High-speed multi-shaft linkage angle swing head

Abstract

The utility model discloses a high-speed multi-axis linkage angle swing head which comprises a C-axis module, a C-axis module, a C-axis module, a C-axis module, a C-axis module and a C-axis module, wherein the C-axis motor is connected with the C-axis gear assembly; the A-axis module is rotationally connected with the C-axis module and comprises an A-axis rotating shaft, an A-axis motor and an A-axis gear assembly; wherein the A-axis rotating shaft is connected with the C-axis gear assembly, and the A-axis motor is connected with the A-axis gear assembly; the main shaft module is rotationally connected with the A-axis module and comprises a main shaft rotating shaft; wherein the main shaft rotating shaft is connected with the A shaft gear assembly. In this way, the output torque of the high-speed multi-shaft linkage angle swing head can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of mechanical equipment, and particularly to a high-speed multi-axis linkage angle swing head. Background Art

[0002] At present, the existing angle swing heads on the market usually use torque motors to directly drive the C-axis assembly or the A-axis assembly to rotate. This direct drive method cannot meet the application scenarios of large-torque multi-axis linkage machining due to the small torque of the motor. In view of this, how to improve the output torque of the high-speed multi-axis linkage angle swing head has become an urgent problem to be solved. Summary of the Utility Model

[0003] The main technical problem to be solved by the present application is to provide a high-speed multi-axis linkage angle swing head that can improve the output torque of the high-speed multi-axis linkage angle swing head.

[0004] To solve the above technical problem, the present application provides a high-speed multi-axis linkage angle swing head, including: a C-axis module, including a C-axis motor and a C-axis gear assembly; wherein, the C-axis motor is connected to the C-axis gear assembly; an A-axis module, rotatably connected to the C-axis module, including an A-axis rotating shaft, an A-axis motor and an A-axis gear assembly; wherein, the A-axis rotating shaft is connected to the C-axis gear assembly, and the A-axis motor is connected to the A-axis gear assembly; a spindle module, rotatably connected to the A-axis module, including a spindle rotating shaft; wherein, the spindle rotating shaft is connected to the A-axis gear assembly.

[0005] Wherein, the C-axis gear assembly includes: a first C-axis gear group, connected to the C-axis motor; a second C-axis gear group, connected to the A-axis rotating shaft and meshed with the first C-axis gear group.

[0006] Wherein, the A-axis gear assembly includes: a first A-axis gear group, connected to the A-axis motor; a second A-axis gear group, connected to the spindle rotating shaft and meshed with the first A-axis gear group.

[0007] Wherein, the C-axis module further includes: a C-axis transmission component, including a C-axis transmission shaft, a C-axis transmission shaft support bearing and a C-axis transmission gear; wherein, at least a part of the C-axis transmission shaft protrudes from the C-axis module, the C-axis transmission shaft support bearing is sleeved on the C-axis transmission shaft, the C-axis transmission gear is sleeved at the bottom of the C-axis transmission shaft, and the C-axis transmission shaft support bearing is located above the C-axis transmission gear; a C-axis bearing, located below the C-axis gear assembly.

[0008] Among them, the A-axis module further includes: an A-axis transmission component, including an A-axis transmission shaft, an A-axis transmission shaft support bearing, an A-axis first transmission gear, and an A-axis second transmission gear; wherein, the A-axis transmission shaft support bearing is sleeved on the A-axis transmission shaft, the A-axis first transmission gear is sleeved on the top of the A-axis transmission shaft and is meshed and connected with the C-axis transmission gear, and the A-axis second transmission gear is sleeved on the bottom of the A-axis transmission shaft; an A-axis box body, connected to the C-axis bearing; an A-axis bearing, located below the A-axis gear component.

[0009] Among them, the high-speed multi-axis linkage angle swing head further includes: a first lubricating nozzle, arranged at the connection between the C-axis transmission gear and the A-axis first transmission gear.

