A direct drive swing actuator for a five-axis machine tool and a method thereof

Abstract

The present application relates to five-axis machine tool swing head technical field, and disclose a kind of five-axis machine tool direct-drive swing executor and method thereof, including shell, swing seat is rotatably installed on shell, fixed shaft is fixed on swing seat, and fixed shaft is rotatably connected between shell, fixed shaft is provided with slot in the end away from swing seat, the section of slot is rectangular structure, the inside of shell is provided with stator and rotor, and drive assembly is arranged on the output shaft of rotor.The present application has two driving modes of direct drive and transmission, direct drive mode is suitable for high-speed, high-precision five-axis linkage machining, can realize high-quality machining of complex curved surface etc. by its high dynamic response and accurate positioning, transmission mode can cope with large load processing scene, and the torque is amplified by planetary gear structure, to ensure that swing seat can still be driven stably under heavy cutting etc., meet the needs of different processing conditions.

Description

Technical Field

[0001] This invention relates to the field of five-axis machine tool oscillating head technology, and in particular to a direct-drive oscillating actuator and method for a five-axis machine tool. Background Technology

[0002] The milling head, as a core functional component of high-end milling centers that realize the five-axis linkage machining function of machine tools, directly determines the machining capacity, accuracy and efficiency of the whole machine.

[0003] Existing five-axis oscillating heads have drawbacks. While AC five-axis linkage double oscillating heads driven by direct drive motors have high operating speed and high driving swing accuracy, making them suitable for high-speed cutting and low-load precision machining, they suffer from relatively low driving torque. Another type of five-axis oscillating head driven by a double-lead worm gear has high transmission torque, but this transmission method has large tooth backlash, resulting in slow operating speed and relatively poor operating accuracy and dynamic performance.

[0004] Therefore, it is necessary to design a direct-drive oscillating actuator for five-axis machine tools and a method thereof to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing a direct-drive oscillating actuator and its method for five-axis machine tools.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A direct-drive oscillating actuator for a five-axis machine tool includes a housing, a oscillating seat rotatably mounted on the housing, a fixed shaft fixed on the oscillating seat and rotatably connected to the housing, a slot being formed at the end of the fixed shaft away from the oscillating seat, the slot having a rectangular cross-section, a stator and a rotor being disposed inside the housing, and a drive assembly being disposed on the output shaft of the rotor; Two control components are provided on the fixed shaft, and the two control components are arranged vertically. A transmission component and an adjustment component are provided inside the housing. The oscillating actuator has two working modes: direct drive mode and transmission mode. In direct drive mode, the rotor directly drives the fixed shaft to rotate. In transmission mode, the rotor drives the fixed shaft to rotate through a transmission component and one of the control components. At the same time, the adjustment component, in conjunction with another control component, controls the rotation angle of the fixed shaft.

[0007] As a preferred embodiment of the present invention, the drive assembly includes a fixed cylinder and a pneumatic actuator. The fixed cylinder is fixed on the output shaft of the rotor. A limiting port is formed on the outer surface of the fixed cylinder. A movable rod is slidably disposed inside the fixed cylinder. A limiting block is fixed on the outer circumferential surface of the movable rod. The limiting block slides in the limiting port. The top end of the movable rod extends to the outside of the fixed cylinder and is fixed with a drive block. The drive block has a rectangular cross-section. The pneumatic actuator is installed inside the housing. A lifting bracket is fixed to the actuating end of the pneumatic actuator. The lifting bracket is sleeved on the movable rod, and the lifting bracket and the movable rod are rotatably connected.

[0008] As a preferred embodiment of the present invention, the output shaft, fixed cylinder, movable rod and drive block of the rotor are arranged coaxially.

[0009] As a preferred embodiment of the present invention, the control component includes an inner sleeve, an outer ring, and a first retainer. The inner sleeve is fixedly sleeved on a fixed shaft, and the first retainer is fixed inside the outer shell. A rotating seat is rotatably mounted on the first retainer, and the rotating seat has an annular structure. The inner ring of the rotating seat has several grooves arranged in a circumferential array. The outer ring is arranged between the inner sleeve and the rotating seat, and the outer ring and the inner sleeve are connected by two cover plates. A magnetic ring is fixedly sleeved on the outer circumferential surface of the inner sleeve, and an annular bladder is sleeved on the magnetic ring. Several openings are opened on the circumferential surface of the outer ring, and the openings are arranged in a circumferential array. Each opening is provided with a slidable movable plate, and a magnetic block is fixed at one end of each movable plate near the sleeve. One of the cover plates is provided with a connector, one end of which communicates with the annular bladder, and the other end of which is used to connect an air tube and an air source.

