CN101428395A

CN101428395A - AC permanent magnet disc type torque motor drived large-torque double-pendulum milling head

Info

Publication number: CN101428395A
Application number: CNA2008102294023A
Authority: CN
Inventors: 杨有君
Original assignee: Dalian University of Technology
Current assignee: Dalian University of Technology
Priority date: 2008-12-04
Filing date: 2008-12-04
Publication date: 2009-05-13
Anticipated expiration: 2028-12-04
Also published as: CN101428395B

Abstract

The invention relates to a large torque double-pendulum milling head driven by an AC permanent magnet disc type torque motor, which belongs to the combination mechanism for achieving the five-axis linkage processing on the machining center. The double-pendulum milling head mainly comprises a C axis part and an A axis part. The double-pendulum milling head is characterized in that the C axis part adopts the technical scheme that a rotary sleeve is rotated through driving of a double-linkage disc type torque motor, the rotary sleeve drives the A axis part to rotate together through a connecting disc and a connecting cover, and the C axis part also adopts a clamping bag type clamping mechanism; the A axis part adopts the technical scheme that a main shaft bracket with a main shaft to rotate together through driving of two disc-type torque motors mounted on the main shaft bracket, and the A axis part also adopts a rhombic block type clamping mechanism. The large torque double-pendulum milling head has the advantages that the iron core area of the disc-type torque motor is large, and the output power is great, the utilization rate of the magnetic field is high, and the efficiency of the motor is high; the double-pendulum milling head is provided with a cooling channel, and the radiating condition is good; the axial size is small, the rotary inertia of the rotor is small, the reaction rate is high, and the dynamic performance is good; and the operation of the clamping mechanism adopted is reliable and safe.

Description

The large-torque double-pendulum milling head that the AC permanent magnet disc type torque motor drives

Technical field

The present invention relates to the large-torque double-pendulum milling head that a kind of AC permanent magnet disc type torque motor drives, it belongs to the combined mechanism that work in-process is finished five-coordinate linkage processing in the heart.

Background technology

Being applied in the double-pendulum milling head on the Digit Control Machine Tool at present, all is that machine driving or outer rotor torque motor drive.What mechanically operated double-pendulum milling head was used is that common electric machine (pillar motor) drives, by driving member reduction of speed rear drive C axle and the rotations of A axle such as gear, worm screw, turbines.Owing to exist machine driving to pay, thereby produce problems such as driving error, backlass, friction, concussion.Because driving-chain has rotary inertia, thereby influences reaction speed, dynamic property.The advantage of mechanically operated double-pendulum milling head is that output torque is bigger.

The double-pendulum milling head that outer rotor torque motor drives, it is directly to drive A axle C axle with torque motor to rotate, and also claims the direct-drive type double-pendulum milling head.Direct-drive type double-pendulum milling head reaction speed is fast, the positioning accuracy height.But because stator is contained in the inside of rotor stator outer diameter is reduced, radiating condition is poor.Have to add the heat radiation cover for heat radiation on the internal diameter of stator, the space of the part iron core that must account for is overlapped in heat radiation, thereby the volume of the stator core of outer rotor torque motor is less, also just influences the motor power output.The double-pendulum milling head output torque that outer rotor torque motor drives is littler than mechanically operated double-pendulum milling head output torque.

The output torque M=9540 of motor (N/n) η, from this formula as can be seen: motor output torque M and power output N, to calculate rotation speed n relevant with efficiency eta, irrelevant with the diameter of outer rotor, the output torque of outer rotor torque motor does not increase greatly because of the diameter of the outer rotor root diameter than common electric machine.For the expanded motor output torque must increase the volume of iron core, increase the winding space of motor winding.On Digit Control Machine Tool, add the moment of torsion that needs man-hour double-pendulum milling head output bigger sometimes, thereby to develop a kind of big torsional moment torque motor double-pendulum milling head be very necessary.

Summary of the invention

The double-pendulum milling head output torque that drives for the shortcoming that overcomes mechanically operated double-pendulum milling head and outer rotor torque motor is little, the shortcoming of radiating condition difference, the objective of the invention is:

(1) solves the disc type torque motor in problems such as the installation of double-pendulum milling head, transmissions;

(2) increase power of motor with the way that increases disc type electric machine core volume, increase coil windings space, reinforcement cooling;

(3) C axle and A axle adopt reliable clamping and positioning device.

