Highly compact automatic drilling equipment

Abstract

The invention belongs to the field of machining equipment, and discloses highly compact automatic drilling equipment. The equipment comprises a power unit module and a modular transmission device, the modular transmission device comprises a rotary motion wheel train and a feed motion wheel train, and the power unit module comprises a rotary motor and a feed motor. According to the modularized transmission device, the rotating motor and the feeding motor can independently control the rotating speed and the feeding speed of the main shaft respectively, and stepless adjustment of the rotating speed and the feeding speed of the main shaft can be achieved. The input and output relation is optimized through a double-planetary-gear-train structure, the transmission ratio of feeding motion is accurately distributed, the diameter ratio of a main shaft feeding output gear to a rotating output gear is set to be 1: 1, the size coordination of the gear box structure is remarkably improved, and the adaptability of the gear box structure to complex scenes is guaranteed. The modularized transmission device and the compact speed reducer are designed in a modularized mode, series production is convenient, the weight is light, the size is small, and the requirement for drilling in narrow and small space under various working conditions is met.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of processing equipment, and relates to a highly compact automatic hole making equipment. BACKGROUND

[0002] Lightweight high-strength carbon fiber reinforced resin-based composite materials (CFRP) and fatigue-resistant metal materials (such as titanium alloy, aluminum alloy, etc.) are ideal choices for aerospace high-end equipment to achieve weight reduction and efficiency improvement. In order to ensure the high reliability assembly and service performance of CFRP and laminated structure, thousands of multi-type connecting holes need to be efficiently processed. Since the hole making operation is usually carried out on the assembly site, the accessibility of traditional numerical control machine tools and industrial robot arms is insufficient due to space limitations; manual hole making method is usually adopted, which has the problems of complicated process and low efficiency, and it is difficult to meet the batch production demand. Therefore, it is urgent to develop a lightweight compact portable hole making equipment suitable for narrow space and capable of processing multiple types of holes.

[0003] Foreign research on portable automatic hole making equipment started early. Jeremy Dean Watford of APEX Company in France invented "Feed Oscillation Via Variable Pitch Gears", patent number ZL 14 / 990,042. The invention adopts a pneumatic motor driving mode, and the power is output to the main shaft through gear transmission to realize fixed rotation speed and feed speed. The whole mechanism is driven by a pure mechanical way, which has high reliability, but the transmission ratio is fixed, and the processing parameters cannot be changed during drilling. The patent name is "EDU handheld electric drive automatic feed drilling equipment", and the publication number is CN202320150632.0. The device adopts an independent feed system, and intelligently distributes the optimal rotation speed and feed speed to the rotation / feeding mechanism through a pressure sensor; but due to the non-modular structure, the component adaptability and working condition flexibility are weak, and the flexibility is poor when facing different hole making conditions. The patent name is "Drill head feeding device of drilling machine", and the patent number is CN202422053909.5. The device ensures the stability of the axial movement of the drill bit by setting double gears and double racks, optimizes the arrangement of the gears and racks, and makes them respectively located on the left and right sides of the spline shaft, reduces the axial size of the drill head feeding device of the drilling machine, and further reduces the overall size of the drilling machine, which is easier to use. However, the feeding mechanism and the rotating mechanism are not relatively independent, which is difficult to adapt to complex and variable processing environment, and the single component damage needs to be repaired as a whole, which has high maintenance cost.

[0004] In summary, in order to meet the demand of lightweight and serialized equipment in aerospace assembly site, and realize the synchronous and accurate control of the rotation speed and feed speed of the main shaft, a new type of transmission device which is lightweight, compact, and can independently control rotation and translation is needed. SUMMARY

[0005] The application is a highly compact automatic hole making equipment.

[0006] The technical scheme of the application is as follows:

[0007] The highly compact automatic hole making equipment comprises a modular transmission device 2 and a power unit module 1, which are used in cooperation.

[0008] The power unit module 1 comprises a feeding motor output spline shaft 101 and a rotating motor output spline shaft 102; the feeding motor output spline shaft 101 is matched with the lower end spline shaft of a feeding input shaft 20405, and the rotating motor output spline shaft 102 is matched with the lower end spline shaft of a rotating input shaft 20504.