[0010] As a preferred technical solution of the present invention, in the initial state, the several movable plates are respectively arranged facing the several grooves.

[0011] As a preferred embodiment of the present invention, when the movable plate is inserted into the groove, the side of the movable plate fits against the groove wall.

[0012] As a preferred embodiment of the present invention, the transmission assembly includes a second retainer and a mounting bracket. The second retainer is fixed inside the housing, and the mounting bracket is connected to the second retainer. A mounting opening is provided in the middle of the mounting bracket. A gear ring is rotatably mounted on the second retainer, and three driven gears are rotatably mounted on the mounting bracket. A rotating rod is rotatably mounted in the mounting opening, and a driving gear is fixedly sleeved on the rotating rod. The three driven gears are arranged in a circumferential array around the rotating rod, and all three driven gears mesh with the driving gear and the gear ring. A through-hole is provided on the rotating rod, and the cross-section of the through-hole is rectangular. The gear ring is connected to the rotating seat away from the swing seat by a number of connecting spokes.

[0013] As a preferred embodiment of the present invention, the cross-sectional shape of the through-hole is the same as the cross-sectional shape of the slot.

[0014] As a preferred embodiment of the present invention, the adjustment component includes a servo motor, which is installed inside the housing. The output shaft of the servo motor is fixed with a drive shaft, and the drive shaft is connected to the rotating seat near the swing seat via a transmission component.

[0015] A method for using a direct-drive oscillating actuator for a five-axis machine tool includes the following steps: Step 1: Determine the drive mode according to the processing requirements. If high-speed, high-precision five-axis linkage machining is required, select the direct drive mode. If heavy-load machining is required, select the transmission mode. In the direct drive mode, ensure that the drive block is located in the slot of the fixed axis and that the annular bladders of the two control components are in an uninflated state. When switching to the transmission mode, the machine must be stopped first, and the pneumatic actuator should be run to drive the lifting bracket close to the rotor, so that the movable rod moves and the drive block enters the through-hole of the rotating rod and leaves the slot of the fixed axis. At the same time, prepare an air source to inflate the annular bladder. Step 2: Start the five-axis machine tool and the swing actuator. In direct drive mode, the rotor directly drives the fixed shaft to rotate through the drive block, which in turn drives the swing seat to swing. At this time, the high dynamic response and precise positioning of the direct drive mode are used for processing. In transmission mode, the air source inflates the annular bladder, causing the movable plate to be inserted into the groove of the rotating seat. The rotor rotates and drives the planetary gear structure to rotate, amplifying the torque and transmitting it to the fixed shaft to drive the swing seat to swing, meeting the needs of high load processing. Step 3: During the processing, sensors are used to continuously monitor the actual motion data of the swing seat, including position and angle information. The central control system receives this data in real time and compares and analyzes it with the preset target trajectory. In this way, the deviation between the actual motion of the swing seat and the theoretical command can be detected in time, providing an accurate basis for subsequent adjustments, ensuring that the processing is carried out in accordance with the predetermined requirements, and guaranteeing the processing quality. Step 4: When the central control system detects the deviation, it quickly starts the servo motor to intervene and adjust. The control system uses the PID control algorithm to accurately calculate the torque and rotation direction that the servo motor needs to output based on the magnitude and direction of the deviation. The servo motor driver adjusts the output current and voltage according to the instructions to control the speed and torque of the servo motor, so that it acts on the corresponding rotating seat through the transmission components, thereby fine-tuning the position of the fixed shaft and the swing seat, forming a closed-loop feedback control loop. Step 5: After processing is completed, turn off the machine tool and the swing actuator. If subsequent processing requires switching the drive mode, perform the operation in reverse order of Step 1. For example, to switch from transmission mode back to direct drive mode, you need to stop the machine first, let the pneumatic actuator drive the lifting bracket to move the movable rod, let the drive block return to the slot of the fixed shaft, and at the same time release the air from the annular bladder to let the movable plate return to the outside of the corresponding groove, so as to prepare for selecting the appropriate drive mode for the next processing.