[0010] Among them, the spindle module further includes: a spindle main body; a spindle transmission gear, sleeved on the spindle main body; wherein, the spindle transmission gear is meshed and connected with the A-axis second transmission gear; a spindle box body, connected to the A-axis bearing.

[0011] Among them, the high-speed multi-axis linkage angle swing head further includes: a second lubricating nozzle, arranged at the connection between the A-axis second transmission gear and the spindle transmission gear.

[0012] Among them, the high-speed multi-axis linkage angle swing head further includes: a spindle motor, connected to the C-axis transmission shaft and located above the C-axis module.

[0013] Among them, the high-speed multi-axis linkage angle swing head further includes: a spindle encoder, arranged on the top of the C-axis module for obtaining the spindle information of the spindle module.

[0014] The beneficial effect of this application is: Different from the prior art, in a high-speed multi-axis linkage angle swing head proposed in this application, the C-axis motor of the C-axis module drives the C-axis gear component to rotate, so that the C-axis gear component drives the A-axis rotating shaft to rotate, achieving the effect of rotating the A-axis module. The A-axis motor of the A-axis module drives the A-axis gear component to rotate, so that the A-axis gear component drives the spindle rotating shaft to rotate, achieving the effect of rotating the spindle module. It makes up for the problem that the direct drive of the torque motor to the rotating shaft results in a small output torque. Only by using a small-volume motor combined with the speed ratio conversion of the gear component can the effect of large torque output be achieved, thereby improving the output torque of the high-speed multi-axis linkage angle swing head. Description of the Drawings

[0015] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings. Among them:

[0016] Figure 1 is a schematic structural diagram of an embodiment of the high-speed multi-axis linkage angle swing head of the present application;

[0017] Figure 2 is a schematic cross-sectional view of an embodiment of the high-speed multi-axis linkage angle swing head of the present application;

[0018] Figure 3 is Figure 2 an enlarged cross-sectional view of the first region in;

[0019] Figure 4 is Figure 2 an enlarged cross-sectional view of the second region in. Specific Embodiments

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0021] In this article, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present application. The term "and / or" only describes the association relationship of the associated objects and indicates that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone.

[0022] References to "embodiments" in this application mean that the specific features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of this application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment each time, nor are they independent or alternative embodiments mutually exclusive of other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0023] This application provides the following embodiments, and specific descriptions of each embodiment are given below.

[0024] Please refer to Figure 1 and Figure 2 , Figure 1 FIG. Figure 2 FIG. is a schematic structural diagram of an embodiment of the high-speed multi-axis linkage angle swivel head of this application,

[0025] FIG. is a schematic cross-sectional view of an embodiment of the high-speed multi-axis linkage angle swivel head of this application. The high-speed multi-axis linkage angle swivel head 1 includes: a C-axis module 10, an A-axis module 12, and a spindle module 14. Among them, the C-axis module 10 includes a C-axis motor 100 and a C-axis gear assembly 102. The C-axis motor 100 is connected to the C-axis gear assembly 102. The A-axis module 12 is rotationally connected to the C-axis module 10 and includes an A-axis rotating shaft (not shown in the figure), an A-axis motor 120, and an A-axis gear assembly 122. The A-axis rotating shaft is connected to the C-axis gear assembly 102. The A-axis motor 120 is connected to the A-axis gear assembly 122. The spindle module 14 is rotationally connected to the A-axis module 12 and includes a spindle rotating shaft (not shown in the figure). The spindle rotating shaft is connected to the A-axis gear assembly 122.

[0026] Specifically, the C-axis motor 100 is connected to the C-axis gear assembly 102. When the C-axis motor 100 is started, it drives the C-axis gear assembly 102 to rotate. Since the A-axis rotating shaft is connected to the C-axis gear assembly 102, the C-axis motor 100 will drive the A-axis rotating shaft to rotate, achieving the effect of rotating the A-axis module 12. Further, the A-axis motor 120 is connected to the A-axis gear assembly 122. When the A-axis motor 120 is started, it drives the A-axis gear assembly 122 to rotate. Since the spindle rotating shaft is connected to the A-axis gear assembly 122, the A-axis motor 120 will drive the spindle rotating shaft to rotate, achieving the effect of rotating the spindle module 14. By driving the gear assembly through the motor, the effect of large torque output can be achieved, meeting the requirements of large torque multi-axis linkage machining.

