Counterweight self-balancing single pendulum arm cradle rotary table and machine tool

Abstract

The present application provides a kind of counterweight self-balancing single pendulum arm cradle rotary table and machine tool, comprising: spindle motor module, with output spindle;Connecting piece, fixed on output spindle and follow output spindle rotation, with first connection end and second connection end;Counterweight, slidingly installed on the first connection end of connecting piece, sliding track is parallel to the output spindle axis;Work module, fixed on second connection end;Non-contact horizontal drive module, for adjusting the position of counterweight on sliding track by non-contact mode outside connecting piece;Non-contact centripetal drive module, for providing adjustable driving force for counterweight in the direction away from output spindle by non-contact mode outside connecting piece.The single pendulum arm cradle rotary table utilizes magnetic non-contact coupling principle, arranges driving source on stationary component, changes magnetic field intensity by adjusting current, and then controls the position and stress state of counterweight on rotating component, improves the motion stability of driving spindle.

Description

Technical Field

[0001] This invention relates to the field of machine tool equipment technology, specifically to a counterweight self-balancing single-arm cradle turntable and machine tool. Background Technology

[0002] Traditional rotary rocker arm equipment generates enormous unbalanced centrifugal forces at high speeds when carrying work modules of varying weights due to uneven mass distribution. This force can cause severe vibration of the spindle, accelerated bearing wear, and even equipment disintegration. Current common balancing solutions often involve manually adding or removing counterweights or using a lead screw motor to move the counterweights.

[0003] However, existing technologies have the following drawbacks: 1. Low balance adjustment accuracy: Mechanical adjustment mechanisms rely on contact transmission components such as gears and lead screws, which have problems such as backlash, wear and hysteresis, making it difficult to achieve high-precision balance adjustment; 2. Inconvenient adjustment: Manual adjustment is inefficient and cannot achieve real-time self-balancing; 3. Slow dynamic response: Mechanical transmission structures are limited by friction and inertia, making it difficult to perform precise compensation at high speeds.

[0004] With the development of intelligent manufacturing and precision machining technologies, higher requirements have been placed on the dynamic balance performance of rocker arm motor equipment, and there is an urgent need for a high-precision, fast-response self-balancing solution. Summary of the Invention

[0005] The purpose of this invention is to provide a counterweight self-balancing single-arm cradle turntable and machine tool. Its key improvement lies in using the principle of magnetic non-contact coupling to arrange the drive source on the stationary component. By adjusting the current to change the magnetic field strength, the position and force state of the counterweight on the rotating component are controlled. Thus, the counterweight dynamically balances the working module, improving the stability of the turntable's operation.

[0006] Accordingly, the present invention also discloses a counterweight self-balancing single pendulum arm cradle turntable, comprising: The spindle motor module has an output spindle; A connector, fixed on the output spindle and rotating with the output spindle, has a first connecting end and a second connecting end; The counterweight is slidably mounted on the first connecting end of the connector, and its sliding trajectory is parallel to the axis of the output spindle. The working module is fixed on the second connection end; A non-contact horizontal drive module is used to adjust the position of the counterweight on the sliding track in a non-contact manner outside the connector; A non-contact centripetal drive module is used to provide an adjustable driving force to the counterweight block in a direction opposite to the output spindle in a non-contact manner outside the connector.

[0007] In an optional implementation, the non-contact horizontal drive module includes a first sliding magnetic module, a second sliding magnetic module, and a first elastic element; The two ends of the first elastic element are respectively connected to the counterweight and the connecting member. When the counterweight moves along the direction of the output main shaft, it compresses the elastic element. The first sliding magnetic module includes a first bracket, which is fixed above the spindle motor module. A first magnet is provided on the side of the first bracket facing the output spindle. The second sliding magnetic module includes a second magnet provided on the counterweight. The first magnet and / or the second magnet is an electromagnet; Within a preset stroke range in which the connector rotates with the output spindle, the second magnet is directly opposite the first magnet on the first bracket.

[0008] In an optional implementation, the non-contact centripetal drive module includes a first centripetal magnetic force module and a second centripetal magnetic force module; The first centripetal magnetic force module includes a second bracket fixed above the spindle motor module. The top surface of the second bracket is an arc surface centered on the axis of the output spindle, and a third magnet is disposed on the arc surface. The counterweight has an extension arm extending to the outside of the working arc surface, and the second centripetal magnetic force module includes a fourth magnet disposed on the extension arm; The third magnet and / or the fourth magnet are electromagnets; Within a preset stroke range in which the connector rotates with the output spindle, the fourth magnet is directly opposite the third magnet on the working arc surface.

