CN115837586A - Double-fork AB swing head movement structure with W shaft and double-fork AB swing head - Google Patents
Double-fork AB swing head movement structure with W shaft and double-fork AB swing head Download PDFInfo
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- CN115837586A CN115837586A CN202211253706.XA CN202211253706A CN115837586A CN 115837586 A CN115837586 A CN 115837586A CN 202211253706 A CN202211253706 A CN 202211253706A CN 115837586 A CN115837586 A CN 115837586A
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Abstract
The invention provides a double-fork AB swing head movement structure with a W shaft and a double-fork AB swing head, comprising: the shaft device comprises a W shaft part, an A shaft part and a B shaft part, wherein the W shaft part is rotatably installed on the A shaft part, and the A shaft part is rotatably installed on the B shaft part; the shaft A part comprises a shaft A driving side and a shaft A driven side, the shaft A driving side is provided with a shaft A torque motor, and the shaft A torque motor is in transmission connection with the shaft W part; the B shaft part comprises a B shaft driving side and a B shaft driven side, the B shaft driving side and the B shaft driven side are both provided with B shaft torque motors, and the two B shaft torque motors are in transmission connection with the A shaft part respectively. Through A axle part and B axle part all adopt torque motor to directly drive, the normal direction removes the mode that W axle part adopted linear electric motor to directly drive, and the error that transmission links such as servo motor plus worm gear or ball structure brought has significantly reduced improves the transmission precision of yaw, makes yaw overall structure simpler simultaneously, improves the assembly efficiency of yaw.
Description
Technical Field
The invention relates to the field of machine tool swing head structure design, in particular to a double-fork AB swing head motion structure with a W shaft and a double-fork AB swing head. In particular to a high-rigidity and high-precision direct-drive double-fork AB swing head with a large swing angle range and a quick error compensation function for a mirror milling machine tool.
Background
Five-axis linkage machining is always a high pursuit of a numerical control machining center. With the rapid development of the mold industry and the aerospace industry, the requirement on a five-axis linkage machining tool is more and more increased, and high-speed and high-precision machining can be realized by adopting a high-power high-speed electric spindle, so that the five-axis linkage machining tool is a favorite in the machining market.
The invention discloses a high-speed AC five-axis linkage double-pendulum head, which is disclosed by Chinese patent application with the existing publication number of CN108188455A and comprises a C-axis motor, an A-axis motor and an electric spindle, wherein a C-axis speed reducer is arranged at one end of an output shaft of the C-axis motor, a C-axis connecting disc is arranged on one surface of the C-axis speed reducer, a main body is arranged on one surface of an output port of the C-axis speed reducer, and a protective cover on the left side of the main body is arranged on one side surface of the main body. This five-axis linkage double pendulum head of high-speed AC uses 4 anti-tooth nuts to adjust the A axle through loosening A axle speed reducer fixation nut for the A axle reaches the parallelism with lathe Z axle, consolidates A axle fixation nut.
The double-pendulum direct-drive AC pendulum head disclosed by the invention is compact in structure, space-saving, reasonable in structural design, convenient to process and high in processing precision.
In the prior art, the five-axis linkage double-pendulum head structure has many transmission links, large transmission error and a part to be improved.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a double-fork AB swing head movement structure with a W shaft and a double-fork AB swing head.
According to the invention, the double-fork AB swing head movement structure with the W shaft comprises: the shaft device comprises a W shaft part, an A shaft part and a B shaft part, wherein the W shaft part is rotatably installed on the A shaft part, and the A shaft part is rotatably installed on the B shaft part; the shaft A part comprises a shaft A driving side and a shaft A driven side, the shaft A driving side is provided with a shaft A torque motor, and the shaft A torque motor is in transmission connection with the shaft W part; the B shaft part comprises a B shaft driving side and a B shaft driven side, the B shaft driving side and the B shaft driven side are both provided with B shaft torque motors, and the two B shaft torque motors are respectively in transmission connection with the A shaft part.