[0009] The modular transmission device 2 comprises a transmission gear train box, a feeding motion gear train 204, a rotating motion gear train 205, a main shaft 206 and a guide module 208; a dust cover 201 is installed outside the main shaft 206, and the end thereof is fixed on a rear gear box shell 202; the feeding motion gear train 204, the rotating motion gear train 205 and the main shaft 206 are installed in the transmission gear train box, the guide module 208 is positioned by a boss and a front gear box shell 207, and is fastened and connected with the front gear box shell 207 through bolts; the guide module 208 is gap matched with the main shaft 206, and plays a guiding role on the main shaft 206; a threaded hole is formed in the left end of the main shaft 206, a long cylindrical hole is formed in the right end of the main shaft 206 along the axial direction, and a long key groove is formed in the shaft body, which is matched with the corresponding convex structure of a rotating output gear 20501, to form a key and key groove connection, and at the same time, the main shaft 206 and a feeding output gear 20404 constitute a screw pair connection.

[0010] The transmission gear train box comprises the dust cover 201, the rear gear box shell 202, a shell base plate 203 and the front gear box shell 207; the front gear box shell 207 and the rear gear box shell 202 are positioned by a pin and connected by bolts, and the bottom of the rear gear box shell 202 is connected with the shell base plate 203 by bolts, to constitute the transmission gear train box; the dust cover 201 is sleeved outside the main shaft 206 and is installed on the rear gear box shell 202.

[0011] The feeding motion wheel train 204 includes an ultra-thin needle bearing 20402, a thrust needle bearing 20403, a spindle feeding output wheel 20404, a feeding input shaft 20405, and a double planetary wheel train; the spindle feeding output wheel 20404 is a left end stepped shaft, a middle spur gear, and a right end stepped shaft structure; the right end stepped shaft of the spindle feeding output wheel 20404 is fixed on the transmission wheel train box through a bearing, and the left end stepped shaft is connected with the rotating output gear 20501 through the thrust needle bearing 20403 and the ultra-thin needle bearing 20402; the spindle feeding output wheel 20404 is matched with the spindle 206 to form a threaded pair, and converts the rotating motion into the feeding motion; the double planetary wheel train includes a double gear A 20401, a double gear B 20406, a planet carrier 20407, a planet wheel 20408, an inner ring gear 20409, a needle cage assembly 20410, and a sun shaft 20411; the double planetary wheel train is two stages, and there are eight planet wheels 20408, which are installed on the planet carrier 20407 through a radial needle roller bearing; the inner ring gear 20409 is installed on the transmission wheel train box through an internal thread cylindrical pin and serves as a gear ring of the second stage planetary wheel train; the sun shaft 20411 is an integral gear shaft, the middle part of which is a spur gear, and the right end shaft section is provided with a key groove and a threaded hole; the right end of the sun shaft 20411 is connected with the bevel gear 20503 through a flat key and is fixed by bolts and spring washers; the middle spur gear of the sun shaft 20411 serves as the sun gear of the first stage planetary wheel train and is engaged with the planet wheel 20408, and the whole is installed on the transmission wheel train box through a bearing; the double gear A 20401 is installed on the sun shaft 20411 through the needle cage assembly 20410 and is axially positioned by the shaft shoulder of the sun shaft 20411; the double gear A 20401 includes left and right spur gear structures, the right side spur gear of the double gear A 20401 serves as the sun gear of the second stage planetary wheel train and is engaged with the planet wheel 20408, and the left side spur gear outputs the feeding motion power to the spindle feeding output wheel 20404 by being engaged with the feeding output wheel 20404; the double gear B 20406 includes a left gear ring and a right bevel gear structure, and is installed on the sun shaft 20411 through two bearings, which are axially fixed by the shaft shoulder of the sun shaft 20411 and the elastic retainer respectively; the feeding input shaft 20405 is an upper bevel gear and a lower spline shaft structure, the upper bevel gear of which is engaged with the right end bevel gear of the double gear B 20406 to transmit the feeding power; the middle part of the feeding input shaft 20405 is provided with a shaft shoulder for installing a bearing to be fixed on the transmission wheel train box, and the bearing is axially positioned by a spring retainer; the lower spline shaft of the feeding input shaft 20405 is butted with the feeding motor output spline shaft 101 of the power unit module 1 to obtain power;