[0016] The present invention has the following beneficial effects: 1. This solution has two drive modes: direct drive and transmission. The direct drive mode is suitable for high-speed, high-precision five-axis linkage machining. With its high dynamic response and precise positioning, it can achieve high-quality machining of complex curved surfaces. The transmission mode can handle heavy load machining scenarios. By amplifying torque through the planetary gear structure, it can ensure stable driving of the swing seat under heavy cutting conditions, meeting the needs of different machining conditions. 2. During the processing, the sensor monitors the motion data of the swing seat in real time. The central control system compares and analyzes the actual data with the preset target trajectory. The servo motor makes dynamic adjustments according to the deviation, forming a closed-loop feedback control circuit, which effectively reduces the deviation between the actual motion and the theoretical command, ensures the processing accuracy, and improves the product qualification rate. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a direct-drive oscillating actuator for a five-axis machine tool proposed in this invention; Figure 2 A schematic diagram of the stator, rotor, two control components, and fixed shaft; Figure 3 This is a cross-sectional view of a direct-drive oscillating actuator for a five-axis machine tool proposed in this invention. Figure 4 This is a schematic diagram of the drive component. Figure 5 A schematic diagram of the structure of the adjustment component; Figure 6 This is a schematic diagram of the transmission assembly. Figure 7 This is a cross-sectional structural diagram of the transmission assembly and the corresponding control assembly; Figure 8This is a schematic diagram of the control component. Figure 9 This is a cross-sectional view of the control component. Figure 10 This is a structural diagram of several movable plates; Figure 11 A schematic diagram of the structure when several movable plates are inserted into several grooves; Figure 12 This is a schematic diagram of the structure under transmission mode.

[0018] In the diagram: 1. Outer shell; 2. Swing seat; 21. Fixed shaft; 211. Slot; 3. Stator; 4. Rotor; 51. Fixed cylinder; 511. Limiting port; 52. Movable rod; 521. Limiting block; 53. Drive block; 54. Pneumatic actuator; 55. Lifting bracket; 61. Inner sleeve; 611. Magnetic ring; 62. Outer ring; 621. Through port; 63. Cover plate; 64. Movable plate; 65. Magnetic block; 66. Annular bladder; 67. Connector; 68. Rotating seat; 681. Groove; 69. First retainer; 71. Servo motor; 711. Drive shaft; 72. Transmission component; 81. Second retainer; 82. Gear ring; 821. Connecting spoke; 83. Mounting bracket; 84. Driven gear; 85. Rotating rod; 851. Through port; 86. Driving gear. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0020] Reference Figure 1-12A direct-drive oscillating actuator for a five-axis machine tool includes a housing 1, on which an oscillating seat 2 is rotatably mounted. The oscillating seat 2 oscillates around the rotation center line of the housing 1. A tool holder is provided on the oscillating seat 2 for clamping a tool. A fixed shaft 21 is fixed on the oscillating seat 2 and is rotatably connected to the housing 1. A slot 211 is formed at the end of the fixed shaft 21 away from the oscillating seat 2. The slot 211 has a rectangular cross-section. A stator 3 and a rotor 4 are arranged inside the housing 1. The principle is the same as that of a motor in the prior art. The rotor 4 rotates inside the stator 3. This is the prior art and will not be described in detail here. A drive assembly is provided on the output shaft of the rotor 4. The drive assembly includes a fixed cylinder 51, which is fixed on the output shaft of the rotor 4. A limit port 511 is formed on the outer surface of the fixed cylinder 51 along the axial direction of the fixed cylinder 51. A movable rod 52 is slidably disposed inside the fixed cylinder 51. A limit block 521 is fixed on the outer circumference of the movable rod 52. The limit block 521 slides in the limit opening 511. The side of the limit block 521 is in contact with the inner wall of the limit opening 511 to prevent the limit block 521 from shaking, thereby preventing the movable rod 52 from shaking. The top of the movable rod 52 extends to the outside of the fixed cylinder 51 and is fixed with a drive block 53. The cross-section of the drive block 53 is rectangular. The output shaft of the rotor 4, the fixed cylinder 51, the movable rod 52 and the drive block 53 are coaxially arranged. When the rotor 4 rotates, it drives the fixed cylinder 51 to rotate. When the fixed cylinder 51 rotates, it drives the movable rod 52 to rotate through the limit block 521. The movable rod 52 drives the drive block 53 to rotate. When the drive block 53 is inserted into the slot 211 on the fixed shaft 21, the drive block 53 can drive the fixed shaft 21 to rotate, and finally control the swing seat 2 to swing.