Preferably, the a-axis driving side is further provided with an a-axis motor connecting shaft, a stator of the a-axis torque motor is tightly mounted in the a-axis component, a rotor of the a-axis torque motor is in transmission connection with the a-axis driving side central shaft through the a-axis motor connecting shaft, and the a-axis driving side central shaft is tightly connected with the W-axis component.
Preferably, the shaft A part further comprises a shaft A grating, and the shaft A grating is connected with a connecting shaft of a shaft A motor; the displacement sensor in the A-axis grating detects the angle error of the A-axis component in the movement process, the detected angle error value signal is fed back to the numerical control system through the coding line in the A-axis grating, and the numerical control system controls the A-axis torque motor to compensate the angle error.
Preferably, the A-axis part further comprises an A-axis box body, and a first A-axis framework oil seal is installed between the A-axis driving side central shaft and the A-axis box body.
Preferably, the B-axis driving side is provided with a B-axis driving side motor connecting shaft and a B-axis driving side central shaft, the stator of the B-axis torque motor is tightly installed in the B-axis part, the rotor of the B-axis torque motor is in transmission connection with the B-axis driving side central shaft through the B-axis driving side motor connecting shaft, and the B-axis driving side central shaft is tightly connected with the a-axis part.
Preferably, the B-axis component further comprises a B-axis grating, and the B-axis grating is connected with a B-axis driving side motor connecting shaft; and a displacement sensor in the B-axis grating detects an angle error in the motion process of the B-axis component, a detected angle error value signal is fed back to the numerical control system through a coding line in the B-axis grating, and the numerical control system controls the B-axis torque motor to compensate the angle error.
Preferably, the B-shaft driven side is provided with a B-shaft driven side motor connecting shaft and a B-shaft driven side central shaft, the stator of the B-shaft torque motor is tightly installed in the B-shaft component, the rotor of the B-shaft torque motor is in transmission connection with the B-shaft driven side central shaft through the B-shaft driven side motor connecting shaft, and the B-shaft driven side central shaft is tightly connected with the a-shaft component.
Preferably, the B-axis part further comprises a B-axis box body, and B-axis skeleton oil seals are respectively mounted between the B-axis box body and both the B-axis driven side central shaft and the B-axis driving side central shaft.
Preferably, a turntable bearing is respectively connected between the B-axis driving side central shaft and the B-axis driven side central shaft and the B-axis box body; and a B-axis wedge-shaped block is arranged between the B-axis box body and the B-axis turntable bearing outer ring.
According to the double-fork AB swing head provided by the invention, the rotating axis of the W-axis box body is perpendicular to the rotating axis of the A-axis box body.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the shaft part A and the shaft part B are directly driven by the torque motors, and the shaft part W moving in the normal direction is directly driven by the linear motor, so that errors caused by transmission links such as a servo motor plus worm and gear or ball screw structure and the like are greatly reduced, the transmission precision of the swing head is improved, the whole structure of the swing head is simpler, and the assembly efficiency of the swing head is improved.
2. According to the invention, the AB two swing shafts are adopted, wherein the swing range of the A shaft component is +90 degrees to-65 degrees, the swing range of the B shaft component is +/-65 degrees, the swing range is larger, and meanwhile, the W shaft component can carry out normal high-frequency reciprocating movement on a workpiece, so that the rapid compensation of machining errors is realized, the problem of machining errors caused by easy deformation of thin-wall parts such as large complex curvature skins is solved, and the machining precision of the parts is ensured.
3. The invention compensates the angle error through the grating, realizes closed-loop control and can improve the processing precision.
4. According to the invention, the shaft part A and the shaft part B both adopt a double-fork structure form, the bearings adopt a high-rigidity turntable bearing and a crossed roller shaft collar, the swing head has a compact integral structure and high rigidity, and the problems of poor rigidity of a single-fork swing head and insufficient torque of a torque motor direct-drive AC swing head C shaft part are solved, so that the deformation of the swing head in the machining process is reduced.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic view of the overall structure of an AB pendulum according to the present invention;
FIG. 2 is a schematic view of the outer structure of the spindle housing of the W-axis component according to the present invention;
FIG. 3 is a schematic cross-sectional view of the overall construction of the W-axis component embodying the invention;
FIG. 4 is a schematic view of the overall external configuration of the W-shaft subassembly embodying the present invention;
FIG. 5 is a schematic cross-sectional view of the overall construction of the shaft member A embodying the present invention;
FIG. 6 is a schematic sectional view showing the overall structure of a shaft member B according to the present invention.