[0012] The rotating motion wheel train 205 comprises a rotating output gear 20501, a rotating input gear 20502, a bevel gear 20503, a rotating input shaft 20504 and a sun gear shaft 20411; the rotating output gear 20501 is a left side stepped shaft and a right side spur gear structure, the left side stepped shaft is fixed on the transmission wheel train box through a bearing, and the right side spur gear is engaged with the rotating input gear 20502; the right side of the rotating output gear 20501 is connected with the main shaft feeding output wheel 20404 in sequence through the ultra-thin needle bearing 20402 and the thrust needle bearing 20403; the rotating input gear 20502 is provided with a key groove and is connected with the sun gear shaft 20411 through a flat key; the bevel gear 20503 is connected with the sun gear shaft 20411 through a flat key and is axially positioned and fixed through a bolt, a washer and the shaft shoulder of the sun gear shaft 20411; the rotating input shaft 20504 is provided with an upper end bevel gear and a lower end spline shaft structure, the upper end bevel gear is engaged with the bevel gear 20503 to transmit the rotating motion power; the middle shaft section of the rotating input shaft 20504 is used for installing a bearing to be fixed on the transmission wheel train shell and the bearing is axially positioned and fixed by using a spring retainer; the lower end spline shaft of the rotating input shaft 20504 is butted with the rotating motor output spline shaft 102 of the power unit module 1 to obtain power.

[0013] The power transmission relationship of the highly compact automatic hole making equipment is as follows: the rotating motion power is transmitted into the lower end spline shaft of the rotating input shaft 20504, the rotating motion power is transmitted to the sun gear shaft 20411 through the engagement of the upper end bevel gear of the rotating input shaft 20504 with the bevel gear 20503, and then the rotating motion power is transmitted to the main shaft 206 through the engagement of the rotating input gear 20502 with the rotating output gear 20501; the feeding motion power is composed of two parts, one part is input from the lower end spline shaft of the feeding input shaft 20405, the feeding motion power is output to the main shaft 206 through the double planetary wheel train and the engagement of the left side spur gear of the double gear A 20401 with the main shaft feeding output wheel 20404; the other part is input from the lower end spline shaft of the rotating input shaft 20504, the feeding motion power is transmitted to the sun gear shaft 20411 through the engagement of the upper end bevel gear of the rotating input shaft 20504 with the bevel gear 20503, the feeding motion power is transmitted to the main shaft 206 through the sun gear in the middle of the sun gear shaft 20411, the double planetary wheel train, the output of the double gear A 20401, the engagement of the left side spur gear of the double gear A 20401 with the main shaft feeding output wheel 20404; the differential relationship of the two parts of the feeding motion power is input as the first level planetary wheel train of the double planetary wheel train, the feeding motion power is transmitted to the second level planetary wheel train of the double planetary wheel train through the planetary carrier 20407 and the planetary wheel 20408, and then the feeding motion power is transmitted to the output wheel double gear A 20401, so that the control of the feeding motion is realized.

[0014] The rotation output gear 20501 is engaged with the rotation input gear 20502, and the transmission ratio is ; the left spur gear of the double gear A 20401 is engaged with the main shaft feed output wheel 20404, and the transmission ratio is ; the left side inner ring of the double gear B 20406 is engaged with the planetary gear 20408, and the transmission ratio is , the right side bevel gear is engaged with the upper end bevel gear of the feed input shaft 20405, and the transmission ratio is ; the bevel gear 20503 connected to the right side of the sun gear shaft 20411 is engaged with the upper end bevel gear of the rotation input shaft 20504, and the transmission ratio is ; the gear in the middle of the sun gear shaft 20411 acts as the sun gear of the first stage, and is engaged with the planetary gear 20408, and the transmission ratio is ; the main shaft feed output wheel 20404 and the main shaft 206 constitute a screw pair, which converts rotary motion into linear motion to realize feeding; the double gear A 20401 is driven by the differential of the rotation motor and the feed motor, the first stage planetary gear train has two degrees of freedom, the rotation speed of the main shaft feed output wheel 20404 is controlled by the rotation speed of the rotation motor and the feed motor, and the main shaft feed speed is determined by the rotation speed difference delta of the main shaft feed output wheel 20404 and the main shaft 206;