[0021] The drive assembly also includes a pneumatic actuator 54 and a lifting bracket 55. The pneumatic actuator 54 is installed inside the housing 1, and the lifting bracket 55 is fixed to the output end of the pneumatic actuator 54. The lifting bracket 55 is sleeved on the movable rod 52, and the lifting bracket 55 and the movable rod 52 are rotatably connected. The pneumatic actuator 54 is controlled by gas and has a telescopic end. When the pneumatic actuator 54 is running, it can drive the lifting bracket 55 to move, thereby controlling the movement of the movable rod 52. The rotatable connection between the lifting bracket 55 and the movable rod 52 allows the movable rod 52 to both rotate and move up and down. It should be noted that the pneumatic actuator 54... The specific structure and working principle are existing technologies, and the implementation method adopts conventional means, which are not shown in the figure and will not be described in detail here. Two control components are set on the fixed shaft 21, and the two control components are arranged vertically. The control components include an inner sleeve 61, an outer ring 62, and a first retainer 69. The inner sleeve 61 is fixedly sleeved on the fixed shaft 21, and the first retainer 69 is fixed inside the outer shell 1. A rotating seat 68 is rotatably mounted on the first retainer 69, and the rotating seat 68 has a ring structure. The inner ring of the rotating seat 68 has a number of grooves 681, which are distributed in a circumferential array. The outer ring 62 is arranged... Between the inner sleeve 61 and the rotating seat 68, and between the outer ring 62 and the inner sleeve 61, two cover plates 63 are connected. A magnetic ring 611 is fixedly fitted on the outer circumferential surface of the inner sleeve 61, and an annular bladder 66 is fitted on the magnetic ring 611. Several openings 621 are opened on the circumferential surface of the outer ring 62, and the openings 621 are arranged in a circumferential array. Each opening 621 is provided with a sliding movable plate 64, and a magnetic block 65 is fixed at one end of each movable plate 64 near the sleeve. The annular bladder 66 is located between the magnetic ring 611 and the several magnetic blocks 65. Under the attraction of the magnetic ring 611, the several magnetic blocks 65 always have a proximity to the magnetic ring. In the initial state of 611, several movable plates 64 are respectively positioned opposite several grooves 681. When the annular bladder 66 is not inflated, several magnetic blocks 65 are positioned close to the magnetic ring 611. At this time, each movable plate 64 is located outside the corresponding groove 681. In this case, the outer ring 62 and the rotating seat 68 can rotate relative to each other, that is, the rotation of the outer ring 62 will not be transmitted to the rotating seat 68. One of the cover plates 63 is provided with a connector 67. One end of the connector 67 is connected to the annular bladder 66, and the other end of the connector 67 is used to connect the air tube and the air source. The inflation and deflation of the annular bladder 66 are controlled by the air circuit.

[0022] The swing actuator proposed in this invention has two driving modes. One is a direct drive mode. In the direct drive mode, the drive block 53 is located in the slot 211 of the fixed shaft 21, and the annular bladders 66 in the two control components are in an uninflated state. For the control components, each movable plate 64 is located outside the corresponding groove 681, which allows the outer ring 62 and the rotating seat 68 to rotate relative to each other. In this case, the rotor 4 directly drives the fixed shaft 21 to rotate through the drive block 53, thereby controlling the swing motion of the swing seat 2. Since the two annular bladders 66 are uninflated, the two outer rings 62 that follow the fixed shaft 21 will not drive the two rotating seats 68 to rotate, thus avoiding the situation of increased load. In the direct drive mode, the torque of the rotor 4 acts directly on the swing seat 2. Since there is no intermediate transmission link, the backlash is fundamentally eliminated, providing extremely high torsional stiffness and positioning accuracy. The moving parts in the direct drive mode have low inertia, fast acceleration and deceleration, and high dynamic response, which is suitable for high-speed and high-precision five-axis linkage machining.

[0023] The housing 1 houses a transmission assembly, which includes a second retainer 81 and a mounting bracket 83. The second retainer 81 is fixed inside the housing 1, and the mounting bracket 83 is connected to the second retainer 81. A mounting opening is provided in the middle of the mounting bracket 83. A gear ring 82 is rotatably mounted on the second retainer 81, and three driven gears 84 are rotatably mounted on the mounting bracket 83. A rotating rod 85 is rotatably mounted in the mounting opening. The rotating rod 85 is coaxially aligned with the fixed shaft 21, and there is a gap between the rotating rod 85 and the fixed shaft 21. A driving gear 86 is fixedly sleeved on the rotating rod 85. The three driven gears 84 are arranged in a circumferential array around the rotating rod 85, and each of the three driven gears 84 is connected to the driving gear 86. Gear 86 meshes, and a through-hole 851 is provided on the rotating rod 85. The cross-section of the through-hole 851 is rectangular, and the cross-sectional shape of the through-hole 851 is the same as that of the slot 211. One driving gear 86, three driven gears 84 and the gear ring 82 together form a planetary gear structure. The power is applied to the driving gear 86 and transmitted to the gear ring 82 through the three driven gears 84, which increases the torque. The gear ring 82 is connected to the rotating seat 68 away from the swing seat 2 by several connecting spokes 821. The movable rod 52 passes through the through-hole 851, and the outer surface of the movable rod 52 does not contact the inner surface of the through-hole 851 to avoid wear between them.