[0027] In some implementation scenarios, the C-axis motor 100 and the A-axis motor 120 adopt torque motors, and the C-axis gear assembly 102 and the A-axis gear assembly 122 adopt planetary gear mechanisms. Among them, the numbers of the C-axis motor 100 and the A-axis motor 120 can be flexibly configured according to actual needs, that is, the numbers of the C-axis motor 100 and the A-axis motor 120 can be one, two or more, and the present application does not make specific restrictions on this.

[0028] In a high-speed multi-axis linkage angle swing head 1 proposed in the present application, the C-axis motor 100 of the C-axis module 10 drives the C-axis gear assembly 102 to rotate, so that the C-axis gear assembly 102 drives the A-axis rotating shaft to rotate, achieving the effect of the rotation of the A-axis module 12. The A-axis motor 120 of the A-axis module 12 drives the A-axis gear assembly 122 to rotate, so that the A-axis gear assembly 122 drives the main shaft rotating shaft to rotate, achieving the effect of the rotation of the main shaft module 14, making up for the problem that the direct drive of the rotating shaft by the torque motor results in a small output torque. Only by using a small-volume motor combined with the speed ratio conversion of the gear assembly can the effect of large torque output be achieved, thereby being able to improve the output torque of the high-speed multi-axis linkage angle swing head 1.

[0029] In an implementation manner, please refer to Figure 2 and Figure 3 , Figure 3 is Figure 2 the enlarged sectional view of the first region in . Among them, the C-axis gear assembly 102 includes a C-axis first gear set 1020 and a C-axis second gear set 1022. The C-axis first gear set 1020 is connected to the C-axis motor 100, the C-axis second gear set 1022 is connected to the A-axis rotating shaft, and is meshed with the C-axis first gear set 1020.

[0030] Specifically, when the C-axis motor 100 starts, it drives the C-axis first gear set 1020 connected to the C-axis motor 100 to rotate. Since the C-axis first gear set 1020 is meshed with the C-axis second gear set 1022, the C-axis first gear set 1020 will drive the C-axis second gear set 1022 to rotate. Further, the C-axis second gear set 1022 is connected to the A-axis rotating shaft, so that the C-axis motor 100 drives the A-axis rotating shaft to rotate. Thus, the C-axis motor 100 can achieve the effect of large torque output through the speed ratio conversion of the C-axis first gear set 1020 and the C-axis second gear set 1022, meeting the requirements of multi-axis linkage machining.

[0031] In an implementation manner, please continue to refer to Figure 2 and Figure 3The A-axis gear assembly 122 includes an A-axis first gear set 1220 and an A-axis second gear set 1222 , wherein the A-axis first gear set 1220 is connected to the A-axis motor 120 , and the A-axis second gear set 1222 is connected to the spindle rotation shaft and meshed with the A-axis first gear set 1220 .

[0032] Specifically, when the A-axis motor 120 is started, it drives the A-axis first gear set 1220 connected to the A-axis motor 120 to rotate, and the A-axis first gear set 1220 is meshed and connected with the A-axis second gear set 1222, so the A-axis first gear set 1220 will drive the A-axis second gear set 1222 to rotate, and further, the A-axis second gear set 1222 is connected to the spindle rotating shaft, so that the A-axis motor 120 drives the spindle rotating shaft to rotate, so that the A-axis motor 120 can be used to achieve a large torque output effect through the speed ratio conversion of the A-axis first gear set 1220 and the A-axis second gear set 1222, thereby meeting the needs of multi-axis linkage processing.