The technical scheme that adopts for solving the problems of the technologies described above is: the large-torque double-pendulum milling head that a kind of AC permanent magnet disc type torque motor drives, it mainly is made up of C shaft portion and A shaft portion: the C shaft portion mainly comprises turntable supporting base and the fixed cover that is contained in above it, be provided with the C axis drive motor in fixed cover inside, the C axis drive motor drives rotary sleeve and rotates together by terminal pad, connection cover drive A shaft portion, and the C shaft portion also comprises a distributing shaft, C shaft encoder and a C axis clamping mechanism; The A shaft portion mainly comprises two A axis drive motors, and the A axis drive motor drives spindle carrier and rotates around the left and right sides bearing, and the main shaft that is contained on the spindle carrier is rotated together, and the A shaft portion also comprises the clamp mechanism of an A shaft encoder and two A axles.Described C axis drive motor adopts a duplex disc type torque motor, it comprises first stator cover and is fixed on first stator core that first stator puts, second stator cover and be fixed on second stator core that second stator puts, it also comprises the first rotor dish, second rotor disk and third trochanter dish, the third trochanter dish is connected with brake disc, the first rotor dish, second rotor disk and third trochanter dish are connected on the rotary sleeve together, and drive the rotary sleeve rotation; Described C axis clamping mechanism adopts the third trochanter dish is applied the clamping capsule formula clamp mechanism that external force impels rotary sleeve to stop the rotation; Described A axis drive motor adopts two disc type torque motors that are contained on the spindle carrier, the disc type torque motor that is installed on the bearing of left side comprises the 3rd stator cover and is fixed on the 3rd stator core that the 3rd stator puts, it also comprises fourth trochanter dish and the 5th rotor disk, the fourth trochanter dish is associated with the clamping band, fourth trochanter dish and the 5th rotor disk are connected on the spindle carrier together, and the drive shaft support rotates together with main shaft; The disc type torque motor that is installed on the bearing of right side comprises the 4th stator cover and is fixed on the 4th stator core that the 4th stator puts, it also comprises the 7th rotor disk and the 6th rotor disk, the 7th rotor disk is associated with the clamping band, the 7th rotor disk and the 6th rotor disk are connected on the spindle carrier together, and the drive shaft support rotates together with main shaft; The clamp mechanism of described A axle adopts and clamps band and fourth trochanter dish and the 7th rotor disk are applied friction hold tightly to make every effort to promote and make braking, stops the diamond block clamp mechanism of main axis rotation.

Described clamping capsule formula clamp mechanism is made up of outer clamping ring, interior clamping ring and clamping capsule, clamp the centre that capsule is positioned at outer clamping ring and clamping ring, the clamping area of outer clamping ring and interior clamping ring is that the cone of friction De Cone angle on size and the clamping seats at two conical surface Cone angles of symmetry and brake disc, the rotor disk equates, clamping capsule is made by elastomeric material, cross sectional shape is a hollow square, when the clamping capsule charges into the medium pressurization, the clamping capsule expands, thereby be pressed on the outer wall of the inwall of outer clamping ring and interior clamping ring, force that outer clamping ring expands, interior clamping ring shrinks.

Described diamond block steps up mechanism two, and first diamond block steps up mechanism and is arranged between fourth trochanter dish and the left supporting base, and second diamond block steps up mechanism and is arranged between the 7th rotor disk and the right supporting base; Described diamond block steps up mechanism and comprises clamping band, first diamond block, second diamond block, also comprise first clamp that band colludes, second clamps that band colludes, piston, briquetting, adjustment bolt, hold-down nut, all there is the conical friction face at the clamping position of rotor disk and supporting base, during clamping, clamping band is clamped on two conical friction faces of rotor disk and supporting base simultaneously, because supporting base is motionless relatively, so rotor disk is clamped motionless.