Shown in the figure:
b shaft component 1B shaft driving side motor connecting shaft 20W shaft cover plate 39
W-shaft 3A shaft torque motor 22 linear motor track 41
B axle box 4A axle motor connecting shaft 23 main axle box 42
B-axis torque motor 5A shaft driving side central shaft 24 pressing block 43
B-axis driven side motor connecting shaft 6A axis turntable bearing 25 guide rail 44
B-axis driven side central shaft 7A axis grating 26 slide block 45
B-axis clamp ring 8A first bump 46 of axis grating connecting plate 27
B-axis turntable bearing 10A axis box body cover plate 29 second striking block 48
B-axis wedge block 11 first A-axis framework oil seal 30W axis grating 49
B-axis framework oil seal 12A axis box body upper cover plate 31W axis grating mounting seat 50
B-axis box cover plate 13, second A-axis framework oil seal 32 and electric spindle 51
B-axis adjusting shim 14A shaft pneumatic clamp mounting plate 33 sealing gasket 52
B-axis motor mounting plate 16A axis pneumatic clamp 35 tex Kang Juan 54
B-axis grating mounting plate 17A end cover pressing plate 55 of driven side central shaft 36
B-axis grating 18W axis box 37 spindle sleeve 56
B-axis driving side central shaft 19W shaft rear cover 38W shaft positioning ring 57
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will aid those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any manner. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1, 2, 3, 4, 5 and 6, the double-fork AB pan motion structure with W axis and the double-fork AB pan according to the present invention comprises a W axis component 3, an a axis component 2 and a B axis component 1. The W-axis component 3 includes a W-axis box 37, a first driving assembly and an electric spindle 51, the first driving assembly and the electric spindle 51 are both disposed in the W-axis box 37, one end of the electric spindle 51 extends out of the W-axis box 37, and the first driving assembly drives the electric spindle 51 to reciprocate. The A shaft part 2 comprises an A shaft box body 21, the A shaft box body 21 comprises an A shaft driving side and an A shaft driven side which are oppositely arranged, the W shaft part 3 is arranged between the A shaft driving side and the A shaft driven side, the W shaft part 3 is respectively in rotating connection with the A shaft driving side and the A shaft driven side, and the A shaft driving side is provided with a second driving component for driving the W shaft part 3 to rotate. B shaft part 1 includes B axle box 4,B axle box 4 and includes and be the relative B axle drive side and the driven side of B axle that sets up, and A axle box 21 sets up between B axle drive side and B axle driven side, and B shaft part 1 rotates with B axle drive side and B axle driven side respectively and is connected, and B axle drive side is provided with the third drive assembly that drives A axle box 21 pivoted.
Note that the rotation axis of the W-axis case 37 and the rotation axis of the a-axis case 21 are perpendicular to each other. The A shaft part 2 and the B shaft part 1 are fork-shaped in overall shape, the A shaft part 2 is rotatably installed between the forks of the B shaft part 1, the rotating range of the A shaft part 2 is +/-65 degrees, the W shaft part 3 is rotatably installed between the forks of the A shaft part 2, and the rotating range of the W shaft part 3 is +90 degrees to-65 degrees.
As shown in fig. 2, 3 and 4, the upper and lower surfaces of the W-axis box 37 are respectively fixedly provided with a W-axis cover plate 39, the rear surface of the W-axis box 37 is fixedly provided with a W-axis rear cover 38, and the front end of the W-axis box 37 is connected with a sealing gasket 52 and a front end cover 53, so as to realize the sealing and protection of the periphery of the W-axis component 3.