[0009] In an optional embodiment, the extension arm is a structure independent of the counterweight, the fourth magnet is disposed on the end of the extension arm, and a column with its axis arranged vertically is disposed at the root of the extension arm, and a boss structure protruding outward is disposed at the bottom of the column. The top surface of the counterweight is provided with a vertical sliding groove, and the opening of the vertical sliding groove is provided with a limiting cover to prevent the boss structure from falling out. The column passes through the limiting cover, the boss structure slides in the vertical groove, and the extension arm is located outside the vertical groove; A second elastic element is provided between the limiting cover and the boss structure, and the second elastic element is compressed during the upward sliding of the boss structure.

[0010] Optional implementations also include: A non-contact balancing module is used to provide a constant driving force to the counterweight block in a direction opposite to the output spindle in a non-contact manner outside the connector.

[0011] In an optional implementation, the non-contact balancing module includes a first balancing magnetic module and a second balancing magnetic module. The first balancing magnetic module includes a third bracket fixed above the spindle motor module. The top surface of the third bracket is a balancing arc surface centered on the output spindle axis, and a fifth magnet is disposed on the balancing arc surface. The counterweight has a balance extension arm extending to the outside of the balance arc surface, and the second balance magnetic module includes a sixth magnet disposed on the balance extension arm; Both the fifth magnet and the sixth magnet are permanent magnets; Within a preset stroke range in which the connector rotates with the output spindle, the sixth magnet is directly opposite the fifth magnet on the balance arc surface.

[0012] Optional implementations also include: A detection module is used to acquire the weight information of the working module in real time; The control module is electrically connected to the detection module, the non-contact horizontal drive module, and the non-contact centripetal drive module, respectively. The control module adjusts the non-contact horizontal drive module in real time according to the weight information to drive the counterweight to move to a preset position, and adjusts the non-contact centripetal drive module in real time to provide the counterweight with a preset driving force away from the direction of the output spindle.

[0013] In an optional implementation, the detection module includes a weighing sensor disposed between the second connection end and the working module, and / or the detection module includes a current monitoring unit disposed on the spindle motor module.

[0014] Optional implementations also include: The control module has a pre-stored balance mapping table; The balance mapping table records the first drive data of the non-contact horizontal drive module and the second drive data of the non-contact centripetal drive module corresponding to the working module under different weights. Based on the balance mapping table, the control module drives the non-contact horizontal drive module according to the weight information and the first drive data, and drives the non-contact centripetal drive module according to the second drive data.

[0015] Accordingly, the present invention also discloses a machine tool that adopts the aforementioned counterweight self-balancing single-swing arm cradle turntable.

[0016] In summary, this invention provides a counterweight self-balancing single-swing arm cradle turntable and machine tool, which solves the industry problem of dynamic balance adjustment of rotating equipment during operation through an innovative non-contact drive mode. Unlike traditional counterweight adjustment during shutdown or mechanical transmission adjustment, the counterweight self-balancing single-swing arm cradle turntable of this invention utilizes the principle of electromagnetic non-contact coupling, deploying the drive source on a stationary component. Combined with the weight information acquired by the detection module and the balance mapping algorithm of the control module, the system can adjust the horizontal displacement and centripetal force compensation of the counterweight according to load changes, resulting in higher balance adjustment accuracy and significantly reducing system vibration and noise during spindle movement. The adjustable drive force provided by the centripetal drive module, directed away from the axis, is offset by the centrifugal force generated by the counterweight and the centrifugal force of the working module, reducing the end bending moment on the spindle. Combined with the second elastic element and the limiting buffer structure, the system possesses extremely strong overload resistance and dynamic robustness. The entirely non-contact drive method avoids physical wear of core components, while the real-time balance monitoring function effectively protects the spindle bearings from asymmetrical load impacts. Attached Figure Description

[0017] Figure 1 This is a schematic cross-sectional view of the counterweight self-balancing single-pendulum cradle turntable according to an embodiment of the present invention.