[0015] The feed speed is independently controlled by the feed motor, which satisfies formula 1, where k is a constant, is the rotation speed of the feed input shaft 20405, is the rotation speed of the rotation output gear 20501, is the rotation speed of the main shaft feed output wheel 20404, is the rotation speed of the sun gear shaft 20411; the first stage planetary gear train takes the planet carrier 20407 as the output side, in order to make the output rotation speed of the feed motion train 204 reasonable and meet the independent control of rotary motion and feed motion, the second stage planetary gear train is introduced, the inner ring 20409 is fixed and the double gear A 20401 is taken as the output side, so that the feed speed satisfies formula 2, and the input-output relationship is optimized through the double planetary gear train to accurately allocate the transmission ratio of the feed motion, and the diameter ratio of the main shaft feed output wheel 20404 and the rotation output gear 20501 is set to 1:1;

[0016] When , delta=0, that is, ; when , and are calculated according to formula (2) and formula (3), the transmission ratio , which satisfies ;

[0017] (1)

[0018] (2)

[0019] (3).

[0020] Beneficial effects of the present invention: A highly compact automatic hole-making device of the present invention includes a feed motion gear train and a rotary motion gear train; two motors control two sets of transmission chains to drive the main shaft, thereby realizing independent control of the feed motion and rotary motion of the main shaft, and the feed speed and main shaft speed are steplessly adjustable; the input-output relationship is optimized by the dual planetary gear train structure, the transmission ratio of the feed motion is accurately distributed, and the diameter ratio of the main shaft feed output wheel and the rotary output gear is set to 1:1, which significantly improves the dimensional coordination of the gearbox structure and ensures its adaptability to complex scenarios. The modular design of the modular transmission device and the compact reducer facilitates serial production, and is lightweight and small in size, adapting to the hole-making needs of various working conditions in confined spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is the overall view of the automatic hole making equipment;

[0022] Figure 2 This is a view of the power unit module of the automatic hole making equipment;

[0023] Figure 3 This is an exploded view of the modular transmission device of the automatic hole-making equipment;

[0024] Figure 4 It is a cross-sectional view of the feeding component of the modular transmission device of the automatic hole-making equipment;

[0025] Figure 5 It is a cross-sectional view of the rotating component of the modular transmission device of the automatic hole-making equipment;

[0026] In the figure: 1 power unit module, 101 feed motor output spline shaft, 102 rotary motor output spline shaft; 2 modular transmission device, 201 dust cover, 202 rear gear box housing, 203 housing base plate, 204 feed motion gear train, 205 rotary motion gear train, 206 main shaft, 207 front gear box housing, 208 guide module; 20401 duplex gear A, 20402 ultra-thin needle roller bearing, 20403 thrust needle roller bearing, 20404 main shaft feed output gear, 20405 feed input shaft, 20406 duplex gear B, 20407 planet carrier, 20408 planetary gear, 20409 inner ring gear, 20410 needle roller cage assembly, 20411 sun gear shaft; 20501 rotary output gear, 20502 rotary input gear, 20503 bevel gear, 20504 rotary input shaft. DETAILED DESCRIPTION

[0027] The specific embodiments of the present application are further described below in conjunction with the accompanying drawings and technical solutions.

[0028] Reference Figures 1 to 5 A highly compact automatic hole making device includes a power unit module 1 and a modular transmission 2; the modular transmission 2 includes a feed motion gear train 204, a rotation motion gear train 205 and a main shaft 206.