[0033] In one embodiment, please continue to refer to Figure 2 and Figure 3 The C-axis module 10 also includes a C-axis transmission assembly 104 and a C-axis bearing 106, wherein the C-axis transmission assembly 104 includes a C-axis transmission shaft 1040, a C-axis transmission shaft support bearing 1042 and a C-axis transmission gear 1044, at least part of the C-axis transmission shaft 1040 protrudes out of the C-axis module 10, the C-axis transmission shaft support bearing 1042 is supported on the C-axis transmission shaft 1040, the C-axis transmission gear 1044 is sleeved on the bottom of the C-axis transmission shaft 1040, the C-axis transmission shaft support bearing 1042 is located above the C-axis transmission gear 1044, and the C-axis bearing 106 is located below the C-axis gear assembly 102.

[0034] Specifically, the C-axis transmission shaft support bearing 1042 is sleeved on the C-axis transmission shaft 1040, thereby preventing the C-axis transmission shaft 1040 from directional deviation due to vibration. At the same time, the C-axis transmission shaft support bearing 1042 can also protect and support the C-axis transmission shaft 1040, so that the C-axis transmission shaft 1040 can rotate stably. The C-axis transmission gear 1044 is sleeved on the bottom of the C-axis transmission shaft 1040. When the C-axis transmission shaft 1040 rotates, the C-axis transmission gear 1044 will also rotate.

[0035] It is understandable that the number of C-axis transmission shaft support bearings 1042 can be flexibly configured according to actual needs, that is, the number of C-axis transmission shaft support bearings 1042 can be one, two or more, and the present application does not impose specific restrictions on this.

[0036] In an implementation scenario, the high-speed multi-axis linkage angle swing head 1 provided by the present application further includes a main shaft motor (not shown in the figure), which is connected to the C-axis transmission shaft 1040 and is located above the C-axis module 10.

[0037] Specifically, an external main shaft motor is connected to the C-axis transmission shaft 1040 and is used to drive the C-axis transmission shaft 1040 to rotate.

[0038] In a specific implementation scenario, the main shaft motor is connected to the C-axis transmission shaft 1040 through a spline.

[0039] In an implementation manner, please refer to Figure 2 、 Figure 3 and Figure 4 , Figure 4 is Figure 2 the enlarged sectional view of the second area in

[0040] Specifically, the A-axis transmission shaft support bearing 1242 is sleeved on the A-axis transmission shaft 1240, so as to prevent the A-axis transmission shaft 1240 from deviating in direction due to vibration. At the same time, the A-axis transmission shaft support bearing 1242 can also play a role in protecting and supporting the A-axis transmission shaft 1240, enabling the A-axis transmission shaft 1240 to rotate stably. The A-axis first transmission gear 1244 is sleeved on the top of the A-axis transmission shaft 1240 and is meshed and connected with the C-axis transmission gear 1044. When the C-axis transmission gear 1044 rotates, the A-axis first transmission gear 1244 will also rotate and drive the A-axis transmission shaft 1240 to rotate together. The A-axis second transmission gear 1246 is sleeved on the bottom of the A-axis transmission shaft 1240 and rotates together with the rotation of the A-axis transmission shaft 1240.

[0041] It can be understood that the number of the A-axis transmission shaft support bearings 1242 can be flexibly configured according to actual needs, that is, the number of the A-axis transmission shaft support bearings 1242 can be one, two or more, and the present application does not make specific limitations on this.

[0042] In an implementation scenario, please refer to Figure 3, the high-speed multi-axis linkage angle swing head provided by this application further includes a first lubricating nozzle 16, which is arranged at the connection of the C-axis transmission gear 1044 and the A-axis first transmission gear 1244.

[0043] Specifically, during the meshing rotation of the C-axis transmission gear 1044 and the A-axis first transmission gear 1244, the gear surfaces will bear huge pressure and friction. The first lubricating nozzle 16 sprays lubricating oil onto the meshing part, which can form a uniform oil film on the surfaces of the C-axis transmission gear 1044 and the A-axis first transmission gear 1244. This oil film can effectively isolate the two mutually contacting gear surfaces, reduce the direct friction between the two transmission gears, thereby significantly reducing the wear on the surfaces of the transmission gears. And through the lubricating function of the lubricating oil, it can make the rotation of the gears smoother, increase the rotation speed during the subsequent operation of the main shaft, and meet various processing requirements.