[0018] Figure 2 This is a three-dimensional structural diagram of a counterweight self-balancing single-pendulum cradle turntable according to an embodiment of the present invention. Detailed Implementation

[0019] To further illustrate the technical means and effects adopted by this application to achieve its intended purpose, the specific implementation methods, structures, features, and effects according to this application are described in detail below with reference to the accompanying drawings and preferred embodiments. In the following description, different "an embodiment" or "an embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0020] Figure 1 This is a schematic cross-sectional view of the counterweight self-balancing single-pendulum cradle turntable according to an embodiment of the present invention.

[0021] Figure 2 This is a three-dimensional structural diagram of a counterweight self-balancing single-pendulum cradle turntable according to an embodiment of the present invention.

[0022] in, Figure 1 The column in the single-swing arm cradle turntable shown is in the retracted state. Figure 2 The main body of the single-arm cradle turntable shown is in an extended state.

[0023] This invention provides a counterweight self-balancing single-arm cradle turntable. During the rotation of the output spindle 2, the axial force and radial position of the counterweight block 5 are adjusted in real time through a non-contact magnetic drive method to achieve dynamic balance of the rocker arm motor system. It should be noted that since the output spindle 2 is rotating, the axial force mentioned in this embodiment mainly refers to the force perpendicular to the axis of the output spindle 2, and the radial position refers to the position of the counterweight block 5 during its sliding stroke in the direction parallel to the axis of the spindle.

[0024] Basically, the counterweight self-balancing single-pendulum cradle turntable includes the following core components: Main spindle motor module 1: As a power source, it has a horizontally arranged output spindle 2. The output spindle 2 has undergone dynamic balancing in actual production, and the radial runout accuracy must meet the design requirements to provide rotational driving force. The connector 3 is made of high-strength lightweight alloy material. In general applications, the center of the connector 3 is locked / clamped to the output spindle 2 by means of key connection or other methods, and rotates synchronously with the output spindle 2. In this embodiment of the invention, the connector 3 has a first connecting end and a second connecting end. Specifically, the first connecting end and the second connecting end need to be arranged on both sides of the output spindle 2. In order to ensure that the counterweight 5 can play the role of balancing the working module 4, preferably, the first connecting end and the second connecting end are symmetrically arranged about the axis of the output spindle 2. The counterweight 5 is a block-shaped counterweight made of high-density alloy material. In this embodiment of the invention, it can be slidably installed on the first connecting end of the connector 3 via a precision guide rail pair. Its sliding trajectory is strictly parallel to the axial direction of the output spindle 2. The physical structure of the counterweight 5 is adjusted accordingly based on the specific structure of the non-contact horizontal drive module and the non-contact centripetal drive module. The working module 4 is a replaceable functional load device (such as a mechanical gripper, machining tool, detection sensor, counterspindle motor, etc.), which is rigidly fixed to the second connection end of the connector 3 by fasteners such as bolts. It is limited by the adjustment capability of the counterweight 5 by the non-contact horizontal drive module and the non-contact centripetal drive module, and is also limited by the driving capability of the spindle motor module 1. The weight load of the working module 4 has a preset upper limit value to avoid damaging the spindle motor module 1. The non-contact horizontal drive module applies a lateral force (parallel to the axis of the output spindle 2) to the counterweight 5 outside the connector 3. During the rotation of the connector 3, the specific position of the counterweight 5 during sliding is precisely adjusted by adjusting the lateral force. The non-contact centripetal drive module applies a vertical force (perpendicular to the axis of the output spindle 2) to the counterweight 5 outside the connector 3, providing a driving force to the counterweight 5 away from the direction of the output spindle 2 in a non-contact manner.

[0025] In practical applications, the counterweight self-balancing single-arm cradle turntable of this embodiment of the invention can quickly balance the load of the working module 4 by adjusting the lateral position of the counterweight block 5 and the driving force on the counterweight block 5 in the direction perpendicular to the output spindle 2, thereby offsetting the eccentric load generated by the working module 4 on the output spindle 2, maintaining the stability of the entire rotating system, and reducing vibration.