[0029] In this embodiment, the front gear box shell 207 is buckled with the rear gear box shell 202, positioned by a positioning pin, and fastened by a bolt. The rear gear box shell 202 is fastened with the shell base plate 203 by a bolt. The dust cover 201 is installed at the rear of the main shaft 206 to prevent dust from entering. The guide module 208 of the modular transmission 2 is positioned by a boss with the front gear box shell 207 and fastened with the front gear box shell 207 by a bolt. The guide module 208 is gap-fitted with the main shaft 206 to guide the main shaft 206.

[0030] In this embodiment, the feed input shaft 20405 is directly driven by a feed motor. The bevel gear on the upper end of the feed input shaft 20405 is engaged with the bevel gear on the right side of the double gear B 20406 to drive the rotation of the double gear B 20406. The left side inner tooth ring of the double gear B 20406 serves as the inner tooth ring of the first stage planetary gear train and is engaged with the planetary gear 20408. The sun gear shaft 20411 is an integral gear shaft with a spur gear part in the middle as the sun gear of the first stage planetary gear train and is engaged with the planetary gear 20408. Eight planetary gears 20408 are fixed on the planetary carrier 20407 through centripetal needle roller bearings, and the differential speed of the double gear B 20406 and the sun gear shaft 20411 is transmitted to the second stage planetary gear train. The inner tooth ring 20409 of the second stage planetary gear train is fixed on the rear gear box shell 202 through a threaded cylindrical pin. The planetary carrier 20407 and the planetary gear 20408 serve as the input of the second stage planetary gear train and are output through the engagement of the planetary gear 20408 with the spur gear on the right side of the double gear A 20401. The spur gear on the left side of the double gear A 20401 is engaged with the main shaft feed output gear 20404, and the main shaft feed output gear 20404 is threadedly fitted with the main shaft 206 to realize the feed motion of the main shaft.

[0031] In this embodiment, the rotating input shaft 20504 is directly driven by the rotating motor, the upper end bevel gear of the rotating input shaft 20504 is engaged with the bevel gear 20503, the bevel gear 20503 is fixed on the sun gear shaft 20411 through the key, washer and ordinary bolt, and the rotating motion is transmitted to the sun gear shaft 20411, the rotating input gear 20502 is fixed on the sun gear shaft 20411 through the key and the shaft shoulder of the sun gear shaft 20411, the rotating input gear 20502 is engaged with the rotating output gear 20501 to transmit the rotating power, and the rotating output gear 20501 is matched with the main shaft 206 through the key groove to realize the rotating motion of the main shaft.

[0032] In this embodiment, the ultra-thin needle bearing 20402 and the thrust needle bearing 20403 are sequentially installed between the main shaft feed output wheel 20404 and the rotating output gear 20501 from left to right, which is used to reduce the friction, the left side and the right side of the sun gear shaft 20411 are respectively provided with shaft sections for installing bearings, the left shaft end is installed and fixed on the front gear box shell 207 through the bearing, the right shaft section is installed and fixed on the rear gear box shell 202 through the bearing and the bearing seat, the middle of the feed input shaft 20405 and the rotating input shaft 20504 is provided with a shaft section, which is installed and fixed on the transmission train box body through the bearing, the right shaft section of the main shaft feed output wheel 20404 is installed and fixed on the rear gear box shell 202 through the bearing, the left shaft section of the rotating output gear 20501 is installed and fixed on the front gear box shell 207 through the bearing, the double gear B 20406 is installed on the middle part of the sun gear shaft 20411 through two bearings, and the two bearings are fixed by the shaft shoulder and the elastic retainer, so that the double gear B 20406 can move independently relative to the sun gear shaft 20411, the double gear A 20401 is installed on the sun gear shaft 20411 through the needle retainer assembly, and is axially positioned through the shaft shoulder of the sun gear shaft 20411, so that the double gear A 20401 can move independently relative to the sun gear shaft 20411, and the planetary gear 20408 is installed on the planet carrier 20407 through the radial needle roller bearing, which is used to reduce the friction.