[0024] The second driving mode of the oscillating actuator proposed in this invention is the transmission mode. When switching from the direct drive mode to the transmission mode, the oscillating actuator needs to be stopped. Subsequently, the pneumatic actuator 54 operates, driving the lifting bracket 55 closer to the rotor 4. When the lifting bracket 55 moves, it drives the movable rod 52 to move, and the driving block 53 moves accordingly until the driving block 53 moves into the interior of the through-hole 851. At this time, the driving block 53 is completely disengaged from the slot 211. Further, the air source inflates the two annular bladders 66. When the annular bladders 66 inflate, they push several magnetic blocks 65, causing the magnetic blocks 65 to move synchronously and away from the magnetic ring 611. When the magnetic blocks 65 move, they drive the movable plates 64 to move, which causes the movable plates 64 to respectively engage in several grooves 681 on the rotating seat 68. In this case, the rotating seat 68 and the outer ring 611 are in contact with each other. The rotor 4 and the fixed shaft 2 are connected by several movable plates 64, and can rotate synchronously. In the transmission mode, the rotor 4 rotates, which drives the rotating rod 85 to rotate through the drive block 53. When the rotating rod 85 rotates, it drives the driving gear 86 to rotate. The power is transmitted to the gear ring 82 through three driven gears 84, which drives the corresponding rotating seat 68 to rotate through several connecting spokes 821. Since the movable plates 64 are already inserted into several grooves 681, the rotating seat 68 can drive the outer ring 62 to rotate through the movable plates 64 when it rotates. Finally, the inner sleeve 61 drives the fixed shaft 21 to rotate. In summary, the rotor 4 transmits power to the fixed shaft 21 through the planetary gear structure, thereby controlling the swing of the swing seat 2. The planetary gear structure can amplify the small torque of the rotor 4, thereby providing a larger driving torque to meet the needs of heavy load processing.

[0025] An adjustment assembly is provided inside the outer casing 1 for adjusting the position of the swing seat 2. The adjustment assembly includes a servo motor 71, which is installed inside the outer casing 1. The output shaft of the servo motor 71 is fixed to a drive shaft 711. The drive shaft 711 is connected to the rotating seat 68 near the swing seat 2 via a transmission component 72. Figure 5As shown, the transmission component 72 adopts a belt drive transmission method. In the transmission mode, although the swing seat 2 obtains a large torque, the presence of the transmission component reduces its response speed and accuracy. To compensate for this drawback, the present invention designs an adjustment component. When the swing seat 2 is in the transmission mode, the rotor 4 drives the swing seat 2 to rotate through the planetary gear structure. Due to factors such as tooth backlash and elastic deformation during mechanical transmission, the actual movement of the swing seat 2 may deviate from the theoretical command. At this time, the central control system will compare and analyze the actual data fed back by the sensor with the preset target trajectory in real time. Once a deviation is detected, the control system will quickly start the servo motor 71 to intervene and adjust. The intervention process of the servo motor 71 is not a simple one-way adjustment, but a dynamic closed-loop control process. The control system uses control algorithms, such as PID control algorithm (proportional-integral-derivative control algorithm), to accurately calculate the torque and rotation direction that the servo motor 71 needs to output based on the magnitude and direction of the deviation. By performing proportional, integral, and differential calculations on the deviation, and comprehensively considering the current deviation, past deviation accumulation, and deviation trend, a precise control quantity is generated. For example, when insufficient rotation angle of the swing seat 2 is detected, the control system calculates the required forward rotation angle of the servo motor 71 using a PID algorithm and determines the corresponding torque. Then, the control command is sent to the driver of the servo motor 71. After receiving the command, the driver of the servo motor 71 quickly adjusts the output current and voltage, precisely controlling the speed and torque of the servo motor 71, so that the servo motor 71 rotates according to the calculation result. The rotation of the servo motor 71 acts on the corresponding rotating seat 68 through the transmission component 72, thereby controlling the rotation of the fixed shaft 21 connected to the swing seat 2, and fine-tuning the position of the swing seat 2. During the fine-tuning process, the sensor continuously feeds back the real-time motion data of the swing seat 2. The control system continuously adjusts the output of the servo motor 71 based on the new feedback information, forming a closed-loop feedback control loop to ensure that the swing seat 2 can quickly and accurately track the preset target trajectory.