The first driving assembly comprises a linear motor coil 40, a linear motor magnetic track 41 and a spindle box 42, an electric spindle 51 is arranged in the spindle box 42, the linear motor magnetic track 41 is connected with the spindle box 42, and the linear motor coil 40 is connected with the inner wall of the W-axis box 37.
Specifically, a linear motor coil 40 is connected to the inner lower surface of the W-axis housing 37, and a linear motor track 41 is connected to the main spindle housing 42. After the linear motor coil 40 is powered on, under the action of electromagnetic force, the linear motor magnetic track 41 is driven to drive parts on the main shaft box 42 to do high-frequency reciprocating motion. An electric spindle 51 is mounted inside the spindle housing 42 to provide the rotational movement of the tool required for machining.
The outer wall of the spindle box body 42 is provided with a guide rail 44, the inner wall of the W-axis box body 37 is provided with a slide block 45, and the slide block 45 is in sliding fit with the guide rail 44.
One possible implementation is: two guide rails 44 are arranged on the upper surface of the main spindle box 42 at intervals in parallel to play a guiding role, a pressing block 43 is further arranged on the main spindle box 42, and four pressing guide rails 44 are respectively arranged on two sides of any one guide rail 44 of the pressing block 43. Four sliders 45 are provided on the inner wall of the W-axis case 37, and two sliders 45 are provided for each guide rail 44. One of the guide rails 44 is provided with a guide rail lock 47, and the guide rail lock 47 can clamp the guide rail 44 after power failure, so that the motorized spindle 51 is prevented from moving after power failure.
The two guide rails 44 are directly provided with a W-axis grating 49, and the W-axis grating 49 is installed on the spindle box 42 through two W-axis grating installation seats 50, so that the moving position of the electric spindle 51 can be fed back, and the movement precision is ensured. Two second collision blocks 48 are mounted beside the W grating of the W-axis box body 37, a first collision block 46 is mounted on the W-axis box body 37 between the two second collision blocks 48, and the two second collision blocks 48 and the first collision block 46 play a role in hard limiting.
The front end of the electric spindle 51 is sleeved with a spindle sleeve 56 for rust prevention. The Tekang ring 54 is installed in the front end cover 53, and the special Kang Juan is pressed tightly by the end cover pressing plate 55. The friction coefficient between the special Kang Juan and the main shaft sleeve 56 is small, and the sealing of the moving part can be realized. And a W-axis positioning ring 57 is arranged on the W-axis box body 37 and is connected with the A-axis part 2, so that the coaxial precision of the W-axis and the A-axis is ensured.
As shown in fig. 5, the left side of the a-axis member 2 is the driving side, and the right side of the a-axis member 2 is the driven side. The A-axis driving side is provided with an A-axis driving side central shaft 24, and the second driving assembly comprises an A-axis torque motor 22 and an A-axis motor connecting shaft 23. The stator of the A-axis torque motor 22 is tightly mounted in the A-axis box body 21, the rotor of the A-axis torque motor 22 is in transmission connection with the A-axis driving side central shaft 24 through an A-axis motor connecting shaft 23, an A-axis turntable bearing 25 is connected between the A-axis driving side central shaft 24 and the A-axis box body 21, and the A-axis driving side central shaft 24 is tightly connected with the W-axis box body 37.
The driven side of the A-axis is provided with a cross roller collar 34, an A-axis driven side center shaft 36, and an A-axis pneumatic clamp 35. The a-axis driven side center shaft 36 is rotatably connected to the a-axis case 21 via a cross roller collar 34, the a-axis driven side center shaft 36 is fixedly connected to the W-axis case 37, the a-axis pneumatic clamp 35 is fixedly mounted in the a-axis case 21, and the a-axis pneumatic clamp 35 clamps or releases the a-axis driven side center shaft 36. The center axis of the a-axis driven side center shaft 36 is collinear with the center axis of the a-axis driving side center shaft 24.
The A-axis turntable bearing 25 has high overturning rigidity and can play a main supporting role, and the crossed roller collar 34 has high radial rigidity and can play an auxiliary supporting role. The A-axis torque motor 22 can provide power for the A-axis part 2, and the A-axis driving side central shaft 24 is driven to rotate through the A-axis torque motor 22 connecting shaft.