Described stator core employing is the iron core unit combination of multiple by 3, and iron core unit is pressed on the inner ring of stator cover with bolt through pressing plate; The external cylindrical surface that is arranged on the stator cover in the housing is provided with the spiral cooling bath, be provided with cooling boring in the center of bolt, be provided with on pressing plate and be connected the cooling hole that screw communicates, the spiral cooling bath that stator puts, the cooling boring on the bolt and the cooling hole on the pressing plate constitute the cooling loop of iron core unit.

Described distributing shaft adopts hollow structure, on outer cylinder, be processed with media flow annular groove and dress sealing ring annular groove, introducing output channel as hydraulic pressure, air pressure, cooling and lubricating and cable, lead in the left supporting base and right supporting base of A shaft portion by terminal pad and connection cover, the passage that leads in the main shaft is to be communicated with by swivel joint again.

The invention has the beneficial effects as follows: the large-torque double-pendulum milling head that this AC permanent magnet disc type torque motor drives mainly is made up of C shaft portion and A shaft portion.The C shaft portion adopts a duplex disc type torque motor to drive the rotary sleeve rotation, rotary sleeve drives the A shaft portion by terminal pad, connection cover and rotates together, and the C shaft portion also adopts the third trochanter dish is applied the clamping capsule formula clamp mechanism that external force impels rotary sleeve to stop the rotation.The A shaft portion adopts two disc type torque motor drive shaft supports that are contained on the spindle carrier to rotate together with main shaft, the A shaft portion also adopts and fourth trochanter dish and the 7th rotor disk are applied external force impels and clamp band and hold tightly, stops the diamond block clamp mechanism of main axis rotation.The disc type torque motor core area that this large-torque double-pendulum milling head uses is big, and power output is big; Magnetic field utilization rate height, the electric efficiency height; The cooling duct is arranged, and radiating condition is good; Axial dimension is little, and the rotary inertia of rotor is little, and reaction speed is fast, dynamic property good; The clamp mechanism reliable operation safety that is adopted.

Description of drawings

The invention will be further described below in conjunction with drawings and Examples.

Fig. 1 is the large-torque double-pendulum milling head that a kind of AC permanent magnet disc type torque motor drives.

Fig. 2 is the A-A profile among Fig. 1.

Fig. 3 is an iron core piece figure of disc type torque motor of the present invention.

Fig. 4 is the M part enlarged drawing of Fig. 1.

Fig. 5 is the B-B profile of Fig. 1.

Fig. 6 is the F-F profile of Fig. 5.

Fig. 7 is outer clamping ring, clamping capsule, the interior clamping loop graph that clamps capsule formula clamp mechanism.

Fig. 8 is the D-D profile of Fig. 7.

Fig. 9 is the E-E profile of Fig. 7.

Figure 10 clamps capsule figure.

Figure 11 is the C-C profile of Figure 10.

Among the figure: 1, left side supporting base, 2, the fourth trochanter dish, 3, the 3rd stator core, 4, bolt, 5, the left side bearing, 6, spindle carrier, 7, the A shaft encoder, 8, clamp band, 9, first clamps band colludes, 10, second clamps band colludes 11, first diamond block, 12, piston, 13, connection cover, 14, terminal pad, 15, the turntable bearing, 16, the turntable supporting base, 17, the first rotor dish, 18, first stator core, 19, second rotor disk, 20, fixed cover, 21, second stator core, 22, the third trochanter dish, 23, clamping seats, 24, outer clamping ring, 25, clamp capsule, 26, interior clamping ring, 27, brake disc, 28, upper bearing (metal), 29, rotary sleeve, 30, distributing shaft, 31, connect top cover, 32, top chock, 33 is second stator covers, 34, the first stator cover, 35, the C shaft encoder, 36, the 4th stator cover, 37, second piston, 38, the 4th stator core, 39, the right side bearing, 40, swivel joint, 41, the 7th rotor disk, 42, right supporting base, 43, the 6th rotor disk, 44, main shaft, 45, the 5th rotor disk, 46, the 3rd stator cover, 47, second bolt, 48, O-ring seals, 49, pressing plate, 50, bolt, 51, first bolt, 52, adjust bolt, 53, hold-down nut, 54, briquetting, 55, second diamond block, 56, iron core unit, 56a, I shape silicon steel sheet piece, 56b, winding coil.