[0026] In actual machining, different machining conditions place different requirements on the accuracy of the swing seat 2 and the control strategy. For example, when performing high-speed cutting, the dynamic response speed of the swing seat 2 is required to be high. The control system will appropriately increase the proportional coefficient in the PID algorithm so that the servo motor 71 can react to deviations more quickly and reduce tracking errors. When performing precision machining, the position accuracy of the swing seat 2 is required to be extremely strict. The control system will increase the integral coefficient and gradually eliminate static errors by accumulating past deviation information, thereby improving the positioning accuracy of the swing seat 2. In addition, in order to further improve the stability and anti-interference ability of the control system, advanced control strategies such as adaptive control and fuzzy control can also be adopted to automatically adjust the control parameters according to different working conditions and interference, so as to ensure that the servo motor 71 can effectively control the accuracy of the swing seat 2 in various complex environments.

[0027] It is worth noting that since the swing seat 2 performs a swinging motion, that is, rotating in both directions and continuously in one direction, the air pipe connected to the connector 67 will not become entangled when the swing seat 2 drives the fixed shaft 21 to rotate.

[0028] The specific working principle of this invention is as follows: This five-axis machine tool direct-drive oscillating actuator has two drive modes: direct drive and transmission. Its working principle revolves around these two modes and the corresponding adjustment mechanism.

[0029] In direct drive mode, drive block 53 is located in slot 211 of fixed shaft 21, and the annular bladders 66 of the two control components are not inflated. At this time, the movable plate 64 is located outside the corresponding groove 681 under the attraction of magnetic block 65 and magnetic ring 611. The outer ring 62 and rotating seat 68 can rotate relative to each other. When rotor 4 rotates, it directly drives fixed shaft 21 to rotate through drive block 53, thereby controlling the swing seat 2 to swing. Since there is no intermediate transmission link, the backlash is fundamentally eliminated, providing extremely high torsional stiffness and positioning accuracy. The moving parts have low inertia, fast acceleration and deceleration, and high dynamic response, making them suitable for high-speed and high-precision five-axis linkage machining.

[0030] When switching to transmission mode is required, the oscillating actuator stops first, and the pneumatic actuator 54 operates, driving the lifting bracket 55 closer to the rotor 4, causing the movable rod 52 to move. The drive block 53 then enters the through-hole 851 on the rotating rod 85, disengaging from the slot 211 of the fixed shaft 21. Simultaneously, the air source inflates the two annular bladders 66, causing them to expand and push the magnetic block 65, which in turn causes the movable plate 64 to engage in the groove 681 of the rotating seat 68, allowing the rotating seat 68 and the outer ring 62 to rotate synchronously. When the rotor 4 rotates... Driven by the drive block 53, the rotating rod 85 rotates, and the drive gear 86 on the rotating rod 85 rotates accordingly. The power is transmitted to the gear ring 82 through three driven gears 84. The gear ring 82 drives the corresponding rotating seat 68 to rotate through the connecting spokes 821. Since the movable plate 64 is inserted into the groove 681, the rotating seat 68 rotates, causing the outer ring 62 to rotate. Finally, the inner sleeve 61 drives the fixed shaft 21 to rotate, realizing the swing of the swing seat 2. The planetary gear structure amplifies the small torque of the rotor 4 to meet the needs of large load processing.

[0031] However, in transmission mode, due to factors such as tooth backlash and elastic deformation of mechanical transmission components, the actual movement of the swing seat 2 may deviate from the theoretical command. To address this, the solution incorporates an adjustment component. During transmission mode operation, the central control system compares and analyzes the actual data fed back by the sensors with the preset target trajectory in real time. Once a deviation is detected, the servo motor 71 is activated for adjustment. This is a dynamic closed-loop control process. The control system uses PID control algorithms to accurately calculate the torque and rotation direction that the servo motor 71 needs to output based on the magnitude and direction of the deviation, generating precise control quantities. After receiving the command, the servo motor 71 driver adjusts the output current and voltage, controlling the speed and torque of the servo motor 71, which then acts on the corresponding rotating seat 68 through the transmission component 72, thereby controlling the rotation of the fixed shaft 21 and fine-tuning the position of the swing seat 2. During the fine-tuning process, the sensors continuously feed back data, and the control system continuously adjusts the output of the servo motor 71, forming a closed-loop feedback control loop to ensure that the swing seat 2 quickly and accurately tracks the preset target trajectory. At the same time, the control system can adjust the PID algorithm parameters for different processing conditions and can also adopt adaptive control, fuzzy control, and other strategies to improve the stability and anti-interference capability of the control system.