[0033] In this embodiment, the power transmission relationship of the highly compact automatic hole making device is as follows: the power of rotary motion is transmitted by the lower end spline shaft of the rotary input shaft 20504, is transmitted to the sun gear shaft 20411 through the meshing of the upper end bevel gear of the rotary input shaft 20504 and the bevel gear 20503, is transmitted to the main shaft 206 through the meshing of the rotary input gear 20502 and the rotary output gear 20501; the power of feeding motion is composed of two parts, one part is input by the lower end spline shaft of the feeding input shaft 20405, is output to the main shaft 206 through the double planetary gear train and the meshing of the left spur gear of the double gear A 20401 and the main shaft feeding output gear 20404; the other part is input by the lower end spline shaft of the rotary input shaft 20504, is transmitted to the sun gear shaft 20411 through the meshing of the upper end bevel gear of the rotary input shaft 20504 and the bevel gear 20503, is transmitted to the main shaft 206 through the meshing of the sun gear in the middle of the sun gear shaft 20411 and the double planetary gear train, and is output through the double gear A 20401 and the meshing of the left spur gear of the double gear A 20401 and the main shaft feeding output gear 20404; the differential relationship of the two parts of the power of feeding motion is input as the first stage planetary gear train of the double planetary gear train, is transmitted to the second stage planetary gear train of the double planetary gear train through the planetary carrier 20407 and the planetary gear 20408, and is further transmitted to the output gear double gear A 20401, so as to realize the control of the power of feeding motion.

[0034] The rotary output gear 20501 meshes with the rotary input gear 20502, and the transmission ratio is ; the left spur gear of the double gear A 20401 meshes with the main shaft feeding output gear 20404, and the transmission ratio is ; the left internal gear ring of the double gear B 20406 meshes with the planetary gear 20408, and the transmission ratio is ; the right bevel gear meshes with the upper end bevel gear of the feeding input shaft 20405, and the transmission ratio is ; the bevel gear 20503 connected to the right side of the sun gear shaft 20411 meshes with the upper end bevel gear of the rotary input shaft 20504, and the transmission ratio is ; the gear in the middle of the sun gear shaft 20411 is the sun gear of the first stage, and meshes with the planetary gear 20408, and the transmission ratio is ; the main shaft feeding output gear 20404 and the main shaft 206 constitute a screw pair, convert the rotary motion into linear motion to realize feeding; the double gear A 20401 is driven differentially by the rotary motor and the feeding motor, the first stage planetary gear train has two degrees of freedom, the rotation speed of the main shaft feeding output gear 20404 is controlled by the rotation speed of the rotary motor and the feeding motor, and the main shaft feeding speed is determined by the rotation speed difference delta of the main shaft feeding output gear 20404 and the main shaft 206;

[0035] The feed speed is independently controlled by the feed motor, satisfying formula (1), where k is a constant, is the rotational speed of the feed input shaft 20405, is the rotational speed of the rotary output gear 20501, is the rotational speed of the main shaft feed output wheel 20404, is the rotational speed of the sun gear shaft 20411; the first-stage planetary gear train takes the planet carrier 20407 as the output side, in order to make the output rotational speed of the feed motion train 204 reasonable and satisfy independent control of the rotary motion and the feed motion, a second-stage planetary gear train is introduced, the fixed inner ring gear 20409 is taken as the output side with the double planetary gear A 20401, and the feed speed satisfies formula 2, and at the same time, the input-output relationship is optimized through the double planetary gear train, the transmission ratio of the feed motion is accurately distributed, and the diameter ratio of the main shaft feed output wheel 20404 and the rotary output gear 20501 is set to 1:1;

[0036] When , delta=0, that is ; when , delta=1, and are calculated according to formula (2) and formula (3), the transmission ratio , satisfying ;

[0037] (1)

[0038] (2)

[0039] (3).