The specific embodiment

Fig. 1 shows a kind of profile of large-torque double-pendulum milling head of AC permanent magnet disc type torque motor driving.This large-torque double-pendulum milling head is made up of C shaft portion and A shaft portion, and is contained on the Digit Control Machine Tool ram by turntable supporting base 16 usefulness bolts.The A shaft portion can be around the rotation of C axis, and main shaft 44 can rotate around the A axis, thereby main shaft can also rotate around A axle and C axle in rotation.For the five-coordinate linkage of machining center provides a kind of excellent function parts, become the significant parts of the modern high-grade, digitally controlled machine tools advanced technology of reflection.

The fixed cover 20 usefulness bolts of C shaft portion are connected on the turntable supporting base 16, the duplex disc type torque motor of C axle is equipped with in its inside, in first stator cover 34, first stator core 18 is housed, in second stator cover 33, second stator core 21 is housed, the first rotor dish 17 be positioned at first stator core 18 below, second rotor disk 19 is between first stator core 18 and second stator core 21, and third trochanter dish 22 is on second stator core.The clamping seats 23 that is used for C axis clamping location usefulness be fixed by bolts to fixed cover 20 above, be fixed on clamping seats 23 and also have top chock 32 on the fixed cover 20.The outer rim that connects top cover 31 is fixed on the top chock 32, and inner edge and hydraulic pressure, pressure channel distributing shaft 30 are fixed together, and the upper end of fixed distributing shaft 30 is connected with hydraulic pressure, air-pressure duct.All hydraulic-pneumatic fluid and cooling and lubricating fluid are all from these pipelines feedings, pass-out.From the upper end of distributing shaft 30, be drilled with many axial holes vertically, communicate with liquid stream annular groove on its outer cylinder respectively, fluid that flows into from pipeline and the fluid that flows out internally all will flow annular groove through these liquid.There are the rotation lattice to enclose sealing between per two liquid stream annular groove.Travel switch and other components of control usefulness also are housed in the inside that connects top cover 31.

The assembling process of C axle is as follows: fixed cover 20 is cylindric, disc type electric machine can be packed into from two ends, at first first stator core 18 of disc type electric machine is installed on first stator cover 34, second stator core 21 is installed on second stator cover 33, make stator cover and stator core become an one-piece stator, during assembling earlier from an end of fixed cover 20 one-piece stator of packing into, again from the other end of fixed cover 20 second shared rotor disk 19 and another one-piece stator of two stator cores of packing into successively.Then, pack into the first rotor dish 17, third trochanter dish 22, again the first rotor dish 17, third trochanter dish 22 are screwed on second rotor disk 19, reinstall following turntable supporting base 16 after installing like this, packing into earlier one at fixed cover 20 with above the third trochanter dish 22 clamps capsule formula clamp mechanism, reinstalls clamping seats 23, and packing into then, another clamps capsule formula clamp mechanism, then brake disc 27 is fixed on the rotor disk 22 top chock 32 of packing at last.After installing like this, again rotary sleeve 29 is packed into from the lower end, and it is fixed on the rotor disk 17 upper bearing (metal) 28 of packing into from above afterwards with screw.Finish after the top work, can install to turntable bearing 15 on the terminal pad 14, again the outer shroud of turntable bearing 15 is installed on the turntable supporting base 16, terminal pad 14 usefulness screws are installed on the rotary sleeve 29.Pack into afterwards and connect top cover 31, distributing shaft 30.The liquid stream of many radial holes and distributing shaft 30 arranged on the inner cylinder face of rotary sleeve 29 annular groove is corresponding to communicate, on rotary sleeve 29, be drilled with many blind holes vertically from the lower end, with the corresponding UNICOM of axial hole, form fluid course respectively.The cooperation that rotary sleeve 29 and distributing shaft are 30 is to be rotatably assorted.To terminal pad 14, terminal pad 14 promptly is that the inner ring bearing of turntable bearing 15 also is the terminal pad that is connected with the A axle with bolting in the lower end of rotary sleeve 29, and its lower end is connected with connection cover 13.Be drilled with many holes in the terminal pad 14, can communicate with the hole on the rotary sleeve 29 also can communicate with the hole on the connection cover 13, and liquid stream just leads to the A axle from these passages.Between rotary sleeve 29 and turntable supporting base 16, encoder 35 is housed.