[0026] Specifically, in this embodiment of the invention, the non-contact horizontal drive module includes: The first sliding magnetic module includes a first support 13 and a first magnet 12. The first support 13 is a gantry-type rigid support straddling the spindle motor module 1. One side of the first support 13 faces the direction of the output spindle 2, and the first magnet 12 is disposed on it. In practical applications, the first magnet 12 is preferably an electromagnet, which can generate an adjustable magnetic field with a horizontal direction after being energized. The magnetic field strength is proportional to the current. The second sliding magnetic module includes a second magnet 18 disposed on the side of the counterweight 5. The second magnet 18 is preferably a permanent magnet to avoid the complexity of the power supply line connecting to the second magnet 18 after passing through the output spindle 2, the connector 3 and the related sliding transmission structure. The magnetic pole direction of the second magnet 18 is arranged opposite to that of the first magnet 12. When the counterweight 5 (output spindle 2) is working within a preset stroke range, the second magnet 18 remains directly opposite to the first magnet 12 on the first bracket 13, forming a lateral magnetic force pair.

[0027] The first elastic element 6 is preferably a helical compression spring, with its two ends fixedly connected to the ends of the counterweight 5 and the connecting member 3, respectively. When the counterweight 5 moves in the direction of the output spindle 2, it compresses the elastic element. The first elastic element 6 generates a linear restoring force and a supporting force. In this embodiment of the invention, according to Hooke's law, by utilizing the positive correlation between the compression stroke of the first elastic element 6 and the applied force, and by setting the interaction force between the first magnet 12 and the second magnet 18, the position control of the counterweight 5 can be achieved by utilizing the balance relationship between the supporting forces of the elastic element.

[0028] In practical applications, within a specific rotational stroke range of the output spindle 2, the interaction force (magnetic repulsion) F_mag between the first magnet 12 and the second magnet 18 can be adjusted by means of current regulation. This magnetic repulsion overcomes the elastic force F_spring of the first elastic element 6 and the friction force F_fric of the guide rail, driving the counterweight 5 to move.

[0029] The equilibrium equation for the forces acting on counterweight 5 in this horizontal direction is: F_mag = F_spring(x) + F_fric, where x is the displacement.

[0030] In practical applications, the counterweight 5 can be continuously positioned on the corresponding sliding trajectory by precisely controlling the current configuration of the first magnet 12 and the second magnet 18.

[0031] Specifically, in this embodiment of the invention, the non-contact centripetal drive module includes: The first centripetal magnetic force module includes a second bracket 15 fixed above the main spindle motor module 1. The top surface of the second bracket 15 is an arc surface centered on the axis of the output main spindle 2 (preferably an arc surface with a central angle of 120°). Multiple third magnets 14 or a third magnet 14 spanning the entire arc surface are embedded at equal intervals along the arc direction on the arc surface. The second centripetal magnetic module includes a fourth magnet 17 disposed at the end of the extension arm 16 of the counterweight 5. The extension arm 16 extends horizontally from the side of the counterweight 5 to the outside of the action arc surface. The fourth magnet 17 is disposed opposite to the third magnet 14. The fourth magnet 17 is preferably an electromagnet. Within a preset stroke range (i.e., within the range where the extension arm 16 sweeps across the working arc surface) as the connector 3 rotates with the output spindle 2, the fourth magnet 17 is always directly opposite the third magnet 14 on the working arc surface, forming a continuous radial (pointing towards the output spindle 2) magnetic force.

[0032] In practical applications, the fourth magnet 17 and the third magnet 14 generate a magnetic repulsive force F_radial after being energized. This force is transmitted to the counterweight 5 through the extension arm 16 in a radial outward direction away from the output spindle 2, which is used to compensate for the centripetal force required when the output spindle 2 rotates.

[0033] Specifically, to mitigate the impact force generated by the fourth magnet 17 and the third magnet 14 upon energization, the extension arm 16 adopts a floating connection design. Specifically, the body of the extension arm 16 is an independent cantilever structure separate from the counterweight 5. In actual implementation, it can be made of carbon fiber composite material to reduce weight and ensure rigidity. Its end is provided with a mounting base for the fourth magnet 17 for mounting the fourth magnet 17, and a corresponding column structure 8 extends vertically downward from its root. The column 8 preferably adopts a cylindrical guide rod structure, and its bottom is provided with a radially outward protruding boss structure 7 (such as a flange or annular protrusion). The outer diameter of the boss is larger than the diameter of the column 8 for axial positioning. A vertical groove 10 is opened on the top surface of the counterweight 5. A limit cover 11 is provided at the opening of the vertical groove 10. A guide hole is provided in the center of the limit cover 11. The column 8 passes through the limit cover 11, and the boss structure 7 slides in the vertical groove 10.

