil pressure in the knife-beating oil circuit returns to zero and the knife-loosening cylinder 807 is filled with oil, the knife-beating piston 810 and the impact block seat 809 fixed on the knife-beating piston 810 move to the right by a distance C under the action of the knife-loosening oil in the knife-loosening cylinder 807, and the pull rod assembly moves to the right by the action of the knife-beating spring 803. After the pull rod assembly moves to the limit, there is a distance B between the locking nut 804 and the impact block seat 809, so that the two planes do not contact when the universal head spindle 200 rotates.Specifically, when the tool-snapping cylinder 806 actuates, it pushes the impact block holder 809 axially, causing the broaching claw 801 to release the tool. When the tool-unclamping cylinder 807 actuates, it resets the impact block holder 809 and re-clamps the tool. With this solution, the tool-snapping cylinder 806 and the tool-unclamping cylinder 807 operate in stages, ensuring a smooth tool release / clamping process and precise tool unclamping control. Distance B prevents contact between the locking nut 804 and the impact block holder 809, reducing friction and improving the rotational stability of the universal head spindle 200. The oil pressure automatically resets after returning to zero, preventing misoperation.

[0067] The same or similar parts between the various embodiments in this specification can be referred to each other, and each embodiment focuses on the differences from other embodiments.

[0068] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A tooth-staggered differential automatic universal head, characterized by: The invention comprises a housing, a transmission shaft (100) arranged in the housing, and a universal head main shaft (200) connected to the transmission shaft (100); the transmission shaft (100) and the universal head main shaft (200) are connected via a transmission mechanism; the housing comprises an upper housing (300) and a lower housing (400) arranged above and below; The top of the upper box (300) is provided with a connection mechanism connected to the machine tool ram; A main pull pin (101) is provided at the top end of the transmission shaft (100), and the main pull pin (101) is connected to the main shaft of the machine tool; a lower pressure cover (102) is provided at the bottom end of the transmission shaft (100), and a spring (103) is provided between the lower pressure cover (102) and the transmission shaft (100); The transmission mechanism comprises a first bevel gear (501) connected to the transmission shaft (100), a second bevel gear (502) meshing with the first bevel gear (501), a third bevel gear (503) meshing with the second bevel gear (502), and a fourth bevel gear (504) meshing with the third bevel gear (503); the fourth bevel gear (504) is connected to the universal head main shaft (200); A first indexing mechanism (600) is used to realize indexing of the universal head spindle (200) on the C-axis, comprising a first positioning gear disc seat (601), a first indexing gear disc (602), a second indexing gear disc (603), a first transition sleeve (604), a first flange seat (605), a first internal gear (606), and a first external gear (607); the first external gear (607) is always in mesh with the first bevel gear (501); A second indexing mechanism (700) is used to realize indexing of the universal head spindle (200) on the A axis, comprising a second positioning gear disc seat (701), a third indexing gear disc (702), a fourth indexing gear disc (703), a second transition sleeve (704), a second flange seat (705), a second internal gear (706) and a second external gear (707); the second external gear (707) is always in mesh with the third bevel gear (503); The first indexing mechanism (600) and the second indexing mechanism (700) both adopt a staggered tooth differential structure; The staggered tooth differential structure of the first indexing mechanism (600) comprises two sets of upper and lower gear disc pairs with different indexes, which are composed of a first positioning gear disc seat (601), a first indexing gear disc (602) and a second indexing gear disc (603), and the differential index indexing is achieved through the differential motion of the two sets of gear disc pairs; the upper teeth of the first indexing gear disc (602) can be engaged with the first positioning gear disc seat (601), and the lower teeth of the first indexing gear disc (602) can be engaged with the second indexing gear disc (603), and the number of teeth of the upper teeth of the first indexing gear disc (602) is ≠ the number of teeth of the lower teeth of the first indexing gear disc (602); The staggered tooth differential structure of the second indexing mechanism (700) includes two sets of upper and lower gear disc pairs with different indexes, which are composed of a second positioning gear disc seat (701), a third indexing gear disc (702) and a fourth indexing gear disc (703), and the differential indexing is realized by the differential motion of the two sets of gear disc pairs; the upper teeth of the third indexing gear disc (702) can be engaged with the second positioning gear disc seat (701), and the lower teeth of the third indexing gear disc (702) can be engaged with the fourth indexing gear disc (703), and the number of teeth of the upper teeth of the third indexing gear disc (702) is ≠ the number of teeth of the lower teeth of the third indexing gear disc (702).

2. The staggered tooth differential automatic universal head according to claim 1, characterized in that: The number of teeth of the upper teeth of the first indexing gear disc (602) is 134, and the number of teeth of the lower teeth of the first indexing gear disc (602) is 135; so that the minimum indexing angle achieved by the differential motion of the two sets of gear disc pairs of the first indexing mechanism (600) is 360°÷134-360°÷135=0.02°; the number of teeth of the upper teeth of the third indexing gear disc (702) is 134, and the number of teeth of the lower teeth of the third indexing gear disc (702) is 135; so that the minimum indexing angle achieved by the differential motion of the two sets of gear disc pairs of the second indexing mechanism (700) is 360°÷134-360°÷135=0.02°.