[0032] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A direct-drive oscillating actuator for a five-axis machine tool, characterized in that, The device includes a housing (1), on which a swing seat (2) is rotatably mounted. A fixed shaft (21) is fixed on the swing seat (2), and the fixed shaft (21) is rotatably connected to the housing (1). A slot (211) is provided at one end of the fixed shaft (21) away from the swing seat (2). The cross-section of the slot (211) is rectangular. A stator (3) and a rotor (4) are provided inside the housing (1). A drive assembly is provided on the output shaft of the rotor (4). Two control components are provided on the fixed shaft (21), and the two control components are arranged vertically. A transmission component and an adjustment component are provided inside the housing (1). The swing actuator has two working modes: direct drive mode and transmission mode. In direct drive mode, the rotor (4) directly drives the fixed shaft (21) to rotate. In transmission mode, the rotor (4) drives the fixed shaft (21) to rotate through the transmission component and one of the control components. At the same time, the adjustment component cooperates with another control component to control the rotation angle of the fixed shaft (21).

2. The direct-drive oscillating actuator for a five-axis machine tool according to claim 1, characterized in that, The drive assembly includes a fixed cylinder (51) and a pneumatic actuator (54). The fixed cylinder (51) is fixed on the output shaft of the rotor (4). A limit port (511) is opened on the outer surface of the fixed cylinder (51). A movable rod (52) is slidably arranged inside the fixed cylinder (51). A limit block (521) is fixed on the outer circumferential surface of the movable rod (52). The limit block (521) slides in the limit port (511). The top end of the movable rod (52) extends to the outside of the fixed cylinder (51) and is fixed with a drive block (53). The cross-section of the drive block (53) is rectangular. The pneumatic actuator (54) is installed inside the housing (1). A lifting bracket (55) is fixed on the execution end of the pneumatic actuator (54). The lifting bracket (55) is sleeved on the movable rod (52), and the lifting bracket (55) and the movable rod (52) are rotatably connected.

3. A direct-drive oscillating actuator for a five-axis machine tool according to claim 2, characterized in that, The output shaft, fixed cylinder (51), movable rod (52) of the rotor (4) are coaxially arranged with the drive block (53).

4. A direct-drive oscillating actuator for a five-axis machine tool according to claim 1, characterized in that, The control assembly includes an inner sleeve (61), an outer ring (62), and a first retainer (69). The inner sleeve (61) is fixedly sleeved on a fixed shaft (21). The first retainer (69) is fixed inside the outer shell (1). A rotating seat (68) is rotatably mounted on the first retainer (69), and the rotating seat (68) has an annular structure. The inner ring of the rotating seat (68) has several grooves (681) arranged in a circumferential array. The outer ring (62) is arranged between the inner sleeve (61) and the rotating seat (68). The outer ring (62) and the inner sleeve (61) are connected by two cover plates (63). The inner sleeve (61) is connected to the outer circumference of the inner sleeve (61), and the outer sleeve (62) is provided with a magnetic ring (611) fixedly sleeved on the outer circumference of the magnetic ring (611). The outer sleeve (62) is provided with a number of openings (621) on its circumference. The openings (621) are arranged in a circumferential array. Each opening (621) is provided with a sliding movable plate (64). Each movable plate (64) is fixed with a magnetic block (65) at one end near the sleeve. One of the cover plates (63) is provided with a connector (67). One end of the connector (67) is connected to the annular bag (66), and the other end of the connector (67) is used to connect the air tube and the air source.

5. A direct-drive oscillating actuator for a five-axis machine tool according to claim 4, characterized in that, In the initial state, several of the movable plates (64) are respectively positioned opposite several grooves (681).

6. A direct-drive oscillating actuator for a five-axis machine tool according to claim 4, characterized in that, When the movable plate (64) is inserted into the groove (681), the side of the movable plate (64) fits against the groove wall of the groove (681).