C axle and A axle link together by terminal pad 14 and connection cover 13, and be concentric for guaranteeing axial line, puts a mouthful location between these two parts, is the bolting of using easy to loading and unloading.

Being connected has left supporting base 1 and a right supporting base 42 below the connection cover 13.Two disc type torque motors are housed in the supporting base of the left and right sides.Left disc type torque motor in left supporting base comprises the 3rd stator cover 46, is contained in the 3rd stator core 3 in the 3rd stator cover 46, and in the 3rd stator core 3 both sides is fourth trochanter dish 2, the 5th rotor disk 45.Be contained in right disc type torque motor on the right supporting base 42 and comprise the 4th stator cover 36, be contained in the 4th stator core 38 in the said stator cover, the 6th rotor disk 43, the 7th rotor disk 41 arranged in the 4th stator core 38 both sides.Spindle carrier 6 installs on the left and right

sides supporting base

1,42 by left and right sides bearing 5,39.Thereby spindle carrier 6 can be contained in the also together rotation of main shafts 44 in the spindle bearing 6 around left and right sides bearing 5,39 rotation under the drive of rotor disk, and its rotation is the A axis.The also related A shaft encoder 7 of A axle rotating part.

A swivel joint 40 is equipped with on the right side of spindle carrier 6.Hydraulic pressure, pneumatic fluid; Cooling-lubricant leads to main shaft inside by swivel joint 40.

Install the part in the supporting base of the left and right sides during assembling of A axle earlier, again left and right sides supporting base is installed on the spindle carrier 6, then left and right sides supporting base is installed on the connection cover 13.The method of part is the same in the supporting base of the dress left and right sides, with the part adorned in the left supporting base is example, assembling process is described: earlier the 3rd stator core 3 is installed in the 3rd stator cover 46, make it to become an one-piece stator, again fourth trochanter dish 2, the 5th rotor disk 45 are installed to the both sides of the 3rd stator core 3, penetrate bolt 4, again these bolts are screwed into the left side of spindle carrier 6, make it to be fixed on the spindle carrier 6.At this moment fourth trochanter dish, the 5th is fixed, and the 3rd stator cover the 46 and the 3rd stator core 3 assemblies are not located, the clamping of the diamond block clamp mechanism of will packing into after installing like this is with 8 and be contained in to clamp and clamp band with first on 8 and collude 9, second clamps band colludes 10, adjusts bolt 52, hold-down nut 53.Then, install O-ring seals in the O-ring seals groove on the outer cylinder of the 3rd stator cover, afterwards, the left supporting base 1 of packing into is squeezed into bearing 5 at last, is fixed.To install to first diamond block 11, second diamond block 55 and oil cylinder, piston 12 on the supporting base of the left and right sides before installing to left and right sides supporting base on the connection cover 13.Will adjust their position to left and right sides supporting base 1,42 when installing on the connection cover 13, the axial line when making main shaft vertical overlaps with the C axis.

The permanent-magnet disk torque motor that is used for the C axle is a duplex disc type torque motor, first stator cover, 34 and second stator cover 33, first stator core 18 and 21 series connection of second stator core install in the fixed cover 20, rotor disk 19 between two stator cores is shared, and permanent-magnet material is posted on its two sides.The A axle is similar substantially with the structure of the duplex disc type torque motor of two disc type torque motors and C axle usefulness.Stator core all is made up of many iron core unit 56, each iron core unit 56 is built up by many I shape silicon steel sheets, its shape as shown in Figure 3, waist in each iron core unit 56 twines winding 56b coil, winding energising back produces S, N magnetic pole at the two ends of iron core unit 56, is used for driving the disc type rotor rotation.The end surface shape of each iron core unit 56 is trapezoidal, and each in whole a plurality of iron core unit 56 all uses bolt, pressing plate to be fixed in the circular stator cover.All iron core unit 56 assembling backs form circular stator, and the both ends of the surface of its stator are two circular planes, as shown in Figure 2.After described stator is connected three-phase alternating current, form rotating excitation field, be used for driving the rotor disk rotation on two sides on the two sides of stator.Because two end faces of each iron core unit 56 all have air-gap field, so the disc type torque motor is bipolar double plate torque motor.