[0044] In a specific implementation scenario, the first lubricating nozzle 16 can be an oil mist lubricating nozzle. In other implementation scenarios, the first lubricating nozzle 16 can also be other types of lubricating nozzles such as fan-shaped nozzles, which can be flexibly set according to actual needs, and this application does not make specific restrictions on this.

[0045] Optionally, an oil drain hole (not shown in the figure) is also provided inside the A-axis housing 126, and the generated waste oil can be discharged through the oil drain hole, so as to keep the transmission gears clean and reduce the damage to the transmission gears caused by environmental impurities.

[0046] In an implementation manner, please continue to refer to Figure 2 and Figure 4 , the spindle module 14 further includes a spindle main body 140, a spindle transmission gear 142, and a spindle housing 144. Among them, the spindle transmission gear 142 is sleeved on the spindle main body 140, and the spindle transmission gear 142 is meshed and connected with the A-axis second transmission gear 1246, and the spindle housing 144 is connected with the A-axis bearing 128.

[0047] Specifically, the spindle transmission gear 142 is meshed and connected with the A-axis second transmission gear 1246. When the A-axis second transmission gear 1246 rotates, the spindle transmission gear 142 will also rotate accordingly. And the spindle transmission gear 142 is sleeved on the spindle main body 140. When the spindle transmission gear 142 rotates, the spindle main body 140 will also rotate accordingly, achieving the milling effect. Using an external spindle motor to drive the spindle main body 140 to rotate through two transmission components, so that the spindle rotates to achieve the milling effect. This structure makes up for the problem of small cutting torque of the motor spindle under the same volume, reduces the use cost, and the mechanical structure is safer and more reliable.

[0048] In an implementation scenario, please refer to Figure 4, the high-speed multi-axis linkage angle swing head provided by this application further includes a second lubricating nozzle 18, which is arranged at the connection of the second transmission gear 1246 of the A-axis and the main shaft transmission gear 142.

[0049] Specifically, during the meshing transmission process of the second transmission gear 1246 of the A-axis and the main shaft transmission gear 142, the gear surface will bear huge pressure and friction. The second lubricating nozzle 18 sprays lubricating oil onto the meshing part, which can form a uniform oil film on the surfaces of the second transmission gear 1246 of the A-axis and the main shaft transmission gear 142. This oil film can effectively isolate the surfaces of the two mutually contacting gears, reduce the direct friction between the two transmission gears, thereby significantly reducing the wear of the transmission gear surface. And through the lubrication function of the lubricating oil, the rotation of the gear can be made more smooth, the rotation speed during the subsequent operation of the main shaft can be increased, and various processing requirements can be met.

[0050] In a specific implementation scenario, the second lubricating nozzle 18 can be an oil mist lubricating nozzle. In other implementation scenarios, the second lubricating nozzle 18 can also be other types of lubricating nozzles such as fan-shaped nozzles, which can be flexibly set according to actual needs, and this application does not make specific restrictions on this.

[0051] Optionally, an oil drain hole (not shown in the figure) is also arranged inside the main shaft housing 144, and the generated waste oil can be discharged through the oil drain hole, so as to keep the transmission gear clean and reduce the damage of environmental impurities to the transmission gear.

[0052] In an implementation manner, please refer to Figure 2 , the high-speed multi-axis linkage angle swing head provided by this application further includes a main shaft encoder 20, which is arranged on the top of the C-axis module 10 and is used to obtain the main shaft information of the main shaft module 14.

[0053] Specifically, the main shaft encoder 20 is used to obtain the main shaft information of the main shaft module 14, including position information, speed information, direction information, and vibration and load conditions, so as to ensure the processing accuracy and efficiency of the main shaft during processing.