3. The staggered tooth differential automatic universal head according to claim 1, characterized in that: The first indexing mechanism (600) further comprises a first piston (608) fixed to the first indexing gear disc (602), and a second piston (609) fixed to the second indexing gear disc (603); the second piston (609) is arranged below the first piston (608); a first oil cylinder (610) is connected to the top of the first piston (608), a second oil cylinder (611) is connected between the first piston (608) and the second piston (609), and a third oil cylinder (612) is connected below the second indexing gear disc (603); When the pressure oil enters the first oil cylinder (610), the first piston (608) pushes the second piston (609), the first indexing gear disc (602), the lower box (400) and the first flange seat (605) to move downward by a distance D, so that the lower teeth of the first positioning gear disc seat (601) are disengaged from the upper teeth of the first indexing gear disc (602), the lower teeth of the first indexing gear disc (602) and the upper teeth of the second indexing gear disc (603) are engaged, and the first internal gear (606) fixed below the first flange seat (605) and the first external gear (607) fixed below the first bevel gear (501) are engaged; at this time, the main shaft of the machine tool drives the transmission shaft (100) to rotate clockwise, and the power can The first internal gear (606) is transmitted through the first bevel gear (501) and the first external gear (607), and the first internal gear (606) drives the first flange seat (605), the lower housing (400), the second indexing gear disc (603) and the first indexing gear disc (602) to rotate; after rotating to the required angle, the third oil cylinder (612) enters the pressure oil, and the second indexing gear disc (603) brings the lower housing (400), the first flange seat (605) and the first internal gear (606) to push the first indexing gear disc (602) to move upward by a distance D, so that the upper teeth of the first indexing gear disc (602) and the lower teeth of the first positioning gear disc seat (601) are engaged, and the first indexing work is completed at this time; When the pressure oil is fed into the second oil cylinder (611), the first piston (608) and the first indexing gear disc (602) are subjected to an upward force, so that the upper teeth of the first indexing gear disc (602) and the lower teeth of the first positioning gear disc seat (601) are engaged; and the second piston (609) is subjected to a downward force, driving the second indexing gear disc (603), the lower box (400), the first flange seat (605) and the first internal gear (606) to move downward by a distance D, so that the first internal gear (606) and the first external gear (607) fixed below the first bevel gear (501) are engaged; at this time, the main shaft of the machine tool drives the transmission shaft (10 0) rotates counterclockwise, and the power is transmitted to the first internal gear (606) through the first bevel gear (501) and the first external gear (607), and the first internal gear (606) drives the first flange seat (605), the lower box (400) and the second indexing gear (603) to rotate; after rotating to the required angle, the third oil cylinder (612) enters the pressure oil, and the second indexing gear (603) moves upward a distance D with the lower box (400), the first flange seat (605) and the first internal gear (606), so that the upper teeth of the second indexing gear (603) and the lower teeth of the first indexing gear (602) are engaged, and the second indexing work is completed at this time.

4. The staggered tooth differential automatic universal head according to claim 1, characterized in that: The second indexing mechanism (700) further comprises a third piston (708) fixed to the third indexing gear disc (702), and a fourth piston (709) fixed to the fourth indexing gear disc (703), wherein the fourth piston (709) is arranged below the third piston (708); a fourth oil cylinder (710) is connected to the top end of the third piston (708), a fifth oil cylinder (711) is connected between the third piston (708) and the fourth piston (709), and a sixth oil cylinder (712) is connected below the fourth indexing gear disc (703); When the pressure oil enters the fourth oil cylinder (710), the third piston (708) pushes the fourth piston (709), the third indexing gear disc (702), the main spindle box (1000) and the second flange seat (705) to move downward by a distance D, so that the lower teeth of the second positioning gear disc seat (701) are disengaged from the upper teeth of the third indexing gear disc (702), the lower teeth of the third indexing gear disc (702) and the upper teeth of the fourth indexing gear disc (703) are engaged, and the second internal gear (706) fixed below the second flange seat (705) and the second external gear (707) fixed below the third bevel gear (503) are engaged; at this time, the main shaft of the machine tool drives the transmission shaft (100) to rotate clockwise, and the power can be passed through The third bevel gear (503) and the second outer gear (707) are transmitted to the second inner gear (706), and the second inner gear (706) drives the second flange seat (705), the main spindle box (1000), the fourth indexing gear disc (703) and the third indexing gear disc (702) to rotate; after rotating to the required angle, the sixth oil cylinder (712) enters the pressure oil, and the fourth indexing gear disc (703) brings the main spindle box (1000), the second flange seat (705) and the second inner gear (706) to push the third indexing gear disc (702) to move upward by a distance D, so that the upper teeth of the third indexing gear disc (702) and the lower teeth of the second positioning gear disc seat (701) are engaged, and the first indexing work is completed at this time; When the fifth oil cylinder (711) is fed with pressure oil, the third piston (708) and the third indexing gear disc (702) are subjected to an upward force, so that the upper teeth of the third indexing gear disc (702) and the lower teeth of the second positioning gear disc seat (701) are engaged; and the fourth piston (709) is subjected to a downward force, driving the fourth indexing gear disc (703), the spindle box (1000), the second flange seat (705) and the second internal gear (706) to move downward a distance D, so that the second internal gear (706) and the second external gear (707) fixed below the third bevel gear (503) are engaged; at this time, the machine tool spindle drives the transmission shaft (100 ) rotates counterclockwise, and the power is transmitted to the second internal gear (706) through the third bevel gear (503) and the second external gear (707), and the second internal gear (706) drives the second flange seat (705), the main spindle box (1000) and the fourth indexing gear disc (703) to rotate; after rotating to the required angle, the sixth oil cylinder (712) enters the pressure oil, and the fourth indexing gear disc (703) moves upward a distance D with the main spindle box (1000), the second flange seat (705) and the second internal gear (706), so that the upper teeth of the fourth indexing gear disc (703) and the lower teeth of the third indexing gear disc (702) are engaged, and the second indexing work is completed at this time.