Claims

1. A highly compact automatic hole-making device, characterized in that: The highly compact automatic hole-making device comprises a modular transmission device (2) and a power unit module (1), which are used in conjunction with each other; The power unit module (1) includes a feed motor output spline shaft (101) and a rotary motor output spline shaft (102); the feed motor output spline shaft (101) cooperates with the spline shaft at the lower end of the feed input shaft (20405), and the rotary motor output spline shaft (102) cooperates with the spline shaft at the lower end of the rotary input shaft (20504); The modular transmission device (2) includes a transmission gear train housing, a feed motion gear train (204), a rotary motion gear train (205), a main shaft (206) and a guide module (208); a dust cover (201) is installed outside the main shaft (206), and its end is fixed to the rear gear box housing (202); the feed motion gear train (204), the rotary motion gear train (205) and the main shaft (206) are installed in the transmission gear train housing, and the guide module (208) is connected to the front gear box housing (207) through a boss. ) is positioned and fastened to the front gearbox housing (207) by bolts. The guide module (208) is clearance-matched with the main shaft (206) to guide the main shaft (206); a threaded hole is opened at the left end of the main shaft (206), and a long cylindrical hole is opened axially at the axis of the right end. A symmetrical long keyway is opened on the shaft body. The long keyway cooperates with the corresponding raised structure of the rotary output gear (20501) to form a key and keyway connection. At the same time, it forms a spiral pair connection with the main shaft feed output wheel (20404); The feed motion gear train (204) includes an ultra-thin needle roller bearing (20402), a thrust needle roller bearing (20403), a main shaft feed output wheel (20404), a feed input shaft (20405) and a double planetary gear train; the main shaft feed output wheel (20404) is a structure of a left-end stepped shaft, an intermediate spur gear and a right-end stepped shaft; the right-end stepped shaft of the main shaft feed output wheel (20404) is fixed to the transmission gear train housing through a bearing, and the left-end stepped shaft is connected to the rotation output gear (20501) through a thrust needle roller bearing (20403) and an ultra-thin needle roller bearing (20402); the main shaft feed output wheel (20404) cooperates with the main shaft (206) to form a threaded pair, which converts the rotational motion into the feed motion; the double row The planetary gear system includes a double gear A (20401), a double gear B (20406), a planetary carrier (20407), planetary gears (20408), an inner gear ring (20409), a needle roller cage assembly (20410) and a sun gear shaft (20411); the double planetary gear system is two-stage, with a total of eight planetary gears (20408), which are installed on the planetary carrier (20407) through centripetal needle roller bearings; the inner gear ring (20409) is installed on the transmission gear system housing through an internal threaded cylindrical pin, serving as the gear ring of the second-stage planetary gear system; the sun gear shaft (20411) is an integral gear shaft with a spur gear in the middle and a keyway and a threaded hole on the right end shaft section; the right end of the sun gear shaft (20411) is connected to the bevel gear through a flat key. The sun gear shaft (20411) is connected to the sun gear shaft (20503) and fixed with bolts and spring washers; the middle spur gear of the sun gear shaft (20411) serves as the sun gear of the first-stage planetary gear system and meshes with the planetary gear (20408), and the whole is installed on the transmission gear box through a bearing; the double gear A (20401) is installed on the sun gear shaft (20411) through the needle roller cage assembly (20410) and is axially positioned by the shaft shoulder of the sun gear shaft (20411); the double gear A (20401) includes two left and right spur gear structures, the right spur gear of the double gear A (20401) serves as the sun gear of the second-stage planetary gear system and meshes with the planetary gear (20408), and the left spur gear is connected to the main shaft feed output wheel (2040 4) Engagement, outputting the power of the feed motion to the main shaft feed output wheel (20404); the double gear B (20406) includes a left gear ring and a right bevel gear structure, and the double gear B (20406) is installed on the sun gear shaft (20411) through two bearings, and the two sides of the two bearings are axially fixed by the sun gear shaft (20411) shoulder and elastic retaining ring respectively; the feed input shaft (20405) is a structure with an upper bevel gear and a lower spline shaft, and its upper bevel gear is engaged with the right bevel gear of the double gear B (20406) to transmit the feed power; a shoulder is reserved in the middle of the feed input shaft (20405) for installing a bearing to be fixed on the transmission gear box, and a spring retaining ring is used to axially position the bearing;The spline shaft at the lower end of the feed input shaft (20405) is connected to the feed motor output spline shaft (101) of the power unit module (1) to obtain power; The rotary motion gear train (205) comprises a rotary output gear (20501), a rotary input gear (20502), a bevel gear (20503), a rotary input shaft (20504) and a sun gear shaft (20411); the rotary output gear (20501) is a structure having a stepped shaft on the left and a spur gear on the right, wherein the stepped shaft on the left is fixed to the transmission gear train housing via a bearing, and the spur gear on the right is meshed with the rotary input gear (20502); the right side of the rotary output gear (20501) is connected to the spindle feed output wheel (20404) via an ultra-thin needle roller bearing (20402) and a thrust needle roller bearing (20403) in sequence; the rotary input gear (20502) is provided with a keyway and is connected to the sun gear shaft (20411) via a flat key. The bevel gear (20503) is connected to the sun gear shaft (20411) through a flat key, and is axially positioned and fixed by bolts, washers and the shaft shoulder of the sun gear shaft (20411); the rotation input shaft (20504) is a structure of an upper bevel gear and a lower spline shaft, and the upper bevel gear and the bevel gear (20503) are engaged to transmit the power of the rotational motion; the middle shaft section of the rotation input shaft (20504) is used to install a bearing to be fixed on the transmission gear system housing, and the bearing is axially positioned and fixed by a spring retaining ring; the lower spline shaft of the rotation input shaft (20504) is connected to the rotation motor output spline shaft (102) of the power unit module (1) to obtain power.