[0054] The above are only the embodiments of this application, and do not limit the patent scope of this application accordingly. All equivalent structural or equivalent process transformations made by using the content of the specification and drawings of this application, or directly or indirectly applied in other related technical fields, are equally included in the patent protection scope of this application.

Claims

1. A high-speed multi-axis linkage angle swing head, characterized in that: include: A C-axis module, comprising a C-axis motor and a C-axis gear assembly; wherein the C-axis motor is connected to the C-axis gear assembly; An A-axis module is rotatably connected to the C-axis module, and includes an A-axis rotating shaft, an A-axis motor, and an A-axis gear assembly; wherein the A-axis rotating shaft is connected to the C-axis gear assembly, and the A-axis motor is connected to the A-axis gear assembly; The main shaft module is rotatably connected to the A-axis module, and includes a main shaft rotating shaft; wherein the main shaft rotating shaft is connected to the A-axis gear assembly.

2. The high-speed multi-axis linkage angle swing head according to claim 1 is characterized in that: The C-axis gear assembly includes: A C-axis first gear set connected to the C-axis motor; The C-axis second gear set is connected to the A-axis rotating shaft and meshed with the C-axis first gear set.

3. The high-speed multi-axis linkage angle swing head according to claim 1, characterized in that: The A-axis gear assembly comprises: A-axis first gear set, connected to the A-axis motor; The A-axis second gear set is connected to the main shaft rotation shaft and meshed with the A-axis first gear set.

4. The high-speed multi-axis linkage angle swing head according to claim 1, characterized in that: The C-axis module also includes: A C-axis transmission assembly, comprising a C-axis transmission shaft, a C-axis transmission shaft support bearing and a C-axis transmission gear; wherein at least a portion of the C-axis transmission shaft protrudes from the C-axis module, the C-axis transmission shaft support bearing is sleeved on the C-axis transmission shaft, the C-axis transmission gear is sleeved on the bottom of the C-axis transmission shaft, and the C-axis transmission shaft support bearing is located above the C-axis transmission gear; The C-axis bearing is located below the C-axis gear assembly.

5. The high-speed multi-axis linkage angle swing head according to claim 4, characterized in that: The A-axis module also includes: An A-axis transmission assembly, comprising an A-axis transmission shaft, an A-axis transmission shaft support bearing, an A-axis first transmission gear and an A-axis second transmission gear; wherein the A-axis transmission shaft support bearing is sleeved on the A-axis transmission shaft, the A-axis first transmission gear is sleeved on the top of the A-axis transmission shaft and meshed with the C-axis transmission gear, and the A-axis second transmission gear is sleeved on the bottom of the A-axis transmission shaft; An A-axis housing connected to the C-axis bearing; The A-axis bearing is located below the A-axis gear assembly.

6. The high-speed multi-axis linkage angle swing head according to claim 5, characterized in that: The high-speed multi-axis linkage angle swing head also includes: The first lubrication nozzle is arranged at the connection between the C-axis transmission gear and the A-axis first transmission gear.

7. The high-speed multi-axis linkage angle swing head according to claim 5, characterized in that: The spindle module also includes: Spindle body; A main shaft transmission gear is sleeved on the main shaft body; wherein the main shaft transmission gear is meshedly connected with the second transmission gear of the A-axis; The spindle housing is connected with the A-axis bearing.

8. The high-speed multi-axis linkage angle swing head according to claim 7, characterized in that: The high-speed multi-axis linkage angle swing head also includes: The second lubrication nozzle is arranged at the connection between the second transmission gear of the A-axis and the transmission gear of the main shaft.

9. The high-speed multi-axis linkage angle swing head according to claim 4, characterized in that: The high-speed multi-axis linkage angle swing head also includes: The spindle motor is connected to the C-axis transmission shaft and is located above the C-axis module.

10. The high-speed multi-axis linkage angle swing head according to claim 1, characterized in that: The high-speed multi-axis linkage angle swing head also includes: The spindle encoder is arranged on the top of the C-axis module and is used to obtain the spindle information of the spindle module.

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