Shown in Figure 4 is the partial enlarged drawing of M among Fig. 1, and as can be seen from the figure stator core 38 usefulness first bolt 51, second bolt 47, pressing plate 49 are fixed on the 4th stator cover 36.On the 4th stator cover 36 cooling bath and seal groove are arranged, in first bolt 51, second bolt 47 through hole is arranged, the cooling hole is arranged in the pressing plate 49.There is O-ring seals 48 end at pressing plate 49 upper screwed holes, is used for sealing cooling passage.These cooling holes communicate with one another, and can lead to circulating cooling liquid.These cooling ducts around stator core around, good cooling results.The 6th rotor disk 43 is positioned at the left end of stator core 38, and the 7th rotor disk rotor disk 41 is positioned at the right-hand member of stator core 38, produces magnetic circuit by air-gap field.The 6th rotor disk 43, the 7th rotor disk rotor disk 41 utilize bolt 50 to be fixed on the spindle carrier 6.

Rotor disk is discoid, posts permanent-magnet material towards a side of stator core end face.Between each rotor disk of disc type torque motor and stator air-gap field is arranged, thereby generation axial force, for offsetting this axial force, two rotor disks are equipped with at the two ends of the stator core of twin-stage double plate torque motor of the present invention, two axial force opposite sign but equal magnitude that rotor disk is suffered, the axial force that air-gap field produces is cancelled each other.Because stator cover external diameter is bigger, the length of stator core is unrestricted, and internal diameter is littler than common electric machine (pillar motor), thereby core volume is bigger, and the winding space of winding is bigger, and this just makes the power output of motor of the present invention bigger, calculating under the identical situation of rotating speed, output torque is just big.

When the double-pendulum milling head on the five coordinate machining centers is worked.Sometimes need A axle and C axle precisely to locate, clamp motionlessly in any position, and can under bearing, locate motionlessly, the invention provides two kinds of clamp mechanism: diamond block clamp mechanism and clamping capsule clamp mechanism than the situation of high pulling torque.Shown in Fig. 5,6 is the structure of diamond block clamp mechanism one; Comprise clamping and be with 8; The first clamping band colludes 9, the second clamping band and colludes 10; First diamond block 11, second diamond block 55; Hydraulic cylinder and piston 12; Briquetting 54; Adjust bolt 52, hold-down nut 53.Clamping is the conical surface of two symmetries with 8 rubbing surface, clamps to have good elasticity.Clamp band and be arranged between the fourth trochanter dish 2 and left supporting base 1 of disc type torque motor, fourth trochanter dish 2 and left supporting base 1 all have conical friction Mian ， Cone angle with clamp with on Zhui Mian Cone angle opposite sign but equal magnitude.During clamping, clamp band and be clamped in simultaneously on fourth trochanter dish 2 and 1 two conical friction faces of left supporting base, because left supporting base 1 is motionless relatively, so fourth trochanter dish 2 is clamped motionless.For the pressure that affacts on left supporting base 1 and the fourth trochanter dish 2 is equated, the Mo Ca Mian Cone angle on left supporting base 1 and the rotor disk 2 is equated, and the clamping band can suitably be floated, can self-alignment.Clamp the clamping and the state that loosens by diamond block of band, first diamond block 11, second diamond block 55 are in level when piston 12 declines put in place, be fixed on and clamp first of band two ends and clamp that band colludes 9, taut band colludes 2 10 and is open, thereby strain clamp taut band 8, make it to hold tightly on the cone of friction of left supporting base 1 and fourth trochanter dish 2.The position of bolt 52 adjustable seamless pieces 54 is adjusted in twisting, clamps band and colludes 9, second and clamp band and collude 10 position thereby adjusted first, thereby adjusted diameter when clamping with 8 hold tightly, so just can adjust the size of clamping force.Tighten hold-down nut 53 after the adjustment, make adjustment bolt 52 fixing.Diamond block clamp mechanism clamping force is big, and clamping force can be adjusted, and auto-lock function is arranged, and is safe and reliable.With the shortcoming here is to produce axial force when clamping, and must left-right symmetry use.