5. The staggered tooth differential automatic universal head according to claim 1, characterized in that: The top end of the upper box (300) is connected to a female quick-change plug (301) that matches the female quick-change plug of the machine tool ram; and is used to transmit a functional path for the universal head to realize various automation functions.

6. The staggered tooth differential automatic universal head according to claim 5, characterized in that: The functional path required by the universal head is introduced into the first positioning gear disc seat (601) which is centrally connected to the upper housing (300) through the sub-quick-change plug (301), and then enters the first flange seat (605) through the first transition sleeve (604) which is centrally connected to the first positioning gear disc seat (601), and then enters the lower housing (400), enters the second positioning gear disc seat (701) through the lower housing (400), and then enters the second flange seat (705) through the second transition sleeve (704) which is centrally connected to the second positioning gear disc seat (701), and then enters the main spindle box (1000), and is redistributed to the functional path on the universal head through the main spindle box (1000).

7. The staggered tooth differential automatic universal head according to claim 1, characterized in that: It also includes a spindle tool loosening and broaching mechanism, which includes a spindle fixing component, a spindle tool broaching component and a spindle tool loosening component, and is used to realize automatic tool broaching and automatic tool loosening.

8. The staggered tooth differential automatic universal head according to claim 7, characterized in that: The spindle fixing assembly comprises a bearing (903) seat provided outside the universal head spindle (200), and a bearing (903) provided between the bearing (903) seat and the universal head spindle (200).

9. The staggered tooth differential automatic universal head according to claim 7, characterized in that: The spindle broaching assembly includes a pull rod assembly arranged in the universal head spindle (200); the pull rod assembly includes a broaching claw (801), a pull rod (802) connected to the broaching claw (801), a broaching spring (803) sleeved on the outside of the pull rod (802), and a locking nut (804) fixed on the tail of the pull rod (802); the broaching spring (803) is accommodated in the tail of the universal head spindle (200), and its two ends are restricted between a limit seat (811) fixed at the tail end of the universal head spindle (200) and an end face in the universal head spindle (200), and are in a compressed state; when the universal head spindle (200) grabs the knife, the limit step of the pull rod (802) and the broaching spring (803) will be pulled out a distance A, at which time, the tool will be subjected to the reaction force of the compression force of the broaching spring (803) in the pull rod assembly, so as to realize the universal head broaching action.

10. The staggered tooth differential automatic universal head according to claim 9, characterized in that: The spindle knife loosening assembly includes a cylinder seat (805), a knife-beating cylinder (806), a knife-loosening cylinder (807), a tail end seat (808), a collision block seat (809) and a knife-beating piston (810); the knife-beating piston (810) and the collision block seat (809) fixed on the knife-beating piston (810) move to the left under the action of the knife-beating oil of the knife-beating cylinder (806), and after the collision block seat (809) moves to the left by a distance C against the locking nut (804), the knife-beating action stops. At this time, the pull rod (802) moves the knife-pulling claw (801) to the left, and the knife-pulling claw (801) opens to complete the knife-beating action; when the oil pressure of the knife-beating oil circuit returns to zero and the knife-loosening cylinder (807) is filled with oil, the knife-beating piston (810) and the impact block seat (809) fixed on the knife-beating piston (810) move to the right by a distance C under the action of the knife-loosening oil of the knife-loosening cylinder (807), and the pull rod assembly moves to the right under the action of the knife-pulling spring (803). After the pull rod assembly moves to the limit, there is a distance B between the locking nut (804) and the impact block seat (809), so that when the universal head spindle (200) rotates, the two planes do not contact.

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