Specifically, the stator of the a-axis torque motor 22 is fixed in the a-axis case 21 by an a-axis motor mounting plate 28. The A-axis pneumatic clamp 35 is mounted to the A-axis case 21 by the A-axis pneumatic clamp mounting plate 33.
The device also comprises an A-axis grating 26, wherein the A-axis grating 26 is connected with the A-axis motor connecting shaft 23. The A-axis grating 26 is fixed on the mounting plate of the A-axis torque motor 22 through an A-axis grating connecting plate 27. The A-axis grating 26 is respectively connected with the A-axis torque motor 22 connecting shaft and the A-axis grating connecting plate 27.
The displacement sensor in the A-axis grating 26 detects the angle error of the A-axis part 2 in the motion process, the detected angle error value signal is fed back to the numerical control system through the coding line in the A-axis grating 26, and the numerical control system controls the A-axis torque motor 22 to compensate the angle error, so that the precision of the A-axis part 2 is ensured.
A first A-axis framework oil seal 30 is arranged between the A-axis box body 21 and the A-axis driving side central shaft 24, and a second A-axis framework oil seal 32 is arranged between the A-axis box body 21 and the A-axis driven side central shaft 36 to play a role in sealing. Two A-axis box cover plates 29 are respectively arranged on the left side surface and the right side surface of the A-axis box body 21. An A-axis box body upper cover plate 31 is arranged on the A-axis box body 21 and plays a role in protection.
As shown in fig. 6, the B-axis member 1 is driven on the left and driven on the right. The B-axis driving side is provided with a B-axis driving side central shaft 19, and the third driving assembly comprises a B-axis torque motor 5 and a B-axis driving side motor connecting shaft 20. The stator of the B-axis torque motor 5 is tightly installed in the B-axis box body 4, the rotor of the B-axis torque motor 5 is in transmission connection with a B-axis driving side central shaft 19 through a B-axis driving side motor connecting shaft 20, a B-axis turntable bearing 10 is connected between the B-axis driving side central shaft 19 and the B-axis box body 4, and the B-axis driving side central shaft 19 is tightly connected with an A-axis box body 21.
The B-axis driven side is provided with a B-axis driven side central shaft 7, and the third driving assembly comprises a B-axis torque motor 5 and a B-axis driven side motor connecting shaft 6.A stator of the B-axis torque motor 5 is tightly installed in a B-axis box body 4, a rotor of the B-axis torque motor 5 is in transmission connection with a B-axis driven side central shaft 7 through a B-axis driven side motor connecting shaft 6, a B-axis turntable bearing 10 is connected between the B-axis driven side central shaft 7 and the B-axis box body 4, and the B-axis driven side central shaft 7 is tightly connected with an A-axis box body 21.
The B-axis driven side is further provided with a B-axis pneumatic clamp 9, the B-axis pneumatic clamp 9 is fixedly mounted on a stator of the B-axis torque motor 5, and the B-axis pneumatic clamp 9 clamps or releases a B-axis driven side central shaft 7. The center axis of the B-axis driven-side center shaft 7 is collinear with the center axis of the B-axis driving-side center shaft 19.
The two B-axis turntable bearings 10 ensure high rigidity of the B-axis member 1 as a whole. Because the B-axis component 1 adopts two torque motors to drive simultaneously, the torque directly driven and output by the B-axis component is larger than that of a single torque motor.
Specifically, the B-axis pneumatic clamp 9 is connected to the driven-side B-axis torque motor 5 stator through a B-axis motor mounting plate 16. The B-axis pneumatic clamp 9 comprises a B-axis clamp ring, the B-axis clamp ring is connected with a B-axis driven side motor connecting shaft 6, and the B-axis pneumatic clamp 9 can lock a B-axis driven side central shaft 7 through a B-axis clamp ring 8 after ventilation, so that fixed axis processing is realized.