Clamp the clamping that capsule formula clamp mechanism is used for C axle rotor disk, shown in Fig. 7,8,9,10,11 be one and clamp capsule formula clamp mechanism schematic diagram.It is made up of three parts: outer clamping ring 24, interior clamping ring 26 and clamping capsule 25.Clamp the centre of capsule 25 at inside and outside clamping ring.The clamping area of inside and outside clamping ring is that the size at two conical surface ， Cone angles of symmetry equates with cone of friction De Cone angle on clamping seats and the rotor disk.For ease of strain, on inside and outside clamping ring, be processed with opening a, b, c, d.To clamp capsule 25 be circular, made by elastomeric material, and cross sectional shape is square, hollow.After through-flow body in Kong inside and the pressurization, clamp capsule and expand therein, thereby be pressed on the outer wall of the inwall of outer clamping ring and interior clamping ring, force outer clamping ring expansion, the contraction of interior clamping ring.Outer clamping ring expands, and is pressed on the big conical surface of clamping seats 23 and rotor disk 22 or brake disc 27; Interior clamping ring shrinks, and is pressed on the little conical surface of clamping seats 23 and rotor disk 22 or brake disc 27.It is motionless that tumbler is clamped.After clamping the fluid release of capsule inside, outer clamping ring and interior clamping ring return to the original form under the effect of elastic restoring force.Owing to clamp the side of capsule pressure is arranged, the pressure on the inside and outside clamping conical surface has axial component, thereby the clamp mechanism that clamps the capsule formula has axial force, for offsetting this axial force, is equipped with two in the both sides of clamping seats 23 and clamps capsule formula clamp mechanism.Clamping capsule formula clamp mechanism is active in one's movements, clamping force is big, good seal performance, but can not self-locking.

The large-torque double-pendulum milling head that above-mentioned disc type torque motor drives can be applied on the planer-type five coordinate machining centers, and the saddle on workbench, the crossbeam, ram can form X, Y, three reference axis of Z; The double pendulum hair washing has C axle and A axle, adds to form five reference axis together, is used for processing the space curved surface of different shape.

Claims

1, a kind of large-torque double-pendulum milling head of AC permanent magnet disc type torque motor driving, it mainly is made up of C shaft portion and A shaft portion: the C shaft portion mainly comprises turntable supporting base (16) and is contained in fixed cover (20) above it, be provided with the C axis drive motor in fixed cover (20) inside, the C axis drive motor drives rotary sleeve (29) and rotates together by terminal pad (14), connection cover (13) drive A shaft portion, and the C shaft portion also comprises a distributing shaft (30), C shaft encoder (35) and a C axis clamping mechanism; The A shaft portion mainly comprises two A axis drive motors, the A axis drive motor drives spindle carrier (6) and rotates around left and right sides bearing (5,39), the main shaft (44) that is contained on the spindle carrier (6) is rotated together, and the A shaft portion also comprises the clamp mechanism of an A shaft encoder (7) and two A axles; It is characterized in that: described C axis drive motor adopts a duplex disc type torque motor, it comprises the first stator cover (34) and is fixed on first stator core (18) on the first stator cover (34), the second stator cover (33) and be fixed on second stator core (21) on the second stator cover (33), it also comprises the first rotor dish (17), second rotor disk (19) and third trochanter dish (22), third trochanter dish (22) is connected with brake disc (27), the first rotor dish (17), second rotor disk (19) and third trochanter dish (22) are connected on the rotary sleeve (29) together, and drive rotary sleeve (29) rotation; Described C axis clamping mechanism adopts third trochanter dish (22) is applied the clamping capsule formula clamp mechanism that external force impels rotary sleeve (29) to stop the rotation; Described A axis drive motor adopts two disc type torque motors that are contained on the spindle carrier (6), being installed in disc type torque motor on left side bearing (5) comprises the 3rd stator cover (46) and is fixed on the 3rd stator core (3) on the 3rd stator cover (46), it also comprises fourth trochanter dish (2) and the 5th rotor disk (45), fourth trochanter dish (2) is associated with clamping band (8), fourth trochanter dish (2) and the 5th rotor disk (45) are connected on the spindle carrier (6) together, and drive shaft support (6) rotates together with main shaft (44); Being installed in disc type torque motor on the right side bearing (39) comprises the 4th stator cover (36) and is fixed on the 4th stator core (38) on the 4th stator cover (36), it also comprises the 7th rotor disk (41) and the 6th rotor disk (43), the 7th rotor disk (41) is associated with clamping band (8), the 7th rotor disk (41) and the 6th rotor disk (43) are connected on the spindle carrier (6) together, and drive shaft support (6) rotates together with main shaft (44); The clamp mechanism of described A axle adopts and clamps band (8) and fourth trochanter dish (2) and the 7th rotor disk (41) are applied friction hold tightly to make every effort to promote and make braking, stops the diamond block clamp mechanism that main shaft (44) rotates.