[0034] A second elastic element 9 is provided between the limiting cover 11 and the boss structure 7. It is compressed when the boss structure 7 slides upward to absorb the instantaneous impact force between the third magnet 14 and the fourth magnet 17. Since the magnitude of the force between the third magnet 14 and the fourth magnet 17 is also related to the distance between them, the floating structure essentially realizes the function of smooth adjustment (gradual change) of the force from the hardware level.

[0035] Furthermore, in order to achieve the separation of the reference load and the dynamic load, the counterweight self-balancing single-pendulum cradle turntable of this embodiment of the invention adds a non-contact balancing module. This non-contact balancing module is used to provide a constant driving force away from the output spindle 2 to the counterweight block 5 through a non-contact method outside the connecting member 3. This force is used to counteract the self-weight and fixed eccentricity of the moving parts such as the working module 4, the counterweight block 5, and the extension arm 16, serving as the basic balancing force of the system. Specifically, the non-contact balancing module of this embodiment of the invention includes: The first balancing magnetic module includes a third bracket fixed above the spindle motor module 1. Its top surface is a balancing arc surface centered on the axis of the output spindle 2 (preferably with a central angle of 120°). Fifth magnets are embedded at equal intervals on the balancing arc surface, or a fifth magnet is arranged to span the entire balancing arc surface. The second balancing magnetic module includes a sixth magnet disposed on the balance extension arm 16 of the counterweight block 5. Both the fifth magnet and the sixth magnet are permanent magnets and are arranged with the same pole facing each other. In practical applications, the magnetic repulsion force generated by permanent magnets is stable and reliable, requiring no power supply, and provides a constant reference radial force of 50-100N to the system.

[0036] In practical applications, the constant compensation force and the variable compensation force of the centripetal drive module form a two-level compensation architecture, which can reduce the performance requirements of the non-contact centripetal drive module.

[0037] In practical applications, the first bracket 13, the second bracket 15 and the third bracket mentioned above can be integrated into the same integrated bracket structure; correspondingly, the relevant components are arranged in their respective positions on the integrated bracket.

[0038] Furthermore, to achieve real-time adaptive balancing of the dynamic load of working module 4, the counterweight self-balancing single-swing arm cradle turntable of this embodiment of the invention also constructs an intelligent control system based on sensor fusion. Specifically, the counterweight self-balancing single-swing arm cradle turntable of this embodiment of the invention further includes: The detection module is used to acquire the weight information of the working module 4 in real time. Specifically, there are two main ways to acquire the weight information of the working module 4: one is to directly weigh the working module 4, and the other is to measure the drive load of the output spindle 2, and reflect the load at the end of the spindle by the drive current of the output spindle 2. Specifically, for the former, the detection module includes a weighing sensor. In general, a miniature strain gauge weighing sensor is preferred, which is set between the second connection end and the working module 4 to directly measure the static weight of the workload and the change of centripetal force generated when the output spindle 2 rotates. For the latter, the detection module includes a current monitoring unit, which is set in the drive circuit of the spindle motor module 1 to indirectly monitor the change in the magnitude of the current generated by the load. In actual implementation, the two detection methods are redundant backups of each other.

[0039] The control module can use a DSP digital signal processor or FPGA as the core controller, and has a built-in 16-bit high-precision ADC and PWM generator. The control module is electrically connected to the detection module, the non-contact horizontal drive module and the non-contact centripetal drive module to form a closed-loop control circuit.

[0040] The control module adjusts the non-contact horizontal drive module and the non-contact centripetal drive module in real time based on the weight information.

[0041] Generally, when the detection module shows an increase of Δm in the weight of the working module 4, in order to maintain torque balance, the control module drives the counterweight 5 to move a distance Δx along the sliding trajectory in the direction of the output spindle 2 via the non-contact horizontal drive module. Simultaneously, the non-contact centripetal drive module provides a larger driving force ΔF to the counterweight 5 away from the output spindle 2, compensating for the increased weight of the working module 4 in the entire balancing system, thus ensuring the vibration stability of the self-balancing single-arm cradle turntable during operation. Conversely, when the weight of the working module 4 decreases, the control logic reverses, driving the counterweight 5 to move in the opposite direction and reducing the centripetal driving force on the counterweight 5.

[0042] Preferably, the control module uses an algorithm combining lookup table method and PID fine-tuning to adjust the non-contact horizontal drive module and the non-contact centripetal drive module in real time.