A B-axis wedge block 11 is arranged between the driven side of the B-axis box body 4 and the outer ring of the B-axis turntable bearing 10, and the coaxiality of the B-axis driven side central shaft 7 and the B-axis driving side central shaft 19 can be adjusted through screws, so that the accuracy of head swinging is improved.
The B-axis grating 18 is connected with a B-axis driving side motor connecting shaft 20 through a B-axis grating mounting plate 17. And a displacement sensor in the B-axis grating 18 detects the angle error of the B-axis component 1 in the motion process, the detected angle error value signal is fed back to the numerical control system through a coding line in the B-axis grating 18, and the numerical control system controls the B-axis torque motor 5 to compensate the angle error. The closed-loop control is realized, and the precision of the B-axis component 1 can be improved.
A B-axis skeleton oil seal 12 is installed between both the B-axis driven side center shaft 7 and the B-axis driving side center shaft 19 and the B-axis box 44, respectively, to prevent external liquid or dust from entering the inside of the B-axis box 4.
A B-axis adjusting gasket 14 is installed on the right end face of a B-axis driven side central shaft 7, meanwhile, the B-axis adjusting gasket is connected with the A-axis part 2, the size error of the A-axis part 2 and the B-axis part 1 during installation can be compensated through grinding the thickness of the B-axis adjusting gasket 14, and the assembly precision of the swing head is improved. The B-axis positioning ring 15 is arranged at the left end of the B-axis driving side central shaft 19 and is connected with the A-axis part 2, so that the positioning effect between the B-axis part 1 and the A-axis part 2 is achieved, and the coaxial accuracy of the B-axis part 1 and the A-axis part 2 during rotation is improved. And the left side surface and the right side surface of the B-axis box body 4 are respectively provided with a B-axis box body cover plate 13 to play a role in protection.
It should be noted that: this application A shaft part 2 and B shaft part 1 all adopt two fork structural style, and the bearing chooses for use high rigidity's revolving stage bearing and cross roller shaft collar 34, and the balance head overall structure is compact, and the rigidity is high, has solved the poor and not enough problem of torque of the direct drive formula AC balance head C shaft part of single fork balance head rigidity to reduce the deformation in the course of working of balance head itself.
The A shaft part 2 and the B shaft part 1 are both directly driven by the torque motors, and the W shaft part is moved in the normal direction in a manner of directly driving by the linear motors, so that errors caused by transmission links such as servo motors, worm gears or ball screw structures and the like are greatly reduced, the transmission precision of the head is improved, the whole structure of the head is simpler, and the assembly efficiency of the head is improved.
The swing range of the A shaft component 2 is +90 degrees to-65 degrees, the swing range of the B shaft component 1 is +/-65 degrees, the swing range is large, and meanwhile the W shaft component can perform normal high-frequency reciprocating movement on a workpiece, so that the machining error is quickly compensated, the problem that thin-wall parts such as large complex curvature skins are easy to deform to cause machining errors is solved, and the machining precision of the parts is ensured.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A double-fork AB pendulum motion structure with a W-axis, comprising: the device comprises a W shaft part (3), an A shaft part (2) and a B shaft part (1), wherein the W shaft part (3) is rotatably installed on the A shaft part (2), and the A shaft part (2) is rotatably installed on the B shaft part (1);
the shaft A part (2) comprises a shaft A driving side and a shaft A driven side, the shaft A driving side is provided with a shaft A torque motor (22), and the shaft A torque motor (22) is in transmission connection with the shaft W part (3);
b axle part (1) is including B axle drive side and B axle driven side, B axle drive side and B axle driven side all are provided with B axle moment of force motor (5), two B axle moment of force motor (5) are connected with A axle part (2) transmission respectively.
2. The double-fork AB pan structure with W-axis as claimed in claim 1, wherein said a-axis driving side is further provided with an a-axis motor connecting shaft (23), the stator of said a-axis torque motor (22) is tightly mounted in the a-axis member (2), the rotor of the a-axis torque motor (22) is drivingly connected to the a-axis driving side center shaft (24) through the a-axis motor connecting shaft (23), and said a-axis driving side center shaft (24) is tightly connected to the W-axis member (3).