2, the large-torque double-pendulum milling head that drives according to the described AC permanent magnet disc type torque motor of claim 1; It is characterized in that: described clamping capsule formula clamp mechanism is by outer clamping ring (24), interior clamping ring (26) and clamping capsule (25) are formed, clamp the centre that capsule (25) is positioned at outer clamping ring (24) and clamping ring (26), the clamping area of outer clamping ring (24) and interior clamping ring (26) is size and the clamping seats (23) and the brake disc (27) at two conical surface Cone angles of symmetry, cone of friction De Cone angle on the rotor disk (22) equates, clamping capsule (25) is made by elastomeric material, cross sectional shape is a hollow square, when clamping capsule (25) charges into the medium pressurization, clamping capsule (25) expands, thereby be pressed on the outer wall of the inwall of outer clamping ring (24) and interior clamping ring (26), force outer clamping ring (24) to expand, interior clamping ring (26) shrinks.

3, the large-torque double-pendulum milling head that drives according to the described AC permanent magnet disc type torque motor of claim 1; It is characterized in that: described diamond block steps up mechanism two, and first diamond block steps up mechanism and is arranged between fourth trochanter dish (2) and the left supporting base (1), and second diamond block steps up mechanism and is arranged between the 7th rotor disk (41) and the right supporting base (42); Described diamond block steps up mechanism and comprises clamping band (8), first diamond block (11), second diamond block (55), comprise that also the first clamping band colludes (9), the second clamping band colludes (10), piston (12), briquetting (54), adjusts bolt (52), hold-down nut (53), all there is the conical friction face at the clamping position of rotor disk and supporting base, during clamping, clamping band is clamped on two conical friction faces of rotor disk and supporting base simultaneously, because supporting base is motionless relatively, so rotor disk is clamped motionless.

4, the large-torque double-pendulum milling head that drives according to the described AC permanent magnet disc type torque motor of claim 1; It is characterized in that: it is that the iron core unit of multiple (56) makes up that described stator core adopts by 3, and iron core unit (56) is pressed on the inner ring of stator cover with bolt through pressing plate; The external cylindrical surface that is arranged on the stator cover in the housing is provided with the spiral cooling bath, be provided with cooling boring in the center of bolt, be provided with on pressing plate and be connected the cooling hole that screw communicates, the spiral cooling bath that stator puts, the cooling boring on the bolt and the cooling hole on the pressing plate constitute the cooling loop of iron core unit (56).

5, the large-torque double-pendulum milling head that drives according to the described AC permanent magnet disc type torque motor of claim 1; It is characterized in that: described distributing shaft (30) adopts hollow structure, be processed with media flow annular groove and dress sealing ring annular groove on the outer cylinder, introducing output channel as hydraulic pressure, air pressure, cooling and lubricating and cable, lead in the left supporting base (1) and right supporting base (42) of A shaft portion by terminal pad (14) and connection cover (13), the passage that leads in the main shaft (44) is to be communicated with by swivel joint (40) again.