[0043] Specifically, the control module's memory pre-stores a balance mapping table established through simulation experiments. This balance mapping table is a two-dimensional lookup table, recording the first driving data (target position x, electromagnetic current I1) of the non-contact horizontal drive module and the second driving data (target radial force F, electromagnetic current I2) of the non-contact centripetal drive module for different discrete weight points (e.g., 0 kg, 0.5 kg, 1 kg, ..., 50 kg). During actual operation, the control module uses linear interpolation to look up the mapping table to obtain the optimal control parameters for the current weight, achieving a rapid response function.

[0044] In specific implementation, after the counterweight self-balancing single-swing arm cradle turntable of this embodiment of the invention is started, the detection module samples the weight of the working module 4 at a frequency of 1kHz, and the control module executes a control cycle once every 10ms.

[0045] For example, when the weighing sensor detects that the weight has increased from 5kg to 7kg, the control module queries the mapping table to obtain the new target position x=15mm and centripetal force F=+120N.

[0046] When the counterweight 5 rotates to the horizontal drive zone (the spindle angle is within the preset ±60° range), the control module outputs a PWM signal to make the current I1 of the first magnet 12 = 2.3A, generating a magnetic repulsion force to drive the counterweight 5 to move to a position of 15mm.

[0047] When the extension arm 16 enters the centripetal drive zone (within the preset ±60° range of the spindle angle), the control module adjusts the current I2 of the third magnet 14 to 1.8A, generating a radial force of 120N.

[0048] Synchronously, the current sensor provides real-time feedback on the spindle torque changes, and the control module performs closed-loop correction through a PID algorithm to ensure that the torque fluctuation is less than ±2%.

[0049] In practice, the drive spindle in a counterweight self-balancing single-arm cradle turntable is used as the spindle of machine tools and other equipment. Its rotation angle is generally set within a preset range. Correspondingly, the shape of the integrated bracket and the coverage angle range of the corresponding magnet can be changed accordingly. In actual implementation, the integrated bracket can be designed as a wraparound structure (not recommended) according to the usage requirements. However, in actual implementation, the heavily loaded working module 4 is generally not driven to move above the drive spindle.

[0050] In addition, the present invention also discloses a machine tool that uses the aforementioned counterweight self-balancing single-swing arm cradle turntable as the main spindle device. Its working module can be equipped with corresponding machine tool devices as needed, such as the secondary spindle motor in the structure shown in the embodiment of the present invention, thereby expanding the degree of freedom of machining. In actual implementation, in most machine tool applications, due to the need for tool switching, the counterweight self-balancing single-swing arm cradle turntable provided in the embodiment of the present invention can dynamically adapt to the complex changes on the working module.

[0051] In summary, this invention provides a counterweight self-balancing single-swing arm cradle turntable and machine tool, which solves the industry problem of dynamic balance adjustment of rotating equipment during operation through an innovative non-contact drive mode. First, unlike traditional counterweight adjustment during shutdown or mechanical transmission adjustment, the counterweight self-balancing single-swing arm cradle turntable of this invention utilizes the principle of electromagnetic non-contact coupling, deploying the drive source on a stationary component. Combined with the weight information acquired by the detection module and the balance mapping algorithm of the control module, the system can adjust the horizontal displacement and centripetal force compensation of the counterweight according to load changes, resulting in higher balance adjustment accuracy and significantly reducing system vibration and noise during spindle movement. Second, the adjustable drive force provided by the centripetal drive module, directed away from the axis, utilizes the centrifugal force generated by the counterweight to cancel out the centrifugal force of the working module, reducing the end bending moment on the spindle. Combined with the second elastic element and the limiting buffer structure, the system possesses extremely strong overload resistance and dynamic robustness. Finally, the entirely non-contact drive method avoids physical wear of core components, while the real-time balance monitoring function effectively protects the spindle bearings from asymmetrical load impacts.