2. The highly compact automatic hole-making device according to claim 1, characterized in that: The transmission gear train housing comprises a dust cover (201), a rear gear box housing (202), a housing base plate (203), and a front gear box housing (207); the front gear box housing (207) and the rear gear box housing (202) are positioned by pins and connected by bolts, and the bottom of the rear gear box housing (202) and the housing base plate (203) are connected by bolts to form the transmission gear train housing; the dust cover (201) is sleeved on the outside of the main shaft (206) and installed on the rear gear box housing (202).

3. The highly compact automatic hole-making device according to claim 1, characterized in that: The rotating output gear (20501) is meshed with the rotating input gear (20502), and the transmission ratio is The left spur gear of the double gear A (20401) is meshed with the main shaft feed output wheel (20404), and the transmission ratio is The left inner ring gear of the double gear B (20406) is meshed with the planetary gear (20408), and the transmission ratio is , the right bevel gear meshes with the upper bevel gear of the feed input shaft (20405), and the transmission ratio is The bevel gear (20503) connected to the right side of the sun gear shaft (20411) is meshed with the upper bevel gear of the rotating input shaft (20504), and the transmission ratio is The middle gear of the sun gear shaft (20411) serves as the first-stage sun gear, meshing with the planet gear (20408). The transmission ratio is The spindle feed output wheel (20404) and the spindle (206) form a spiral pair, which converts the rotational motion into linear motion to realize feeding; the double gear A (20401) is driven by the differential speed of the rotating motor and the feed motor, and the first-stage planetary gear system has two degrees of freedom. The rotation speed of the spindle feed output wheel (20404) is controlled by the rotation speed of the rotating motor and the feed motor. The spindle feed speed is determined by the speed difference delta between the spindle feed output wheel (20404) and the spindle (206); The feed speed is independently controlled by the feed motor and satisfies formula (1), where k is a constant, is the speed of the feed input shaft (20405), is the speed of the rotating output gear (20501), is the speed of the spindle feed output wheel (20404), is the rotation speed of the sun gear shaft (20411); the first-stage planetary gear train uses the planet carrier (20407) as the output side. In order to make the output speed of the feed motion gear train (204) reasonable and meet the independent control of the rotation motion and the feed motion, the second-stage planetary gear train is introduced, the inner ring gear (20409) is fixed and the double gear A (20401) is used as the output side to make the feed speed Formula (2) is satisfied. At the same time, the input-output relationship is optimized through the dual planetary gear system, the transmission ratio of the feed motion is accurately distributed, and the diameter ratio of the spindle feed output wheel (20404) and the rotation output gear (20501) is set to 1:1; when When delta=0, that is ;when hour, and See formula (2) and formula (3) for calculation, transmission ratio ,satisfy ; （1） （2） （3）。

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