3. The double-fork AB pendulum motion structure with W-axis of claim 2, characterized in that the a-axis component (2) further comprises an a-axis grating (26), the a-axis grating (26) being connected with an a-axis motor connecting shaft (23);
the displacement sensor in the A-axis grating (26) detects an angle error in the movement process of the A-axis part (2), a detected angle error value signal is fed back to the numerical control system through a coding line in the A-axis grating (26), and the numerical control system controls the A-axis torque motor (22) to compensate the angle error.
4. The double-fork AB pan motion structure with W-axis of claim 3, wherein the a-axis part (2) further comprises an a-axis box (21), and a first a-axis skeleton oil seal (30) is installed between the a-axis driving side center shaft (24) and the a-axis box (21).
5. The double-fork AB pan motion structure with W axis of claim 1, wherein the B axis driving side is provided with a B axis driving side motor connecting shaft (20) and a B axis driving side center shaft (19), the stator of the B axis torque motor (5) is tightly installed in the B axis part (1), the rotor of the B axis torque motor (5) is drivingly connected with the B axis driving side center shaft (19) through the B axis driving side motor connecting shaft (20), and the B axis driving side center shaft (19) is tightly connected with the a axis part (2).
6. The double-fork AB pan motion structure with W-axis as claimed in claim 5, wherein said B-axis component (1) further comprises a B-axis grating (18), said B-axis grating (18) being connected with a B-axis driving-side motor connecting shaft (20);
and a displacement sensor in the B-axis grating (18) detects an angle error in the motion process of the B-axis part (1), a detected angle error value signal is fed back to a numerical control system through a coding line in the B-axis grating (18), and the numerical control system controls a B-axis torque motor (5) to compensate the angle error.
7. The double-fork AB pan structure with W-axis as claimed in claim 6, wherein the B-axis driven side is provided with a B-axis driven side motor connecting shaft (6) and a B-axis driven side center shaft (7), the stator of the B-axis torque motor (5) is tightly mounted in the B-axis member (1), the rotor of the B-axis torque motor (5) is drivingly connected with the B-axis driven side center shaft (7) through the B-axis driven side motor connecting shaft (6), and the B-axis driven side center shaft (7) is tightly connected with the a-axis member (2).
8. The double-fork AB pan motion structure with a W-axis as claimed in claim 7, wherein the B-axis part (1) further comprises a B-axis housing (4), and B-axis skeleton oil seals (12) are respectively installed between both the B-axis driven side center shaft (7) and the B-axis driving side center shaft (19) and the B-axis housing (4).
9. The double-fork AB pan motion structure with W axis as claimed in claim 7, wherein B axis turntable bearings (10) are respectively connected between the B axis driving side central axis (19) and the B axis driven side central axis (7) and the B axis box (4);
a B-axis wedge block (11) is arranged between the B-axis box body (4) and the outer ring of the B-axis turntable bearing (10).
10. A two-fork AB pendulum with a W-axis, characterized in that the rotation axis of the W-axis part (1) and the rotation axis of the a-axis case (21) are perpendicular to each other, using the two-fork AB pendulum kinematic structure with a W-axis according to any of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211253706.XA CN115837586A (en) | 2022-10-13 | 2022-10-13 | Double-fork AB swing head movement structure with W shaft and double-fork AB swing head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211253706.XA CN115837586A (en) | 2022-10-13 | 2022-10-13 | Double-fork AB swing head movement structure with W shaft and double-fork AB swing head |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115837586A true CN115837586A (en) | 2023-03-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211253706.XA Pending CN115837586A (en) | 2022-10-13 | 2022-10-13 | Double-fork AB swing head movement structure with W shaft and double-fork AB swing head |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116275632A (en) * | 2023-04-11 | 2023-06-23 | 北京瑞邦精控科技有限公司 | High-precision heavy-load AC shaft |
-
2022
- 2022-10-13 CN CN202211253706.XA patent/CN115837586A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116275632A (en) * | 2023-04-11 | 2023-06-23 | 北京瑞邦精控科技有限公司 | High-precision heavy-load AC shaft |
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