7. A direct-drive oscillating actuator for a five-axis machine tool according to claim 1, characterized in that, The transmission assembly includes a second retainer (81) and a mounting bracket (83). The second retainer (81) is fixed inside the outer casing (1). The mounting bracket (83) is connected to the second retainer (81). A mounting opening is provided in the middle of the mounting bracket (83). A gear ring (82) is rotatably mounted on the second retainer (81). Three driven gears (84) are rotatably mounted on the mounting bracket (83). A rotating rod (85) is rotatably mounted in the mounting opening. A fixed sleeve is fitted on the rotating rod (85). A driving gear (86) is provided, and three driven gears (84) are arranged in a circumferential array around the rotating rod (85). All three driven gears (84) mesh with the driving gear (86) and with the gear ring (82). A through-hole (851) is provided on the rotating rod (85). The cross-section of the through-hole (851) is rectangular. The gear ring (82) is connected to the rotating seat (68) away from the swing seat (2) by a number of connecting spokes (821).

8. A direct-drive oscillating actuator for a five-axis machine tool according to claim 7, characterized in that, The cross-sectional shape of the through-hole (851) is the same as that of the slot (211).

9. A direct-drive oscillating actuator for a five-axis machine tool according to claim 7, characterized in that, The adjustment assembly includes a servo motor (71), which is installed inside the housing (1). The output shaft of the servo motor (71) is fixed with a drive shaft (711), and the drive shaft (711) is connected to the rotating seat (68) near the swing seat (2) by a transmission component (72).

10. A method of using a direct-drive oscillating actuator for a five-axis machine tool, based on the direct-drive oscillating actuator for a five-axis machine tool according to any one of claims 1-9, characterized in that, Includes the following steps: Step 1: Determine the drive mode according to the processing conditions. If high-speed, high-precision five-axis linkage machining is required, select the direct drive mode. If heavy-load machining is required, select the transmission mode. In the direct drive mode, ensure that the drive block (53) is located in the slot (211) of the fixed shaft (21) and that the annular bladder (66) of the two control components is in an uninflated state. When switching to the transmission mode, the machine must be stopped first, and the pneumatic actuator (54) is run to drive the lifting bracket (55) close to the rotor (4) so ​​that the movable rod (52) moves and the drive block (53) enters the through hole (851) of the rotating rod (85) and leaves the slot (211) of the fixed shaft (21). At the same time, prepare an air source to inflate the annular bladder (66). Step 2: Start the five-axis machine tool and the swing actuator. In direct drive mode, the rotor (4) drives the fixed shaft (21) to rotate directly through the drive block (53), which in turn drives the swing seat (2) to swing. At this time, the high dynamic response and precise positioning of the direct drive mode are used for processing. In transmission mode, the air source fills the annular bladder (66) with air, so that the movable plate (64) is inserted into the groove (681) of the rotating seat (68). The rotor (4) rotates and drives the planetary gear structure to run, which amplifies the torque and transmits it to the fixed shaft (21), driving the swing seat (2) to swing, thus meeting the requirements of high load processing. Step 3: During the processing, the actual motion data of the swing seat (2) is continuously monitored by sensors, including position and angle information. The central control system receives these data in real time and compares and analyzes them with the preset target trajectory. In this way, the deviation between the actual motion of the swing seat (2) and the theoretical command can be detected in time, providing an accurate basis for subsequent adjustments, ensuring that the processing is carried out in accordance with the predetermined requirements, and guaranteeing the processing quality. Step 4: When the central control system detects the deviation, it quickly starts the servo motor (71) to intervene in the adjustment. The control system uses the PID control algorithm to accurately calculate the torque and rotation direction that the servo motor (71) needs to output according to the magnitude and direction of the deviation. The servo motor (71) driver adjusts the output current and voltage according to the instruction, controls the speed and torque of the servo motor (71), so that it acts on the corresponding rotating seat (68) through the transmission component (72), thereby fine-tuning the position of the fixed shaft (21) and the swing seat (2) to form a closed-loop feedback control loop. Step 5: After processing is completed, shut down the machine tool and the swing actuator. If subsequent processing requires switching the drive mode, perform the reverse operation according to Step 1. For example, to switch from transmission mode back to direct drive mode, the machine must be stopped first. Let the pneumatic actuator (54) drive the lifting bracket (55) to move the movable rod (52) and let the drive block (53) return to the slot (211) of the fixed shaft (21). At the same time, the annular bladder (66) is vented so that the movable plate (64) returns to the outside of the corresponding groove (681) to prepare for selecting the appropriate drive mode for the next processing.

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