[0052] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A counterweight self-balancing single-pendulum cradle turntable, characterized in that, include: The spindle motor module has an output spindle; A connector, fixed on the output spindle and rotating with the output spindle, has a first connecting end and a second connecting end; The counterweight is slidably mounted on the first connecting end of the connector, and its sliding trajectory is parallel to the axis of the output spindle. The working module is fixed on the second connection end; A non-contact horizontal drive module is used to adjust the position of the counterweight on the sliding track in a non-contact manner outside the connector; A non-contact centripetal drive module is used to provide an adjustable driving force to the counterweight block in a direction opposite to the output spindle in a non-contact manner outside the connector; The non-contact horizontal drive module includes a first sliding magnetic module, a second sliding magnetic module, and a first elastic element. The two ends of the first elastic element are respectively connected to the counterweight and the connecting member. The counterweight compresses the elastic element when it moves along the direction of the output spindle. The first sliding magnetic module includes a first bracket, which is fixed above the spindle motor module. A first magnet is disposed on the side of the first bracket facing the output spindle. The second sliding magnetic module includes a second magnet disposed on the counterweight. The first magnet and / or the second magnet are electromagnets. Within a preset stroke range during which the connecting member rotates with the output spindle, the second magnet is directly opposite the first magnet on the first bracket. The non-contact centripetal drive module includes a first centripetal magnetic force module and a second centripetal magnetic force module; the first centripetal magnetic force module includes a second bracket fixed above the spindle motor module, the top surface of the second bracket is an arc surface centered on the axis of the output spindle, and a third magnet is disposed on the arc surface; the counterweight has an extension arm extending to the outside of the arc surface, and the second centripetal magnetic force module includes a fourth magnet disposed on the extension arm; the third magnet and / or the fourth magnet is an electromagnet; within a preset stroke range in which the connector rotates with the output spindle, the fourth magnet is directly opposite the third magnet on the arc surface.

2. The self-balancing single-pendulum cradle turntable as described in claim 1, characterized in that, The extension arm is a structure independent of the counterweight. The fourth magnet is disposed on the end of the extension arm. A column with its axis arranged vertically is disposed at the root of the extension arm. The bottom of the column is provided with a boss structure that protrudes outward. The top surface of the counterweight is provided with a vertical sliding groove, and the opening of the vertical sliding groove is provided with a limiting cover to prevent the boss structure from falling out. The column passes through the limiting cover, the boss structure slides in the vertical groove, and the extension arm is located outside the vertical groove; A second elastic element is provided between the limiting cover and the boss structure, and the second elastic element is compressed during the upward sliding of the boss structure.

3. The self-balancing single-pendulum cradle turntable as described in claim 1, characterized in that, Also includes: A non-contact balancing module is used to provide a constant driving force to the counterweight block in a direction opposite to the output spindle through a non-contact method outside the connector.

4. The self-balancing single-pendulum cradle turntable as described in claim 3, characterized in that, The non-contact balancing module includes a first balancing magnetic module and a second balancing magnetic module. The first balancing magnetic module includes a third bracket fixed above the spindle motor module. The top surface of the third bracket is a balancing arc surface centered on the output spindle axis, and a fifth magnet is disposed on the balancing arc surface. The counterweight has a balance extension arm extending to the outside of the balance arc surface, and the second balance magnetic module includes a sixth magnet disposed on the balance extension arm; Both the fifth magnet and the sixth magnet are permanent magnets; Within a preset stroke range in which the connector rotates with the output spindle, the sixth magnet is directly opposite the fifth magnet on the balance arc surface.

5. The self-balancing single-pendulum cradle turntable according to any one of claims 1 to 4, characterized in that, Also includes: A detection module is used to acquire the weight information of the working module in real time; The control module is electrically connected to the detection module, the non-contact horizontal drive module, and the non-contact centripetal drive module, respectively. The control module adjusts the non-contact horizontal drive module in real time according to the weight information to drive the counterweight to move to a preset position, and adjusts the non-contact centripetal drive module in real time to provide the counterweight with a preset driving force away from the direction of the output spindle.

6. The self-balancing single-pendulum cradle turntable as described in claim 5, characterized in that, The detection module includes a weighing sensor disposed between the second connection end and the working module, and / or the detection module includes a current monitoring unit disposed on the spindle motor module.

7. The self-balancing single-pendulum cradle turntable as described in claim 5, characterized in that, Also includes: The control module has a pre-stored balance mapping table; The balance mapping table records the first drive data of the non-contact horizontal drive module and the second drive data of the non-contact centripetal drive module corresponding to the working module under different weights. Based on the balance mapping table, the control module drives the non-contact horizontal drive module according to the weight information and the first drive data, and drives the non-contact centripetal drive module according to the second drive data.

8. A machine tool, characterized in that, The single-arm cradle turntable with counterweight self-balancing as described in any one of claims 1 to 7.

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